362 lines
12 KiB
C++
362 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#define NUM_UNITSPHERE_POINTS 42
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bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
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const btConvexShape* convexA,const btConvexShape* convexB,
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const btTransform& transA,const btTransform& transB,
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btVector3& v, btVector3& pa, btVector3& pb,
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class btIDebugDraw* debugDraw
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)
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{
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(void)v;
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bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
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struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
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{
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btIntermediateResult():m_hasResult(false)
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{
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}
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btVector3 m_normalOnBInWorld;
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btVector3 m_pointInWorld;
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btScalar m_depth;
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bool m_hasResult;
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virtual void setShapeIdentifiersA(int partId0,int index0)
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{
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(void)partId0;
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(void)index0;
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}
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virtual void setShapeIdentifiersB(int partId1,int index1)
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{
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(void)partId1;
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(void)index1;
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}
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void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
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{
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m_normalOnBInWorld = normalOnBInWorld;
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m_pointInWorld = pointInWorld;
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m_depth = depth;
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m_hasResult = true;
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}
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};
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//just take fixed number of orientation, and sample the penetration depth in that direction
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btScalar minProj = btScalar(BT_LARGE_FLOAT);
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btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
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btVector3 minA,minB;
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btVector3 seperatingAxisInA,seperatingAxisInB;
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btVector3 pInA,qInB,pWorld,qWorld,w;
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#ifndef __SPU__
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#define USE_BATCHED_SUPPORT 1
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#endif
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#ifdef USE_BATCHED_SUPPORT
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btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
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btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
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btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
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btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
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int i;
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int numSampleDirections = NUM_UNITSPHERE_POINTS;
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for (i=0;i<numSampleDirections;i++)
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{
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btVector3 norm = getPenetrationDirections()[i];
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seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
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seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
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}
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{
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int numPDA = convexA->getNumPreferredPenetrationDirections();
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if (numPDA)
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{
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for (int i=0;i<numPDA;i++)
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{
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btVector3 norm;
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convexA->getPreferredPenetrationDirection(i,norm);
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norm = transA.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
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seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
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numSampleDirections++;
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}
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}
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}
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{
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int numPDB = convexB->getNumPreferredPenetrationDirections();
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if (numPDB)
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{
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for (int i=0;i<numPDB;i++)
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{
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btVector3 norm;
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convexB->getPreferredPenetrationDirection(i,norm);
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norm = transB.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
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seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
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numSampleDirections++;
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}
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}
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}
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convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
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convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
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for (i=0;i<numSampleDirections;i++)
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{
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btVector3 norm = getPenetrationDirections()[i];
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if (check2d)
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{
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norm[2] = 0.f;
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}
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if (norm.length2()>0.01)
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{
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seperatingAxisInA = seperatingAxisInABatch[i];
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seperatingAxisInB = seperatingAxisInBBatch[i];
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pInA = supportVerticesABatch[i];
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qInB = supportVerticesBBatch[i];
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pWorld = transA(pInA);
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qWorld = transB(qInB);
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if (check2d)
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{
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pWorld[2] = 0.f;
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qWorld[2] = 0.f;
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}
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w = qWorld - pWorld;
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btScalar delta = norm.dot(w);
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//find smallest delta
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if (delta < minProj)
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{
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minProj = delta;
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minNorm = norm;
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minA = pWorld;
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minB = qWorld;
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}
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}
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}
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#else
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int numSampleDirections = NUM_UNITSPHERE_POINTS;
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#ifndef __SPU__
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{
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int numPDA = convexA->getNumPreferredPenetrationDirections();
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if (numPDA)
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{
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for (int i=0;i<numPDA;i++)
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{
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btVector3 norm;
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convexA->getPreferredPenetrationDirection(i,norm);
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norm = transA.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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numSampleDirections++;
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}
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}
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}
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{
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int numPDB = convexB->getNumPreferredPenetrationDirections();
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if (numPDB)
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{
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for (int i=0;i<numPDB;i++)
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{
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btVector3 norm;
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convexB->getPreferredPenetrationDirection(i,norm);
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norm = transB.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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numSampleDirections++;
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}
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}
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}
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#endif // __SPU__
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for (int i=0;i<numSampleDirections;i++)
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{
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const btVector3& norm = getPenetrationDirections()[i];
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seperatingAxisInA = (-norm)* transA.getBasis();
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seperatingAxisInB = norm* transB.getBasis();
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pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
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qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
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pWorld = transA(pInA);
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qWorld = transB(qInB);
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w = qWorld - pWorld;
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btScalar delta = norm.dot(w);
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//find smallest delta
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if (delta < minProj)
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{
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minProj = delta;
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minNorm = norm;
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minA = pWorld;
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minB = qWorld;
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}
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}
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#endif //USE_BATCHED_SUPPORT
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//add the margins
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minA += minNorm*convexA->getMarginNonVirtual();
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minB -= minNorm*convexB->getMarginNonVirtual();
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//no penetration
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if (minProj < btScalar(0.))
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return false;
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btScalar extraSeparation = 0.5f;///scale dependent
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minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
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//#define DEBUG_DRAW 1
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#ifdef DEBUG_DRAW
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if (debugDraw)
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{
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btVector3 color(0,1,0);
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debugDraw->drawLine(minA,minB,color);
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color = btVector3 (1,1,1);
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btVector3 vec = minB-minA;
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btScalar prj2 = minNorm.dot(vec);
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debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
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}
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#endif //DEBUG_DRAW
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btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
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btScalar offsetDist = minProj;
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btVector3 offset = minNorm * offsetDist;
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btGjkPairDetector::ClosestPointInput input;
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btVector3 newOrg = transA.getOrigin() + offset;
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btTransform displacedTrans = transA;
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displacedTrans.setOrigin(newOrg);
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input.m_transformA = displacedTrans;
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input.m_transformB = transB;
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input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
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btIntermediateResult res;
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gjkdet.setCachedSeperatingAxis(-minNorm);
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gjkdet.getClosestPoints(input,res,debugDraw);
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btScalar correctedMinNorm = minProj - res.m_depth;
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//the penetration depth is over-estimated, relax it
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btScalar penetration_relaxation= btScalar(1.);
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minNorm*=penetration_relaxation;
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if (res.m_hasResult)
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{
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pa = res.m_pointInWorld - minNorm * correctedMinNorm;
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pb = res.m_pointInWorld;
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v = minNorm;
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#ifdef DEBUG_DRAW
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if (debugDraw)
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{
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btVector3 color(1,0,0);
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debugDraw->drawLine(pa,pb,color);
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}
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#endif//DEBUG_DRAW
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}
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return res.m_hasResult;
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}
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btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
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{
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static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
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{
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btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
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btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
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btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
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btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
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btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
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btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
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btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
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btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
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btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
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btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
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btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
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btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
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btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
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btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
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btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
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btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
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btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
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btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
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btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
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btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
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btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
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btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
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btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
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btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
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btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
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btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
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btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
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};
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return sPenetrationDirections;
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}
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