Add EPA penetration depth solver support to bullet multithreaded.
Update SubSimplexConvexCast algorithm used in bullet multithreaded.
This commit is contained in:
john.mccutchan
@@ -0,0 +1,850 @@
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#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "SpuCollisionShapes.h"
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#include "SpuGjkEpa2.h"
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#if defined(DEBUG) || defined (_DEBUG)
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#include <stdio.h> //for debug printf
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#ifdef __SPU__
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#include <spu_printf.h>
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#define printf spu_printf
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#endif //__SPU__
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#endif
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namespace gjkepa2_impl
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{
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// Config
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/* GJK */
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#define GJK_MAX_ITERATIONS 128
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#define GJK_ACCURARY ((btScalar)0.0001)
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#define GJK_MIN_DISTANCE ((btScalar)0.0001)
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#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
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#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
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#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
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#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
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/* EPA */
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#define EPA_MAX_VERTICES 64
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#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
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#define EPA_MAX_ITERATIONS 255
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#define EPA_ACCURACY ((btScalar)0.0001)
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#define EPA_FALLBACK (10*EPA_ACCURACY)
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#define EPA_PLANE_EPS ((btScalar)0.00001)
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#define EPA_INSIDE_EPS ((btScalar)0.01)
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// Shorthands
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typedef unsigned int U;
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typedef unsigned char U1;
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struct convexShape
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{
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void* shape;
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SpuConvexPolyhedronVertexData* convexData;
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int shapeType;
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float margin;
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};
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// MinkowskiDiff
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struct MinkowskiDiff
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{
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convexShape m_shapes[2];
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btMatrix3x3 m_toshape1;
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btTransform m_toshape0;
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btVector3 (btConvexShape::*Ls)(const btVector3&) const;
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void EnableMargin(bool enable)
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{
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#if 0
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if(enable)
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Ls=&btConvexShape::localGetSupportingVertex;
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else
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Ls=&btConvexShape::localGetSupportingVertexWithoutMargin;
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#endif
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}
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inline btVector3 Support0(const btVector3& d) const
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{
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btVector3 sp = localGetSupportingVertexWithoutMargin (m_shapes[0].shapeType, m_shapes[0].shape, d, m_shapes[0].convexData);
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btVector3 ud = d;
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ud.normalize();
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sp += ud * m_shapes[0].margin;
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return sp;
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// return(((m_shapes[0])->*(Ls))(d));
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}
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inline btVector3 Support1(const btVector3& d) const
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{
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btVector3 nd = m_toshape1*d;
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btVector3 ud = nd;
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ud.normalize ();
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btVector3 sp = localGetSupportingVertexWithoutMargin (m_shapes[1].shapeType, m_shapes[1].shape, nd, m_shapes[1].convexData);
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sp += ud * m_shapes[1].margin;
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return m_toshape0 * sp;
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// return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
