829 lines
26 KiB
C++
829 lines
26 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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///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance
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///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
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///with reproduction case
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//#define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
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//#define ZERO_MARGIN
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#include "btConvexConvexAlgorithm.h"
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//#include <stdio.h>
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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///////////
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static SIMD_FORCE_INLINE void segmentsClosestPoints(
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btVector3& ptsVector,
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btVector3& offsetA,
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btVector3& offsetB,
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btScalar& tA, btScalar& tB,
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const btVector3& translation,
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const btVector3& dirA, btScalar hlenA,
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const btVector3& dirB, btScalar hlenB )
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{
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// compute the parameters of the closest points on each line segment
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btScalar dirA_dot_dirB = btDot(dirA,dirB);
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btScalar dirA_dot_trans = btDot(dirA,translation);
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btScalar dirB_dot_trans = btDot(dirB,translation);
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btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
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if ( denom == 0.0f ) {
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tA = 0.0f;
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} else {
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tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
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if ( tA < -hlenA )
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tA = -hlenA;
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else if ( tA > hlenA )
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tA = hlenA;
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}
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tB = tA * dirA_dot_dirB - dirB_dot_trans;
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if ( tB < -hlenB ) {
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tB = -hlenB;
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tA = tB * dirA_dot_dirB + dirA_dot_trans;
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if ( tA < -hlenA )
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tA = -hlenA;
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else if ( tA > hlenA )
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tA = hlenA;
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} else if ( tB > hlenB ) {
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tB = hlenB;
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tA = tB * dirA_dot_dirB + dirA_dot_trans;
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if ( tA < -hlenA )
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tA = -hlenA;
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else if ( tA > hlenA )
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tA = hlenA;
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}
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// compute the closest points relative to segment centers.
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offsetA = dirA * tA;
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offsetB = dirB * tB;
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ptsVector = translation - offsetA + offsetB;
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}
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static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
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btVector3& normalOnB,
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btVector3& pointOnB,
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btScalar capsuleLengthA,
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btScalar capsuleRadiusA,
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btScalar capsuleLengthB,
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btScalar capsuleRadiusB,
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int capsuleAxisA,
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int capsuleAxisB,
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const btTransform& transformA,
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const btTransform& transformB,
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btScalar distanceThreshold )
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{
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btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
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btVector3 translationA = transformA.getOrigin();
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btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
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btVector3 translationB = transformB.getOrigin();
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// translation between centers
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btVector3 translation = translationB - translationA;
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// compute the closest points of the capsule line segments
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btVector3 ptsVector; // the vector between the closest points
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btVector3 offsetA, offsetB; // offsets from segment centers to their closest points
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btScalar tA, tB; // parameters on line segment
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segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation,
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directionA, capsuleLengthA, directionB, capsuleLengthB );
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btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
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if ( distance > distanceThreshold )
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return distance;
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btScalar lenSqr = ptsVector.length2();
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if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON))
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{
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//degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
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btVector3 q;
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btPlaneSpace1(directionA,normalOnB,q);
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} else
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{
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// compute the contact normal
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normalOnB = ptsVector*-btRecipSqrt(lenSqr);
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}
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pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB;
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return distance;
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}
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//////////
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btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver)
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{
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m_numPerturbationIterations = 0;
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m_minimumPointsPerturbationThreshold = 3;
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m_pdSolver = pdSolver;
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}
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btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
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{
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}
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btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
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: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
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m_pdSolver(pdSolver),
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m_ownManifold (false),
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m_manifoldPtr(mf),
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m_lowLevelOfDetail(false),
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#ifdef USE_SEPDISTANCE_UTIL2
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m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
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(static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
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#endif
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m_numPerturbationIterations(numPerturbationIterations),
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m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
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{
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(void)body0Wrap;
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(void)body1Wrap;
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}
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btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
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{
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m_lowLevelOfDetail = useLowLevel;
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}
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struct btPerturbedContactResult : public btManifoldResult
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{
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btManifoldResult* m_originalManifoldResult;
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btTransform m_transformA;
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btTransform m_transformB;
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btTransform m_unPerturbedTransform;
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bool m_perturbA;
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btIDebugDraw* m_debugDrawer;
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btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
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:m_originalManifoldResult(originalResult),
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m_transformA(transformA),
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m_transformB(transformB),
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m_unPerturbedTransform(unPerturbedTransform),
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m_perturbA(perturbA),
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m_debugDrawer(debugDrawer)
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{
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}
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virtual ~ btPerturbedContactResult()
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{
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}
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virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
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{
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btVector3 endPt,startPt;
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btScalar newDepth;
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btVector3 newNormal;
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if (m_perturbA)
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{
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btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
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endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
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newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
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startPt = endPt+normalOnBInWorld*newDepth;
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} else
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{
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endPt = pointInWorld + normalOnBInWorld*orgDepth;
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startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
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newDepth = (endPt - startPt).dot(normalOnBInWorld);
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}
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//#define DEBUG_CONTACTS 1
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#ifdef DEBUG_CONTACTS
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m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
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m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
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m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
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#endif //DEBUG_CONTACTS
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m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
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}
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};
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extern btScalar gContactBreakingThreshold;
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//
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// Convex-Convex collision algorithm
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//
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void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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{
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//swapped?
