forked from LeenkxTeam/LNXSDK
Update Files
This commit is contained in:
@ -0,0 +1,361 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
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.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "btMinkowskiPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
#define NUM_UNITSPHERE_POINTS 42
|
||||
|
||||
|
||||
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
|
||||
const btConvexShape* convexA,const btConvexShape* convexB,
|
||||
const btTransform& transA,const btTransform& transB,
|
||||
btVector3& v, btVector3& pa, btVector3& pb,
|
||||
class btIDebugDraw* debugDraw
|
||||
)
|
||||
{
|
||||
|
||||
(void)v;
|
||||
|
||||
bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
|
||||
|
||||
struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
|
||||
{
|
||||
|
||||
btIntermediateResult():m_hasResult(false)
|
||||
{
|
||||
}
|
||||
|
||||
btVector3 m_normalOnBInWorld;
|
||||
btVector3 m_pointInWorld;
|
||||
btScalar m_depth;
|
||||
bool m_hasResult;
|
||||
|
||||
virtual void setShapeIdentifiersA(int partId0,int index0)
|
||||
{
|
||||
(void)partId0;
|
||||
(void)index0;
|
||||
}
|
||||
virtual void setShapeIdentifiersB(int partId1,int index1)
|
||||
{
|
||||
(void)partId1;
|
||||
(void)index1;
|
||||
}
|
||||
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
|
||||
{
|
||||
m_normalOnBInWorld = normalOnBInWorld;
|
||||
m_pointInWorld = pointInWorld;
|
||||
m_depth = depth;
|
||||
m_hasResult = true;
|
||||
}
|
||||
};
|
||||
|
||||
//just take fixed number of orientation, and sample the penetration depth in that direction
|
||||
btScalar minProj = btScalar(BT_LARGE_FLOAT);
|
||||
btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
btVector3 minA,minB;
|
||||
btVector3 seperatingAxisInA,seperatingAxisInB;
|
||||
btVector3 pInA,qInB,pWorld,qWorld,w;
|
||||
|
||||
#ifndef __SPU__
|
||||
#define USE_BATCHED_SUPPORT 1
|
||||
#endif
|
||||
#ifdef USE_BATCHED_SUPPORT
|
||||
|
||||
btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
|
||||
int i;
|
||||
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
|
||||
for (i=0;i<numSampleDirections;i++)
|
||||
{
|
||||
btVector3 norm = getPenetrationDirections()[i];
|
||||
seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
|
||||
seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
|
||||
}
|
||||
|
||||
{
|
||||
int numPDA = convexA->getNumPreferredPenetrationDirections();
|
||||
if (numPDA)
|
||||
{
|
||||
for (int i=0;i<numPDA;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
convexA->getPreferredPenetrationDirection(i,norm);
|
||||
norm = transA.getBasis() * norm;
|
||||
getPenetrationDirections()[numSampleDirections] = norm;
|
||||
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
|
||||
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
int numPDB = convexB->getNumPreferredPenetrationDirections();
|
||||
if (numPDB)
|
||||
{
|
||||
for (int i=0;i<numPDB;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
convexB->getPreferredPenetrationDirection(i,norm);
|
||||
norm = transB.getBasis() * norm;
|
||||
getPenetrationDirections()[numSampleDirections] = norm;
|
||||
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
|
||||
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
|
||||
convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
|
||||
|
||||
for (i=0;i<numSampleDirections;i++)
|
||||
{
|
||||
btVector3 norm = getPenetrationDirections()[i];
|
||||
if (check2d)
|
||||
{
|
||||
norm[2] = 0.f;
|
||||
}
|
||||
if (norm.length2()>0.01)
|
||||
{
|
||||
|
||||
seperatingAxisInA = seperatingAxisInABatch[i];
|
||||
seperatingAxisInB = seperatingAxisInBBatch[i];
|
||||
|
||||
pInA = supportVerticesABatch[i];
|
||||
qInB = supportVerticesBBatch[i];
|
||||
|
||||
pWorld = transA(pInA);
|
||||
qWorld = transB(qInB);
|
||||
if (check2d)
|
||||
{
|
||||
pWorld[2] = 0.f;
|
||||
qWorld[2] = 0.f;
|
||||
}
|
||||
|
||||
w = qWorld - pWorld;
|
||||
btScalar delta = norm.dot(w);
|
||||
//find smallest delta
|
||||
if (delta < minProj)
|
||||
{
|
||||
minProj = delta;
|
||||
minNorm = norm;
|
||||
minA = pWorld;
|
||||
minB = qWorld;
|
||||
}
|
||||
}
|
||||
}
|
||||
#else
|
||||
|
||||
int numSampleDirections = NUM_UNITSPHERE_POINTS;
|
||||
|
||||
#ifndef __SPU__
|
||||
{
|
||||
int numPDA = convexA->getNumPreferredPenetrationDirections();
|
||||
if (numPDA)
|
||||
{
|
||||
for (int i=0;i<numPDA;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
convexA->getPreferredPenetrationDirection(i,norm);
|
||||
norm = transA.getBasis() * norm;
|
||||