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}
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inline btVector3 Support(const btVector3& d) const
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{
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return(Support0(d)-Support1(-d));
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}
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btVector3 Support(const btVector3& d,U index) const
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{
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if(index)
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return(Support1(d));
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else
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return(Support0(d));
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}
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};
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typedef MinkowskiDiff tShape;
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// GJK
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struct GJK
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{
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/* Types */
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struct sSV
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{
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btVector3 d,w;
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};
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struct sSimplex
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{
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sSV* c[4];
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btScalar p[4];
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U rank;
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};
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struct eStatus { enum _ {
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Valid,
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Inside,
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Failed };};
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/* Fields */
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tShape m_shape;
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btVector3 m_ray;
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btScalar m_distance;
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sSimplex m_simplices[2];
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sSV m_store[4];
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sSV* m_free[4];
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U m_nfree;
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U m_current;
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sSimplex* m_simplex;
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eStatus::_ m_status;
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/* Methods */
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GJK()
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{
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Initialize();
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}
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void Initialize()
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{
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m_ray = btVector3(0,0,0);
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m_nfree = 0;
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m_status = eStatus::Failed;
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m_current = 0;
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m_distance = 0;
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}
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eStatus::_ Evaluate(const tShape& shapearg,const btVector3& guess)
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{
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U iterations=0;
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btScalar sqdist=0;
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btScalar alpha=0;
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btVector3 lastw[4];
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U clastw=0;
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/* Initialize solver */
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m_free[0] = &m_store[0];
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m_free[1] = &m_store[1];
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m_free[2] = &m_store[2];
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m_free[3] = &m_store[3];
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m_nfree = 4;
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m_current = 0;
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m_status = eStatus::Valid;
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m_shape = shapearg;
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m_distance = 0;
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/* Initialize simplex */
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m_simplices[0].rank = 0;
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m_ray = guess;
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const btScalar sqrl= m_ray.length2();
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appendvertice(m_simplices[0],sqrl>0?-m_ray:btVector3(1,0,0));
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m_simplices[0].p[0] = 1;
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m_ray = m_simplices[0].c[0]->w;
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sqdist = sqrl;
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lastw[0] =
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lastw[1] =
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lastw[2] =
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lastw[3] = m_ray;
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/* Loop */
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do {