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m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
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m_ownManifold = true;
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}
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resultOut->setPersistentManifold(m_manifoldPtr);
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//comment-out next line to test multi-contact generation
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//resultOut->getPersistentManifold()->clearManifold();
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const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
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const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
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btVector3 normalOnB;
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btVector3 pointOnBWorld;
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#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
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if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
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{
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//m_manifoldPtr->clearManifold();
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btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
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btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
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btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
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btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
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capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
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body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
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if (dist<threshold)
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{
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btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
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resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
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}
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resultOut->refreshContactPoints();
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return;
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}
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if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == SPHERE_SHAPE_PROXYTYPE))
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{
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//m_manifoldPtr->clearManifold();
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btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
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btSphereShape* capsuleB = (btSphereShape*) min1;
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btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
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btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
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0.,capsuleB->getRadius(),capsuleA->getUpAxis(),1,
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body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
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if (dist<threshold)
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{
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btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
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resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
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}
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resultOut->refreshContactPoints();
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return;
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}
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if ((min0->getShapeType() == SPHERE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
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{
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//m_manifoldPtr->clearManifold();
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btSphereShape* capsuleA = (btSphereShape*) min0;
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btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
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btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
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btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,0.,capsuleA->getRadius(),
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capsuleB->getHalfHeight(),capsuleB->getRadius(),1,capsuleB->getUpAxis(),
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body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
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if (dist<threshold)
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{
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btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
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resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
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}
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resultOut->refreshContactPoints();
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return;
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}
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#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
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#ifdef USE_SEPDISTANCE_UTIL2
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if (dispatchInfo.m_useConvexConservativeDistanceUtil)
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{
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m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
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}
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if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
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#endif //USE_SEPDISTANCE_UTIL2
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{
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btGjkPairDetector::ClosestPointInput input;
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btVoronoiSimplexSolver simplexSolver;
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btGjkPairDetector gjkPairDetector( min0, min1, &simplexSolver, m_pdSolver );
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//TODO: if (dispatchInfo.m_useContinuous)
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gjkPairDetector.setMinkowskiA(min0);
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gjkPairDetector.setMinkowskiB(min1);
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#ifdef USE_SEPDISTANCE_UTIL2
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if (dispatchInfo.m_useConvexConservativeDistanceUtil)
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{