getPenetrationDirections()[numSampleDirections] = norm;
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
int numPDB = convexB->getNumPreferredPenetrationDirections();
|
||||
if (numPDB)
|
||||
{
|
||||
for (int i=0;i<numPDB;i++)
|
||||
{
|
||||
btVector3 norm;
|
||||
convexB->getPreferredPenetrationDirection(i,norm);
|
||||
norm = transB.getBasis() * norm;
|
||||
getPenetrationDirections()[numSampleDirections] = norm;
|
||||
numSampleDirections++;
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif // __SPU__
|
||||
|
||||
for (int i=0;i<numSampleDirections;i++)
|
||||
{
|
||||
const btVector3& norm = getPenetrationDirections()[i];
|
||||
seperatingAxisInA = (-norm)* transA.getBasis();
|
||||
seperatingAxisInB = norm* transB.getBasis();
|
||||
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
|
||||
qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
|
||||
pWorld = transA(pInA);
|
||||
qWorld = transB(qInB);
|
||||
w = qWorld - pWorld;
|
||||
btScalar delta = norm.dot(w);
|
||||
//find smallest delta
|
||||
if (delta < minProj)
|
||||
{
|
||||
minProj = delta;
|
||||
minNorm = norm;
|
||||
minA = pWorld;
|
||||
minB = qWorld;
|
||||
}
|
||||
}
|
||||
#endif //USE_BATCHED_SUPPORT
|
||||
|
||||
//add the margins
|
||||
|
||||
minA += minNorm*convexA->getMarginNonVirtual();
|
||||
minB -= minNorm*convexB->getMarginNonVirtual();
|
||||
//no penetration
|
||||
if (minProj < btScalar(0.))
|
||||
return false;
|
||||
|
||||
btScalar extraSeparation = 0.5f;///scale dependent
|
||||
minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//#define DEBUG_DRAW 1
|
||||
#ifdef DEBUG_DRAW
|
||||
if (debugDraw)
|
||||
{
|
||||
btVector3 color(0,1,0);
|
||||
debugDraw->drawLine(minA,minB,color);
|
||||
color = btVector3 (1,1,1);
|
||||
btVector3 vec = minB-minA;
|
||||
btScalar prj2 = minNorm.dot(vec);
|
||||
debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
|
||||
|
||||
}
|
||||
#endif //DEBUG_DRAW
|
||||
|
||||
|
||||
|
||||
btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
|
||||
|
||||
btScalar offsetDist = minProj;
|
||||
btVector3 offset = minNorm * offsetDist;
|
||||
|
||||
|
||||
|
||||
btGjkPairDetector::ClosestPointInput input;
|
||||
|
||||
btVector3 newOrg = transA.getOrigin() + offset;
|
||||
|
||||
btTransform displacedTrans = transA;
|
||||
displacedTrans.setOrigin(newOrg);
|
||||
|
||||
input.m_transformA = displacedTrans;
|
||||
input.m_transformB = transB;
|
||||
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
|
||||
|
||||
btIntermediateResult res;
|
||||
gjkdet.setCachedSeperatingAxis(-minNorm);
|
||||
gjkdet.getClosestPoints(input,res,debugDraw);
|
||||
|
||||
btScalar correctedMinNorm = minProj - res.m_depth;
|
||||
|
||||
|
||||
//the penetration depth is over-estimated, relax it
|
||||
btScalar penetration_relaxation= btScalar(1.);
|
||||
minNorm*=penetration_relaxation;
|
||||
|
||||
|
||||
if (res.m_hasResult)
|
||||
{
|
||||
|
||||
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
|
||||
pb = res.m_pointInWorld;
|
||||
v = minNorm;
|
||||
|
||||
#ifdef DEBUG_DRAW
|
||||
if (debugDraw)
|
||||
{
|
||||
btVector3 color(1,0,0);
|
||||
debugDraw->drawLine(pa,pb,color);
|
||||
}
|
||||
#endif//DEBUG_DRAW
|
||||
|
||||
|
||||
}
|
||||
return res.m_hasResult;
|
||||
}
|
||||
|
||||
btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
|
||||
{
|
||||
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
|
||||
{
|
||||
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
|
||||
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
|
||||
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
|
||||
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
|
||||
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
|
||||
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
|
||||
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
|
||||
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
|
||||
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
|
||||
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
|
||||
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
|
||||
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
|
||||
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
|
||||
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
|
||||
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
|
||||
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
|
||||
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
|
||||
};
|
||||
|
||||
return sPenetrationDirections;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user