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const U next=1-m_current;
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sSimplex& cs=m_simplices[m_current];
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sSimplex& ns=m_simplices[next];
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/* Check zero */
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const btScalar rl=m_ray.length();
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if(rl<GJK_MIN_DISTANCE)
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{/* Touching or inside */
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m_status=eStatus::Inside;
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break;
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}
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/* Append new vertice in -'v' direction */
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appendvertice(cs,-m_ray);
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const btVector3& w=cs.c[cs.rank-1]->w;
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bool found=false;
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for(U i=0;i<4;++i)
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{
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if((w-lastw[i]).length2()<GJK_DUPLICATED_EPS)
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{ found=true;break; }
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}
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if(found)
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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else
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{/* Update lastw */
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lastw[clastw=(clastw+1)&3]=w;
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}
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/* Check for termination */
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const btScalar omega=dot(m_ray,w)/rl;
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alpha=btMax(omega,alpha);
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if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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/* Reduce simplex */
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btScalar weights[4];
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U mask=0;
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switch(cs.rank)
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{
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case 2: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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weights,mask);break;
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case 3: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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cs.c[2]->w,
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weights,mask);break;
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case 4: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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cs.c[2]->w,
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cs.c[3]->w,
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weights,mask);break;
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}
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if(sqdist>=0)
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{/* Valid */
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ns.rank = 0;
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m_ray = btVector3(0,0,0);
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m_current = next;
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for(U i=0,ni=cs.rank;i<ni;++i)
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{
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if(mask&(1<<i))
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{
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ns.c[ns.rank] = cs.c[i];
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ns.p[ns.rank++] = weights[i];
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m_ray += cs.c[i]->w*weights[i];
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}
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else
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{
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m_free[m_nfree++] = cs.c[i];
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}
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}
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if(mask==15) m_status=eStatus::Inside;
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}
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else
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
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} while(m_status==eStatus::Valid);
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m_simplex=&m_simplices[m_current];
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switch(m_status)
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{
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case eStatus::Valid: m_distance=m_ray.length();break;
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case eStatus::Inside: m_distance=0;break;
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}
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return(m_status);
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}
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bool EncloseOrigin()
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{
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switch(m_simplex->rank)
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{
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case 1:
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{
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for(U i=0;i<3;++i)
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{
