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pass on rigid body name in btBulletWorldImporter, to make it easier to bind physics and graphics objects.

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moved some obsolete files to Extras/obsolete, and removed freeglut
moved ColladaDemo to Dynamica Maya plugin repository (it has COLLADA_DOM and libxml), see http://dynamica.googlecode.com
Added new .bullet file
Minor update in Bullet_User_Manual.pdf, removed obsolete Bullet_Faq.pdf
This commit is contained in:
erwin.coumans
2010-02-20 15:39:09 +00:00
parent 890fd49813
commit 6ef37ab722
79 changed files with 19 additions and 23549 deletions
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569
Extras/obsolete/EPA/Epa.cpp Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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 "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMinMax.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include <vector>
#include <list>
#include <algorithm>
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "EpaCommon.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#include "EpaPolyhedron.h"
#include "Epa.h"
const btScalar EPA_MAX_RELATIVE_ERROR = 1e-2f;
const btScalar EPA_MAX_RELATIVE_ERROR_SQRD = EPA_MAX_RELATIVE_ERROR * EPA_MAX_RELATIVE_ERROR;
Epa::Epa( btConvexShape* pConvexShapeA, btConvexShape* pConvexShapeB,
const btTransform& transformA, const btTransform& transformB ) : m_pConvexShapeA( pConvexShapeA ),
m_pConvexShapeB( pConvexShapeB ),
m_transformA( transformA ),
m_transformB( transformB )
{
m_faceEntries.reserve( EPA_MAX_FACE_ENTRIES );
}
Epa::~Epa()
{
}
bool Epa::Initialize( btSimplexSolverInterface& simplexSolver )
{
// Run GJK on the enlarged shapes to obtain a simplex of the enlarged CSO
btVector3 v( 1, 0, 0 );
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
simplexSolver.reset();
int nbIterations = 0;
while ( true )
{
EPA_DEBUG_ASSERT( ( v.length2() > 0 ) ,"Warning : v has zero magnitude!" );
btVector3 seperatingAxisInA = -v * m_transformA.getBasis();
btVector3 seperatingAxisInB = v * m_transformB.getBasis();
btVector3 pInA = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 qInB = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( pInA );
btPoint3 qWorld = m_transformB( qInB );
btVector3 w = pWorld - qWorld;
delta = v.dot( w );
EPA_DEBUG_ASSERT( ( delta <= 0 ) ,"Shapes are disjoint, EPA should have never been called!" );
if ( delta > 0.f )
return false;
EPA_DEBUG_ASSERT( !simplexSolver.inSimplex( w ) ,"Shapes are disjoint, EPA should have never been called!" );
if (simplexSolver.inSimplex( w ))
return false;
// Add support point to simplex
simplexSolver.addVertex( w, pWorld, qWorld );
bool closestOk = simplexSolver.closest( v );
EPA_DEBUG_ASSERT( closestOk ,"Shapes are disjoint, EPA should have never been called!" );
if (!closestOk)
return false;
btScalar prevVSqrd = squaredDistance;
squaredDistance = v.length2();
// Is v converging to v(A-B) ?