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input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
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} else
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#endif //USE_SEPDISTANCE_UTIL2
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{
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//if (dispatchInfo.m_convexMaxDistanceUseCPT)
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//{
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// input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
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//} else
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//{
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input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold()+resultOut->m_closestPointDistanceThreshold;
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// }
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input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
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}
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input.m_transformA = body0Wrap->getWorldTransform();
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input.m_transformB = body1Wrap->getWorldTransform();
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#ifdef USE_SEPDISTANCE_UTIL2
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btScalar sepDist = 0.f;
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if (dispatchInfo.m_useConvexConservativeDistanceUtil)
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{
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sepDist = gjkPairDetector.getCachedSeparatingDistance();
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if (sepDist>SIMD_EPSILON)
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{
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sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
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//now perturbe directions to get multiple contact points
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}
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}
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#endif //USE_SEPDISTANCE_UTIL2
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if (min0->isPolyhedral() && min1->isPolyhedral())
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{
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struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
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{
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virtual void setShapeIdentifiersA(int partId0,int index0){}
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virtual void setShapeIdentifiersB(int partId1,int index1){}
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virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
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{
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}
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};
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struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
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{
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btDiscreteCollisionDetectorInterface::Result* m_originalResult;
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btVector3 m_reportedNormalOnWorld;
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btScalar m_marginOnA;
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btScalar m_marginOnB;
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btScalar m_reportedDistance;
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bool m_foundResult;
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btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
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:m_originalResult(result),
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m_marginOnA(marginOnA),
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m_marginOnB(marginOnB),
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m_foundResult(false)
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{
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}
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virtual void setShapeIdentifiersA(int partId0,int index0){}
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virtual void setShapeIdentifiersB(int partId1,int index1){}
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virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg)
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{
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m_reportedDistance = depthOrg;
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m_reportedNormalOnWorld = normalOnBInWorld;
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btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
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m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
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|
if (m_reportedDistance<0.f)
|
|
{
|
|
m_foundResult = true;
|
|
}
|
|
m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
|
|
}
|
|
};
|
|
|
|
|
|
btDummyResult dummy;
|
|
|
|
///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
|
|
|
|
btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
|
|
btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
|
|
|
|
btWithoutMarginResult withoutMargin(resultOut, min0Margin,min1Margin);
|
|
|
|
btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
|
|
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
|
|
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
|
|
{
|
|
|
|
|
|
|
|
|
|
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
|
|
|
|
btScalar minDist = -1e30f;
|
|
btVector3 sepNormalWorldSpace;
|
|
bool foundSepAxis = true;
|
|
|
|
if (dispatchInfo.m_enableSatConvex)
|
|
{
|
|
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
|
|
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
|
|
body0Wrap->getWorldTransform(),
|
|
body1Wrap->getWorldTransform(),
|
|
sepNormalWorldSpace,*resultOut);
|
|
} else
|
|
{
|
|
#ifdef ZERO_MARGIN
|
|
gjkPairDetector.setIgnoreMargin(true);
|
|
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
|
#else
|
|
|
|
|
|
gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
|
|
//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
|
|
#endif //ZERO_MARGIN
|
|
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
|
|
//if (l2>SIMD_EPSILON)
|
|
{
|
|
sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
|
|
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
|
|
minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
|
|
|
|
#ifdef ZERO_MARGIN
|
|
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
|
|
#else
|
|
foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
|
|
#endif
|
|
}
|
|
}
|
|
if (foundSepAxis)
|
|
{
|
|
|
|
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
|
|
|
|
worldVertsB1.resize(0);
|
|
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
|
|
body0Wrap->getWorldTransform(),
|
|
body1Wrap->getWorldTransform(), minDist-threshold, threshold, worldVertsB1,worldVertsB2,
|
|
*resultOut);
|
|
|
|
}
|
|
if (m_ownManifold)
|
|
{
|
|