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btVector3 axis=btVector3(0,0,0);
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axis[i]=1;
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appendvertice(*m_simplex, axis);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-axis);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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break;
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case 2:
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{
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const btVector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w;
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for(U i=0;i<3;++i)
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{
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btVector3 axis=btVector3(0,0,0);
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axis[i]=1;
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if(btFabs(dot(axis,d))>0)
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{
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const btVector3 p=cross(d,axis);
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appendvertice(*m_simplex, p);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-p);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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}
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break;
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case 3:
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{
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const btVector3 n=cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
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m_simplex->c[2]->w-m_simplex->c[0]->w);
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const btScalar l=n.length();
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if(l>0)
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{
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appendvertice(*m_simplex,n);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-n);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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break;
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case 4:
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{
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if(btFabs(det( m_simplex->c[0]->w-m_simplex->c[3]->w,
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m_simplex->c[1]->w-m_simplex->c[3]->w,
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m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
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return(true);
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}
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break;
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}
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return(false);
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}
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/* Internals */
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void getsupport(const btVector3& d,sSV& sv) const
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{
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sv.d = d/d.length();
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sv.w = m_shape.Support(sv.d);
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}
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void removevertice(sSimplex& simplex)
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{
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m_free[m_nfree++]=simplex.c[--simplex.rank];
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}
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void appendvertice(sSimplex& simplex,const btVector3& v)
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{
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simplex.p[simplex.rank]=0;
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simplex.c[simplex.rank]=m_free[--m_nfree];
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getsupport(v,*simplex.c[simplex.rank++]);
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}
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static btScalar det(const btVector3& a,const btVector3& b,const btVector3& c)
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{
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return( a.y()*b.z()*c.x()+a.z()*b.x()*c.y()-
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a.x()*b.z()*c.y()-a.y()*b.x()*c.z()+
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a.x()*b.y()*c.z()-a.z()*b.y()*c.x());
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}
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static btScalar projectorigin( const btVector3& a,
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const btVector3& b,
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btScalar* w,U& m)
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{
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const btVector3 d=b-a;
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const btScalar l=d.length2();
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if(l>GJK_SIMPLEX2_EPS)
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{
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const btScalar t(l>0?-dot(a,d)/l:0);
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if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length2()); }
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else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length2()); }
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else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length2()); }
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}
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return(-1);
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}
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static btScalar projectorigin( const btVector3& a,