EPA_DEBUG_ASSERT( ( ( prevVSqrd - squaredDistance ) > SIMD_EPSILON * prevVSqrd ) ,
"Shapes are disjoint, EPA should have never been called!" );
if (( ( prevVSqrd - squaredDistance ) <= SIMD_EPSILON * prevVSqrd ))
return false;
if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) )
{
break;
}
++nbIterations;
}
btPoint3 simplexPoints[ 5 ];
btPoint3 wSupportPointsOnA[ 5 ];
btPoint3 wSupportPointsOnB[ 5 ];
int nbSimplexPoints = simplexSolver.getSimplex( wSupportPointsOnA, wSupportPointsOnB, simplexPoints );
// nbSimplexPoints can't be one because cases where the origin is on the boundary are handled
// by hybrid penetration depth
EPA_DEBUG_ASSERT( ( ( nbSimplexPoints > 1 ) ,( nbSimplexPoints <= 4 ) ) ,
"Hybrid Penetration Depth algorithm failed!" );
int nbPolyhedronPoints = nbSimplexPoints;
#ifndef EPA_POLYHEDRON_USE_PLANES
int initTetraIndices[ 4 ] = { 0, 1, 2, 3 };
#endif
// Prepare initial polyhedron to start EPA from
if ( nbSimplexPoints == 1 )
{
return false;
}
else if ( nbSimplexPoints == 2 )
{
// We have a line segment inside the CSO that contains the origin
// Create an hexahedron ( two tetrahedron glued together ) by adding 3 new points
btVector3 d = simplexPoints[ 0 ] - simplexPoints[ 1 ];
d.normalize();
btVector3 v1;
btVector3 v2;
btVector3 v3;
btVector3 e1;
btScalar absx = abs( d.getX() );
btScalar absy = abs( d.getY() );
btScalar absz = abs( d.getZ() );
if ( absx < absy )
{
if ( absx < absz )
{
e1.setX( 1 );
}
else
{
e1.setZ( 1 );
}
}
else
{
if ( absy < absz )
{
e1.setY( 1 );
}
else
{
e1.setZ( 1 );
}
}
v1 = d.cross( e1 );
v1.normalize();
v2 = v1.rotate( d, 120 * SIMD_RADS_PER_DEG );
v3 = v2.rotate( d, 120 * SIMD_RADS_PER_DEG );
nbPolyhedronPoints = 5;
btVector3 seperatingAxisInA = v1 * m_transformA.getBasis();
btVector3 seperatingAxisInB = -v1 * m_transformB.getBasis();
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( p );
btPoint3 qWorld = m_transformB( q );
wSupportPointsOnA[ 2 ] = pWorld;
wSupportPointsOnB[ 2 ] = qWorld;
simplexPoints[ 2 ] = wSupportPointsOnA[ 2 ] - wSupportPointsOnB[ 2 ];
seperatingAxisInA = v2 * m_transformA.getBasis();
seperatingAxisInB = -v2 * m_transformB.getBasis();
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
pWorld = m_transformA( p );
qWorld = m_transformB( q );
wSupportPointsOnA[ 3 ] = pWorld;
wSupportPointsOnB[ 3 ] = qWorld;
simplexPoints[ 3 ] = wSupportPointsOnA[ 3 ] - wSupportPointsOnB[ 3 ];
seperatingAxisInA = v3 * m_transformA.getBasis();
seperatingAxisInB = -v3 * m_transformB.getBasis();
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
pWorld = m_transformA( p );
qWorld = m_transformB( q );
wSupportPointsOnA[ 4 ] = pWorld;
wSupportPointsOnB[ 4 ] = qWorld;
simplexPoints[ 4 ] = wSupportPointsOnA[ 4 ] - wSupportPointsOnB[ 4 ];
#ifndef EPA_POLYHEDRON_USE_PLANES
if ( TetrahedronContainsOrigin( simplexPoints[ 0 ], simplexPoints[ 2 ], simplexPoints[ 3 ], simplexPoints[ 4 ] ) )
{
initTetraIndices[ 1 ] = 2;
initTetraIndices[ 2 ] = 3;
initTetraIndices[ 3 ] = 4;
}
else
{
if ( TetrahedronContainsOrigin( simplexPoints[ 1 ], simplexPoints[ 2 ], simplexPoints[ 3 ], simplexPoints[ 4 ] ) )
{
initTetraIndices[ 0 ] = 1;
initTetraIndices[ 1 ] = 2;
initTetraIndices[ 2 ] = 3;
initTetraIndices[ 3 ] = 4;
}
else
{