resultOut->refreshContactPoints();
|
|
}
|
|
return;
|
|
|
|
} else
|
|
{
|
|
//we can also deal with convex versus triangle (without connectivity data)
|
|
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
|
|
{
|
|
|
|
btVertexArray vertices;
|
|
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
|
|
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
|
|
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
|
|
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
|
|
|
|
//tri->initializePolyhedralFeatures();
|
|
|
|
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
|
|
|
|
btVector3 sepNormalWorldSpace;
|
|
btScalar minDist =-1e30f;
|
|
btScalar maxDist = threshold;
|
|
|
|
bool foundSepAxis = false;
|
|
if (0)
|
|
{
|
|
polyhedronB->initializePolyhedralFeatures();
|
|
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
|
|
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
|
|
body0Wrap->getWorldTransform(),
|
|
body1Wrap->getWorldTransform(),
|
|
sepNormalWorldSpace,*resultOut);
|
|
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
|
|
|
|
} else
|
|
{
|
|
#ifdef ZERO_MARGIN
|
|
gjkPairDetector.setIgnoreMargin(true);
|
|
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
|
#else
|
|
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
|
|
#endif//ZERO_MARGIN
|
|
|
|
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
|
|
if (l2>SIMD_EPSILON)
|
|
{
|
|
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
|
|
//minDist = gjkPairDetector.getCachedSeparatingDistance();
|
|
//maxDist = threshold;
|
|
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
|
|
foundSepAxis = true;
|
|
}
|
|
}
|
|
|
|
|
|
if (foundSepAxis)
|
|
{
|
|
worldVertsB2.resize(0);
|
|
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
|
|
body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut);
|
|
}
|
|
|
|
|
|
if (m_ownManifold)
|
|
{
|
|
resultOut->refreshContactPoints();
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
|
|
|
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
|
|
|
|
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
|
|
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
|
|
{
|
|
|
|
int i;
|
|
btVector3 v0,v1;
|
|
btVector3 sepNormalWorldSpace;
|
|
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
|
|
|
|
if (l2>SIMD_EPSILON)
|
|
{
|
|
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
|
|
|
|
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
|
|
|
|
|
|
bool perturbeA = true;
|
|
const btScalar angleLimit = 0.125f * SIMD_PI;
|
|
btScalar perturbeAngle;
|
|
btScalar radiusA = min0->getAngularMotionDisc();
|
|
btScalar radiusB = min1->getAngularMotionDisc();
|
|
if (radiusA < radiusB)
|
|
{
|
|
perturbeAngle = gContactBreakingThreshold /radiusA;
|
|
perturbeA = true;
|
|
} else
|
|
{
|
|
perturbeAngle = gContactBreakingThreshold / radiusB;
|
|
perturbeA = false;
|
|
}
|
|
if ( perturbeAngle > angleLimit )
|
|
perturbeAngle = angleLimit;
|
|
|
|
btTransform unPerturbedTransform;
|
|
if (perturbeA)
|
|
{
|
|
unPerturbedTransform = input.m_transformA;
|
|
} else
|
|
{
|
|
unPerturbedTransform = input.m_transformB;
|
|
}
|
|
|
|
for ( i=0;i<m_numPerturbationIterations;i++)
|
|
{
|
|
if (v0.length2()>SIMD_EPSILON)
|
|
{
|
|
btQuaternion perturbeRot(v0,perturbeAngle);
|
|
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
|
|
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
|
|
|
|
|
|
if (perturbeA)
|
|
{
|
|
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
|
|
input.m_transformB = body1Wrap->getWorldTransform();
|
|
#ifdef DEBUG_CONTACTS
|
|
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
|
|
#endif //DEBUG_CONTACTS
|
|
} else
|
|
{
|
|
input.m_transformA = body0Wrap->getWorldTransform();
|
|
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
|
|
#ifdef DEBUG_CONTACTS
|
|
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
|
|
#endif
|
|
}
|
|
|
|
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
|
|
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
|
|
#ifdef USE_SEPDISTANCE_UTIL2
|
|
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
|
|
{
|
|
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
|
|
}
|
|
#endif //USE_SEPDISTANCE_UTIL2
|
|
|
|
|
|
}
|
|
|
|
if (m_ownManifold)
|
|
{
|
|
resultOut->refreshContactPoints();
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
bool disableCcd = false;
|
|
btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
|
{
|
|
(void)resultOut;
|
|
(void)dispatchInfo;
|
|
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
|
|
|
|
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
|
|
///col0->m_worldTransform,
|
|
btScalar resultFraction = btScalar(1.);
|
|
|
|
|
|
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
|
|
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
|
|
|
|
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
|
|
squareMot1 < col1->getCcdSquareMotionThreshold())
|
|
return resultFraction;
|
|
|
|
if (disableCcd)
|
|
return btScalar(1.);
|
|
|
|
|
|
//An adhoc way of testing the Continuous Collision Detection algorithms
|
|
//One object is approximated as a sphere, to simplify things
|
|
//Starting in penetration should report no time of impact
|
|
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
|
|
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
|
|
|
|
|
|
/// Convex0 against sphere for Convex1
|
|
{
|
|
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
|
|
|
|
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
|
|
btConvexCast::CastResult result;
|
|
btVoronoiSimplexSolver voronoiSimplex;
|
|
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
|
///Simplification, one object is simplified as a sphere
|
|
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
|
|
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
|
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
|
|
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
|
|
{
|
|
|
|
//store result.m_fraction in both bodies
|
|
|
|
if (col0->getHitFraction()> result.m_fraction)
|
|
col0->setHitFraction( result.m_fraction );
|
|
|
|
if (col1->getHitFraction() > result.m_fraction)
|
|
col1->setHitFraction( result.m_fraction);
|
|
|
|
if (resultFraction > result.m_fraction)
|
|
resultFraction = result.m_fraction;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
/// Sphere (for convex0) against Convex1
|
|
{
|
|
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
|
|
|
|
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
|
|
btConvexCast::CastResult result;
|
|
btVoronoiSimplexSolver voronoiSimplex;
|
|
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
|
///Simplification, one object is simplified as a sphere
|
|
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
|
|
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
|
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
|
|
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
|
|
{
|
|
|
|
//store result.m_fraction in both bodies
|
|
|
|
if (col0->getHitFraction() > result.m_fraction)
|
|
col0->setHitFraction( result.m_fraction);
|
|
|
|
if (col1->getHitFraction() > result.m_fraction)
|
|
col1->setHitFraction( result.m_fraction);
|
|
|
|
if (resultFraction > result.m_fraction)
|
|
resultFraction = result.m_fraction;
|
|
|
|
}
|
|
}
|
|
|
|
return resultFraction;
|
|
|
|
}
|
|
|