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const btVector3& b,
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const btVector3& c,
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btScalar* w,U& m)
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{
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static const U imd3[]={1,2,0};
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const btVector3* vt[]={&a,&b,&c};
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const btVector3 dl[]={a-b,b-c,c-a};
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const btVector3 n=cross(dl[0],dl[1]);
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const btScalar l=n.length2();
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if(l>GJK_SIMPLEX3_EPS)
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{
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btScalar mindist=-1;
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btScalar subw[2];
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U subm;
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for(U i=0;i<3;++i)
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{
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if(dot(*vt[i],cross(dl[i],n))>0)
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{
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const U j=imd3[i];
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const btScalar subd(projectorigin(*vt[i],*vt[j],subw,subm));
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if((mindist<0)||(subd<mindist))
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{
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mindist = subd;
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m = ((subm&1)?1<<i:0)+((subm&2)?1<<j:0);
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w[i] = subw[0];
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w[j] = subw[1];
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w[imd3[j]] = 0;
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}
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}
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}
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if(mindist<0)
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{
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const btScalar d=dot(a,n);
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const btScalar s=btSqrt(l);
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const btVector3 p=n*(d/l);
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mindist = p.length2();
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m = 7;
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w[0] = (cross(dl[1],b-p)).length()/s;
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w[1] = (cross(dl[2],c-p)).length()/s;
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w[2] = 1-(w[0]+w[1]);
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}
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return(mindist);
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}
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return(-1);
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}
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static btScalar projectorigin( const btVector3& a,
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const btVector3& b,
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const btVector3& c,
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const btVector3& d,
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btScalar* w,U& m)
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{
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static const U imd3[]={1,2,0};
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const btVector3* vt[]={&a,&b,&c,&d};
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const btVector3 dl[]={a-d,b-d,c-d};
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const btScalar vl=det(dl[0],dl[1],dl[2]);
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const bool ng=(vl*dot(a,cross(b-c,a-b)))<=0;
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if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
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{
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btScalar mindist=-1;
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btScalar subw[3];
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U subm;
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for(U i=0;i<3;++i)
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{
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const U j=imd3[i];
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const btScalar s=vl*dot(d,cross(dl[i],dl[j]));
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if(s>0)
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{
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const btScalar subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
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if((mindist<0)||(subd<mindist))
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{
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mindist = subd;
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m = (subm&1?1<<i:0)+
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(subm&2?1<<j:0)+
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(subm&4?8:0);
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w[i] = subw[0];
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w[j] = subw[1];
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w[imd3[j]] = 0;
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w[3] = subw[2];
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}
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}
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}
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if(mindist<0)
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{