// No tetrahedron contains the origin
assert( false && "Unable to find an initial tetrahedron that contains the origin!" );
return false;
}
}
#endif
}
else if ( nbSimplexPoints == 3 )
{
// We have a triangle inside the CSO that contains the origin
// Create an hexahedron ( two tetrahedron glued together ) by adding 2 new points
btVector3 v0 = simplexPoints[ 2 ] - simplexPoints[ 0 ];
btVector3 v1 = simplexPoints[ 1 ] - simplexPoints[ 0 ];
btVector3 triangleNormal = v0.cross( v1 );
triangleNormal.normalize();
nbPolyhedronPoints = 5;
btVector3 seperatingAxisInA = triangleNormal * m_transformA.getBasis();
btVector3 seperatingAxisInB = -triangleNormal * m_transformB.getBasis();
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( p );
btPoint3 qWorld = m_transformB( q );
wSupportPointsOnA[ 3 ] = pWorld;
wSupportPointsOnB[ 3 ] = qWorld;
simplexPoints[ 3 ] = wSupportPointsOnA[ 3 ] - wSupportPointsOnB[ 3 ];
#ifndef EPA_POLYHEDRON_USE_PLANES
// We place this check here because if the tetrahedron contains the origin
// there is no need to sample another support point
if ( !TetrahedronContainsOrigin( simplexPoints[ 0 ], simplexPoints[ 1 ], simplexPoints[ 2 ], simplexPoints[ 3 ] ) )
{
#endif
seperatingAxisInA = -triangleNormal * m_transformA.getBasis();
seperatingAxisInB = triangleNormal * m_transformB.getBasis();
p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
pWorld = m_transformA( p );
qWorld = m_transformB( q );
wSupportPointsOnA[ 4 ] = pWorld;
wSupportPointsOnB[ 4 ] = qWorld;
simplexPoints[ 4 ] = wSupportPointsOnA[ 4 ] - wSupportPointsOnB[ 4 ];
#ifndef EPA_POLYHEDRON_USE_PLANES
if ( TetrahedronContainsOrigin( simplexPoints[ 0 ], simplexPoints[ 1 ], simplexPoints[ 2 ], simplexPoints[ 4 ] ) )
{
initTetraIndices[ 3 ] = 4;
}
else
{
// No tetrahedron contains the origin
assert( false && "Unable to find an initial tetrahedron that contains the origin!" );
return false;
}
}
#endif
}
#ifdef _DEBUG
else if ( nbSimplexPoints == 4 )
{
EPA_DEBUG_ASSERT( TetrahedronContainsOrigin( simplexPoints ) ,"Initial tetrahedron does not contain the origin!" );
}
#endif
#ifndef EPA_POLYHEDRON_USE_PLANES
btPoint3 wTetraPoints[ 4 ] = { simplexPoints[ initTetraIndices[ 0 ] ],
simplexPoints[ initTetraIndices[ 1 ] ],
simplexPoints[ initTetraIndices[ 2 ] ],
simplexPoints[ initTetraIndices[ 3 ] ] };
btPoint3 wTetraSupportPointsOnA[ 4 ] = { wSupportPointsOnA[ initTetraIndices[ 0 ] ],
wSupportPointsOnA[ initTetraIndices[ 1 ] ],
wSupportPointsOnA[ initTetraIndices[ 2 ] ],
wSupportPointsOnA[ initTetraIndices[ 3 ] ] };
btPoint3 wTetraSupportPointsOnB[ 4 ] = { wSupportPointsOnB[ initTetraIndices[ 0 ] ],
wSupportPointsOnB[ initTetraIndices[ 1 ] ],
wSupportPointsOnB[ initTetraIndices[ 2 ] ],
wSupportPointsOnB[ initTetraIndices[ 3 ] ] };
#endif
#ifdef EPA_POLYHEDRON_USE_PLANES
if ( !m_polyhedron.Create( simplexPoints, wSupportPointsOnA, wSupportPointsOnB, nbPolyhedronPoints ) )
#else
if ( !m_polyhedron.Create( wTetraPoints, wTetraSupportPointsOnA, wTetraSupportPointsOnB, 4 ) )
#endif
{
// Failed to create initial polyhedron
EPA_DEBUG_ASSERT( false ,"Failed to create initial polyhedron!" );
return false;
}
// Add initial faces to priority queue
#ifdef _DEBUG
//m_polyhedron._dbgSaveToFile( "epa_start.dbg" );
#endif