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mindist = 0;
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m = 15;
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w[0] = det(c,b,d)/vl;
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w[1] = det(a,c,d)/vl;
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w[2] = det(b,a,d)/vl;
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w[3] = 1-(w[0]+w[1]+w[2]);
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}
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return(mindist);
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}
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return(-1);
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}
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};
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// EPA
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struct EPA
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{
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/* Types */
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typedef GJK::sSV sSV;
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struct sFace
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{
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btVector3 n;
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btScalar d;
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||||
btScalar p;
|
||||
sSV* c[3];
|
||||
sFace* f[3];
|
||||
sFace* l[2];
|
||||
U1 e[3];
|
||||
U1 pass;
|
||||
};
|
||||
struct sList
|
||||
{
|
||||
sFace* root;
|
||||
U count;
|
||||
sList() : root(0),count(0) {}
|
||||
};
|
||||
struct sHorizon
|
||||
{
|
||||
sFace* cf;
|
||||
sFace* ff;
|
||||
U nf;
|
||||
sHorizon() : cf(0),ff(0),nf(0) {}
|
||||
};
|
||||
struct eStatus { enum _ {
|
||||
Valid,
|
||||
Touching,
|
||||
Degenerated,
|
||||
NonConvex,
|
||||
InvalidHull,
|
||||
OutOfFaces,
|
||||
OutOfVertices,
|
||||
AccuraryReached,
|
||||
FallBack,
|
||||
Failed, };};
|
||||
/* Fields */
|
||||
eStatus::_ m_status;
|
||||
GJK::sSimplex m_result;
|
||||
btVector3 m_normal;
|
||||
btScalar m_depth;
|
||||
sSV m_sv_store[EPA_MAX_VERTICES];
|
||||
sFace m_fc_store[EPA_MAX_FACES];
|
||||
U m_nextsv;
|
||||
sList m_hull;
|
||||
sList m_stock;
|
||||
/* Methods */
|
||||
EPA()
|
||||
{
|
||||
Initialize();
|
||||
}
|
||||
void Initialize()
|
||||
{
|
||||
m_status = eStatus::Failed;
|
||||
m_normal = btVector3(0,0,0);
|
||||
m_depth = 0;
|
||||
m_nextsv = 0;
|
||||
for(U i=0;i<EPA_MAX_FACES;++i)
|
||||
{
|
||||
append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
|
||||
}
|
||||
}
|
||||
eStatus::_ Evaluate(GJK& gjk,const btVector3& guess)
|
||||
{
|
||||
GJK::sSimplex& simplex=*gjk.m_simplex;
|
||||
if((simplex.rank>1)&&gjk.EncloseOrigin())
|
||||
{
|
||||
/* Clean up */
|
||||
while(m_hull.root)
|
||||
{
|
||||
sFace* f(m_hull.root);
|
||||
remove(m_hull,f);
|
||||
append(m_stock,f);
|
||||
}
|
||||
m_status = eStatus::Valid;
|
||||
m_nextsv = 0;
|
||||
/* Orient simplex */
|
||||
if(gjk.det( simplex.c[0]->w-simplex.c[3]->w,
|
||||
simplex.c[1]->w-simplex.c[3]->w,
|
||||
simplex.c[2]->w-simplex.c[3]->w)<0)
|
||||
{
|
||||
btSwap(simplex.c[0],simplex.c[1]);
|
||||
btSwap(simplex.p[0],simplex.p[1]);
|
||||
}
|
||||
/* Build initial hull */
|
||||
sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
|
||||
newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
|
||||
newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
|
||||
newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
|
||||
if(m_hull.count==4)
|
||||
{
|
||||
sFace* best=findbest();
|
||||
sFace outer=*best;
|
||||
U pass=0;
|
||||
U iterations=0;
|
||||
bind(tetra[0],0,tetra[1],0);
|
||||
bind(tetra[0],1,tetra[2],0);
|
||||
bind(tetra[0],2,tetra[3],0);
|
||||
bind(tetra[1],1,tetra[3],2);
|
||||
bind(tetra[1],2,tetra[2],1);
|
||||
bind(tetra[2],2,tetra[3],1);
|
||||
m_status=eStatus::Valid;
|
||||
for(;iterations<EPA_MAX_ITERATIONS;++iterations)
|
||||
{
|
||||
if(m_nextsv<EPA_MAX_VERTICES)
|
||||
{
|
||||
sHorizon horizon;
|
||||
sSV* w=&m_sv_store[m_nextsv++];
|
||||
bool valid=true;
|
||||
best->pass = (U1)(++pass);
|
||||
gjk.getsupport(best->n,*w);
|
||||
const btScalar wdist=dot(best->n,w->w)-best->d;
|
||||
if(wdist>EPA_ACCURACY)
|
||||
{
|
||||
for(U j=0;(j<3)&&valid;++j)
|
||||
{
|
||||
valid&=expand( pass,w,
|
||||
best->f[j],best->e[j],
|
||||
horizon);
|
||||
}
|
||||
if(valid&&(horizon.nf>=3))
|
||||
{
|
||||
bind(horizon.cf,1,horizon.ff,2);
|
||||
remove(m_hull,best);
|
||||
append(m_stock,best);
|
||||
best=findbest();
|
||||
if(best->p>=outer.p) outer=*best;
|
||||
} else { m_status=eStatus::InvalidHull;break; }
|
||||
} else { m_status=eStatus::AccuraryReached;break; }
|
||||
} else { m_status=eStatus::OutOfVertices;break; }
|
||||
}
|
||||
const btVector3 projection=outer.n*outer.d;
|
||||
m_normal = outer.n;
|
||||
m_depth = outer.d;
|
||||
m_result.rank = 3;
|
||||
m_result.c[0] = outer.c[0];
|
||||
m_result.c[1] = outer.c[1];
|
||||
m_result.c[2] = outer.c[2];
|
||||
m_result.p[0] = cross( outer.c[1]->w-projection,
|
||||
outer.c[2]->w-projection).length();
|
||||
m_result.p[1] = cross( outer.c[2]->w-projection,
|
||||
outer.c[0]->w-projection).length();
|
||||
m_result.p[2] = cross( outer.c[0]->w-projection,
|
||||
outer.c[1]->w-projection).length();
|
||||
const btScalar sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
|
||||
m_result.p[0] /= sum;
|
||||
m_result.p[1] /= sum;
|
||||
m_result.p[2] /= sum;
|
||||
return(m_status);
|
||||
}
|
||||
}
|
||||
/* Fallback */
|
||||
m_status = eStatus::FallBack;
|
||||
m_normal = -guess;
|
||||
const btScalar nl=m_normal.length();
|
||||
if(nl>0)
|
||||
m_normal = m_normal/nl;
|
||||
else
|
||||
m_normal = btVector3(1,0,0);
|
||||
m_depth = 0;
|
||||
m_result.rank=1;
|
||||
m_result.c[0]=simplex.c[0];
|
||||
m_result.p[0]=1;
|
||||
return(m_status);
|
||||
}
|
||||
sFace* newface(sSV* a,sSV* b,sSV* c,bool forced)
|
||||
{
|
||||
if(m_stock.root)
|
||||
{
|
||||
sFace* face=m_stock.root;
|
||||
remove(m_stock,face);
|
||||