std::list< EpaFace* >& faces = m_polyhedron.GetFaces();
std::list< EpaFace* >::iterator facesItr( faces.begin() );
while ( facesItr != faces.end() )
{
EpaFace* pFace = *facesItr;
if ( !pFace->m_deleted )
{
//#ifdef EPA_POLYHEDRON_USE_PLANES
// if ( pFace->m_planeDistance >= 0 )
// {
// m_polyhedron._dbgSaveToFile( "epa_start.dbg" );
// assert( false && "Face's plane distance equal or greater than 0!" );
// }
//#endif
if ( pFace->IsAffinelyDependent() )
{
EPA_DEBUG_ASSERT( false ,"One initial face is affinely dependent!" );
return false;
}
if ( pFace->m_vSqrd <= 0 )
{
EPA_DEBUG_ASSERT( false ,"Face containing the origin!" );
return false;
}
if ( pFace->IsClosestPointInternal() )
{
m_faceEntries.push_back( pFace );
std::push_heap( m_faceEntries.begin(), m_faceEntries.end(), CompareEpaFaceEntries );
}
}
++facesItr;
}
#ifdef _DEBUG
//m_polyhedron._dbgSaveToFile( "epa_start.dbg" );
#endif
EPA_DEBUG_ASSERT( !m_faceEntries.empty() ,"No faces added to heap!" );
return true;
}
btScalar Epa::calcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
{
btVector3 v;
btScalar upperBoundSqrd = SIMD_INFINITY;
btScalar vSqrd = 0;
#ifdef _DEBUG
btScalar prevVSqrd;
#endif
btScalar delta;
bool isCloseEnough = false;
EpaFace* pEpaFace = NULL;
int nbIterations = 0;
//int nbMaxIterations = 1000;
do
{
pEpaFace = m_faceEntries.front();
std::pop_heap( m_faceEntries.begin(), m_faceEntries.end(), CompareEpaFaceEntries );
m_faceEntries.pop_back();
if ( !pEpaFace->m_deleted )
{
#ifdef _DEBUG
prevVSqrd = vSqrd;
#endif
vSqrd = pEpaFace->m_vSqrd;
if ( pEpaFace->m_planeDistance >= 0 )
{
v = pEpaFace->m_planeNormal;
}
else
{
v = pEpaFace->m_v;
}
#ifdef _DEBUG
//assert_msg( vSqrd <= upperBoundSqrd, "A triangle was falsely rejected!" );
EPA_DEBUG_ASSERT( ( vSqrd >= prevVSqrd ) ,"vSqrd decreased!" );
#endif //_DEBUG
EPA_DEBUG_ASSERT( ( v.length2() > 0 ) ,"Zero vector not allowed!" );
btVector3 seperatingAxisInA = v * m_transformA.getBasis();
btVector3 seperatingAxisInB = -v * m_transformB.getBasis();
btVector3 p = m_pConvexShapeA->localGetSupportingVertex( seperatingAxisInA );
btVector3 q = m_pConvexShapeB->localGetSupportingVertex( seperatingAxisInB );
btPoint3 pWorld = m_transformA( p );
btPoint3 qWorld = m_transformB( q );
btPoint3 w = pWorld - qWorld;
delta = v.dot( w );
// Keep tighest upper bound
upperBoundSqrd = btMin( upperBoundSqrd, delta * delta / vSqrd );
//assert_msg( vSqrd <= upperBoundSqrd, "A triangle was falsely rejected!" );
isCloseEnough = ( upperBoundSqrd <= ( 1 + 1e-4f ) * vSqrd );
if ( !isCloseEnough )
{
std::list< EpaFace* > newFaces;
bool expandOk = m_polyhedron.Expand( w, pWorld, qWorld, pEpaFace, newFaces );
if ( expandOk )
{
EPA_DEBUG_ASSERT( !newFaces.empty() ,"EPA polyhedron not expanding ?" );
bool check = true;
bool areEqual = false;
while ( !newFaces.empty() )
{
EpaFace* pNewFace = newFaces.front();
EPA_DEBUG_ASSERT( !pNewFace->m_deleted ,"New face is deleted!" );
if ( !pNewFace->m_deleted )
{
EPA_DEBUG_ASSERT( ( pNewFace->m_vSqrd > 0 ) ,"Face containing the origin!" );
EPA_DEBUG_ASSERT( !pNewFace->IsAffinelyDependent() ,"Face is affinely dependent!" );
//#ifdef EPA_POLYHEDRON_USE_PLANES
//// if ( pNewFace->m_planeDistance >= 0 )
//// {
// // assert( false && "Face's plane distance greater than 0!" );
//#ifdef _DEBUG
//// m_polyhedron._dbgSaveToFile( "epa_beforeFix.dbg" );
//#endif
// //pNewFace->FixOrder();
//#ifdef _DEBUG
// //m_polyhedron._dbgSaveToFile( "epa_afterFix.dbg" );
//#endif
//// }
//#endif
//
//#ifdef EPA_POLYHEDRON_USE_PLANES
// //assert( ( pNewFace->m_planeDistance < 0 ) && "Face's plane distance equal or greater than 0!" );
//#endif
if ( pNewFace->IsClosestPointInternal() && ( vSqrd <= pNewFace->m_vSqrd ) && ( pNewFace->m_vSqrd <= upperBoundSqrd ) )
{
m_faceEntries.push_back( pNewFace );
std::push_heap( m_faceEntries.begin(), m_faceEntries.end(), CompareEpaFaceEntries );
}
}
newFaces.pop_front();
}
}
else
{
pEpaFace->CalcClosestPointOnA( wWitnessOnA );
pEpaFace->CalcClosestPointOnB( wWitnessOnB );
#ifdef _DEBUG
//m_polyhedron._dbgSaveToFile( "epa_end.dbg" );
#endif
return v.length();
}
}
}
++nbIterations;
}
while ( ( m_polyhedron.GetNbFaces() < EPA_MAX_FACE_ENTRIES ) &&/*( nbIterations < nbMaxIterations ) &&*/
!isCloseEnough && ( m_faceEntries.size() > 0 ) && ( m_faceEntries[ 0 ]->m_vSqrd <= upperBoundSqrd ) );
#ifdef _DEBUG
//m_polyhedron._dbgSaveToFile( "epa_end.dbg" );
#endif
EPA_DEBUG_ASSERT( pEpaFace ,"Invalid epa face!" );
pEpaFace->CalcClosestPointOnA( wWitnessOnA );
pEpaFace->CalcClosestPointOnB( wWitnessOnB );
return v.length();
}
bool Epa::TetrahedronContainsOrigin( const btPoint3& point0, const btPoint3& point1,
const btPoint3& point2, const btPoint3& point3 )
{
btVector3 facesNormals[ 4 ] = { ( point1 - point0 ).cross( point2 - point0 ),
( point2 - point1 ).cross( point3 - point1 ),
( point3 - point2 ).cross( point0 - point2 ),
( point0 - point3 ).cross( point1 - point3 ) };
return ( ( facesNormals[ 0 ].dot( point0 ) > 0 ) != ( facesNormals[ 0 ].dot( point3 ) > 0 ) ) &&
( ( facesNormals[ 1 ].dot( point1 ) > 0 ) != ( facesNormals[ 1 ].dot( point0 ) > 0 ) ) &&
( ( facesNormals[ 2 ].dot( point2 ) > 0 ) != ( facesNormals[ 2 ].dot( point1 ) > 0 ) ) &&
( ( facesNormals[ 3 ].dot( point3 ) > 0 ) != ( facesNormals[ 3 ].dot( point2 ) > 0 ) );
}
bool Epa::TetrahedronContainsOrigin( btPoint3* pPoints )
{
return TetrahedronContainsOrigin( pPoints[ 0 ], pPoints[ 1 ], pPoints[ 2 ], pPoints[ 3 ] );
}
bool CompareEpaFaceEntries( EpaFace* pFaceA, EpaFace* pFaceB )
{
return ( pFaceA->m_vSqrd > pFaceB->m_vSqrd );
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA_H
#define EPA_H
#define EPA_MAX_FACE_ENTRIES 256
extern const btScalar EPA_MAX_RELATIVE_ERROR;
extern const btScalar EPA_MAX_RELATIVE_ERROR_SQRD;
class Epa
{
private :
//! Prevents copying objects from this class
Epa( const Epa& epa );
const Epa& operator = ( const Epa& epa );
public :
Epa( btConvexShape* pConvexShapeA, btConvexShape* pConvexShapeB,
const btTransform& transformA, const btTransform& transformB );
~Epa();
bool Initialize( btSimplexSolverInterface& simplexSolver );
btScalar calcPenDepth( btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
private :
bool TetrahedronContainsOrigin( btPoint3* pPoints );
bool TetrahedronContainsOrigin( const btPoint3& point0, const btPoint3& point1,
const btPoint3& point2, const btPoint3& point3 );
private :
//! Priority queue
std::vector< EpaFace* > m_faceEntries;
btConvexShape* m_pConvexShapeA;
btConvexShape* m_pConvexShapeB;
btTransform m_transformA;