append(m_hull,face);
|
||||
face->pass = 0;
|
||||
face->c[0] = a;
|
||||
face->c[1] = b;
|
||||
face->c[2] = c;
|
||||
face->n = cross(b->w-a->w,c->w-a->w);
|
||||
const btScalar l=face->n.length();
|
||||
const bool v=l>EPA_ACCURACY;
|
||||
face->p = btMin(btMin(
|
||||
dot(a->w,cross(face->n,a->w-b->w)),
|
||||
dot(b->w,cross(face->n,b->w-c->w))),
|
||||
dot(c->w,cross(face->n,c->w-a->w))) /
|
||||
(v?l:1);
|
||||
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
|
||||
if(v)
|
||||
{
|
||||
face->d = dot(a->w,face->n)/l;
|
||||
face->n /= l;
|
||||
if(forced||(face->d>=-EPA_PLANE_EPS))
|
||||
{
|
||||
return(face);
|
||||
} else m_status=eStatus::NonConvex;
|
||||
} else m_status=eStatus::Degenerated;
|
||||
remove(m_hull,face);
|
||||
append(m_stock,face);
|
||||
return(0);
|
||||
}
|
||||
m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
|
||||
return(0);
|
||||
}
|
||||
sFace* findbest()
|
||||
{
|
||||
sFace* minf=m_hull.root;
|
||||
btScalar mind=minf->d*minf->d;
|
||||
btScalar maxp=minf->p;
|
||||
for(sFace* f=minf->l[1];f;f=f->l[1])
|
||||
{
|
||||
const btScalar sqd=f->d*f->d;
|
||||
if((f->p>=maxp)&&(sqd<mind))
|
||||
{
|
||||
minf=f;
|
||||
mind=sqd;
|
||||
maxp=f->p;
|
||||
}
|
||||
}
|
||||
return(minf);
|
||||
}
|
||||
bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
|
||||
{
|
||||
static const U i1m3[]={1,2,0};
|
||||
static const U i2m3[]={2,0,1};
|
||||
if(f->pass!=pass)
|
||||
{
|
||||
const U e1=i1m3[e];
|
||||
if((dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
|
||||
{
|
||||
sFace* nf=newface(f->c[e1],f->c[e],w,false);
|
||||
if(nf)
|
||||
{
|
||||
bind(nf,0,f,e);
|
||||
if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
|
||||
horizon.cf=nf;
|
||||
++horizon.nf;
|
||||
return(true);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
const U e2=i2m3[e];
|
||||
f->pass = (U1)pass;
|
||||
if( expand(pass,w,f->f[e1],f->e[e1],horizon)&&
|
||||
expand(pass,w,f->f[e2],f->e[e2],horizon))
|
||||
{
|
||||
remove(m_hull,f);
|
||||
append(m_stock,f);
|
||||
return(true);
|
||||
}
|
||||
}
|
||||
}
|
||||
return(false);
|
||||
}
|
||||
static inline void bind(sFace* fa,U ea,sFace* fb,U eb)
|
||||
{
|
||||
fa->e[ea]=(U1)eb;fa->f[ea]=fb;
|
||||
fb->e[eb]=(U1)ea;fb->f[eb]=fa;
|
||||
}
|
||||
static inline void append(sList& list,sFace* face)
|
||||
{
|
||||
face->l[0] = 0;
|
||||
face->l[1] = list.root;
|
||||
if(list.root) list.root->l[0]=face;
|
||||
list.root = face;
|
||||
++list.count;
|
||||
}
|
||||
static inline void remove(sList& list,sFace* face)
|
||||
{
|
||||
if(face->l[1]) face->l[1]->l[0]=face->l[0];
|
||||
if(face->l[0]) face->l[0]->l[1]=face->l[1];
|
||||
if(face==list.root) list.root=face->l[1];
|
||||
--list.count;
|
||||
}
|
||||
};
|
||||
|
||||
//
|
||||
static void Initialize(void* shapeA,
|
||||
SpuConvexPolyhedronVertexData* convexDataA,
|
||||
int shapeTypeA,
|
||||
float marginA,
|
||||
const btTransform& wtrs0,
|
||||
void* shapeB,
|
||||
SpuConvexPolyhedronVertexData* convexDataB,
|
||||
int shapeTypeB,
|
||||
float marginB,
|
||||
const btTransform& wtrs1,
|
||||
SpuGjkEpaSolver2::sResults& results,
|
||||
tShape& shape,
|
||||
bool withmargins)
|
||||
{
|
||||
/* Results */
|
||||
results.witnesses[0] =
|
||||
results.witnesses[1] = btVector3(0,0,0);
|
||||
results.status = SpuGjkEpaSolver2::sResults::Separated;
|
||||
/* Shape */
|
||||
shape.m_shapes[0].margin = marginA;
|
||||
shape.m_shapes[0].shape = shapeA;
|
||||
shape.m_shapes[0].shapeType = shapeTypeA;
|
||||
shape.m_shapes[0].convexData = convexDataA;
|
||||
shape.m_shapes[1].margin = marginB;
|
||||
shape.m_shapes[1].shape = shapeB;
|
||||
shape.m_shapes[1].shapeType = shapeTypeB;
|
||||
shape.m_shapes[1].convexData = convexDataB;
|
||||
shape.m_toshape1 = wtrs1.getBasis().transposeTimes(wtrs0.getBasis());
|
||||
shape.m_toshape0 = wtrs0.inverseTimes(wtrs1);
|
||||
shape.EnableMargin(withmargins);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//
|
||||
// Api
|
||||
//
|
||||
|
||||
using namespace gjkepa2_impl;
|
||||
|
||||
//
|
||||
int SpuGjkEpaSolver2::StackSizeRequirement()
|
||||
{
|
||||
return(sizeof(GJK)+sizeof(EPA));
|
||||
}
|
||||
|
||||
//
|
||||
bool SpuGjkEpaSolver2::Penetration(void* shapeA,
|
||||
SpuConvexPolyhedronVertexData* convexDataA,
|
||||
int shapeTypeA,
|
||||
float marginA,
|
||||
const btTransform& wtrs0,
|
||||
void* shapeB,
|
||||
SpuConvexPolyhedronVertexData* convexDataB,
|
||||
int shapeTypeB,
|
||||
float marginB,
|
||||
const btTransform& wtrs1,
|
||||
const btVector3& guess,
|
||||
sResults& results)
|
||||
{
|
||||
tShape shape;
|
||||
Initialize(shapeA, convexDataA, shapeTypeA, marginA, wtrs0, shapeB, convexDataB, shapeTypeB, marginB, wtrs1, results,shape,true);
|
||||
GJK gjk;
|
||||
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
|
||||
switch(gjk_status)
|
||||
{
|
||||
case GJK::eStatus::Inside:
|
||||
{
|
||||
EPA epa;
|
||||
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
|
||||
if(epa_status!=EPA::eStatus::Failed)
|
||||
{
|
||||
btVector3 w0=btVector3(0,0,0);
|
||||
for(U i=0;i<epa.m_result.rank;++i)
|
||||
{
|
||||
w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
|
||||
}
|
||||
results.status = sResults::Penetrating;
|
||||
results.witnesses[0] = wtrs0*w0;
|
||||
results.witnesses[1] = wtrs0*(w0-epa.m_normal*epa.m_depth);
|
||||
return(true);
|
||||
} else results.status=sResults::EPA_Failed;
|
||||
}
|
||||
break;
|
||||
case GJK::eStatus::Failed:
|
||||
results.status=sResults::GJK_Failed;
|
||||
break;
|
||||
}
|
||||
return(false);
|
||||
}
|
||||
|
||||
/* Symbols cleanup */
|
||||
|
||||
#undef GJK_MAX_ITERATIONS
|
||||
#undef GJK_ACCURARY
|
||||
#undef GJK_MIN_DISTANCE
|
||||
#undef GJK_DUPLICATED_EPS
|
||||
#undef GJK_SIMPLEX2_EPS
|
||||
#undef GJK_SIMPLEX3_EPS
|
||||
#undef GJK_SIMPLEX4_EPS
|
||||
|
||||
#undef EPA_MAX_VERTICES
|
||||
#undef EPA_MAX_FACES
|
||||
#undef EPA_MAX_ITERATIONS
|
||||
#undef EPA_ACCURACY
|
||||
#undef EPA_FALLBACK
|
||||
#undef EPA_PLANE_EPS
|
||||
#undef EPA_INSIDE_EPS
|
||||
Reference in New Issue
Block a user