btTransform m_transformB;
EpaPolyhedron m_polyhedron;
};
extern bool CompareEpaFaceEntries( EpaFace* pFaceA, EpaFace* pFaceB );
#endif

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Extras/obsolete/EPA/EpaCommon.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA_COMMON_H
#define EPA_COMMON_H
#define EPA_POLYHEDRON_USE_PLANES
//#define EPA_DEBUG_ASSERT(c,a)
//#define EPA_DEBUG_ASSERT(c,a) assert(c && a)
#define EPA_DEBUG_ASSERT(c,a) if (!c) printf(a)
//#define EPA_USE_HYBRID
#endif

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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 "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#include "EpaCommon.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#ifdef EPA_POLYHEDRON_USE_PLANES
btScalar PLANE_THICKNESS = 1e-5f;
#endif
EpaFace::EpaFace() : m_pHalfEdge( 0 ), m_deleted( false )
{
m_pVertices[ 0 ] = m_pVertices[ 1 ] = m_pVertices[ 2 ] = 0;
}
EpaFace::~EpaFace()
{
}
bool EpaFace::Initialize()
{
assert( m_pHalfEdge && "Must setup half-edge first!" );
CollectVertices( m_pVertices );
const btVector3 e0 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
const btVector3 e1 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
const btScalar e0Sqrd = e0.length2();
const btScalar e1Sqrd = e1.length2();
const btScalar e0e1 = e0.dot( e1 );
m_determinant = e0Sqrd * e1Sqrd - e0e1 * e0e1;
const btScalar e0v0 = e0.dot( m_pVertices[ 0 ]->m_point );
const btScalar e1v0 = e1.dot( m_pVertices[ 0 ]->m_point );
m_lambdas[ 0 ] = e0e1 * e1v0 - e1Sqrd * e0v0;
m_lambdas[ 1 ] = e0e1 * e0v0 - e0Sqrd * e1v0;
if ( IsAffinelyDependent() )
{
return false;
}
CalcClosestPoint();
#ifdef EPA_POLYHEDRON_USE_PLANES
if ( !CalculatePlane() )
{
return false;
}
#endif
return true;
}
#ifdef EPA_POLYHEDRON_USE_PLANES
bool EpaFace::CalculatePlane()
{
assert( ( m_pVertices[ 0 ] && m_pVertices[ 1 ] && m_pVertices[ 2 ] )
&& "Must setup vertices pointers first!" );
// Traditional method
const btVector3 v1 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
const btVector3 v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
m_planeNormal = v2.cross( v1 );
if ( m_planeNormal.length2() == 0 )
{
return false;
}
m_planeNormal.normalize();
m_planeDistance = m_pVertices[ 0 ]->m_point.dot( -m_planeNormal );
// Robust method
//btVector3 _v1 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
//btVector3 _v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
//btVector3 n;
//n = _v2.cross( _v1 );
//_v1 = m_pVertices[ 0 ]->m_point - m_pVertices[ 1 ]->m_point;
//_v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 1 ]->m_point;
//n += ( _v1.cross( _v2 ) );
//_v1 = m_pVertices[ 0 ]->m_point - m_pVertices[ 2 ]->m_point;
//_v2 = m_pVertices[ 1 ]->m_point - m_pVertices[ 2 ]->m_point;
//n += ( _v2.cross( _v1 ) );
//n /= 3;
//n.normalize();
//btVector3 c = ( m_pVertices[ 0 ]->m_point + m_pVertices[ 1 ]->m_point + m_pVertices[ 2 ]->m_point ) / 3;
//btScalar d = c.dot( -n );
//m_robustPlaneNormal = n;
//m_robustPlaneDistance = d;
// Compare results from both methods and check whether they disagree
//if ( d < 0 )
//{
// assert( ( m_planeDistance < 0 ) && "He he! Busted!" );
//}
//else
//{
// assert( ( m_planeDistance >= 0 ) && "He he! Busted!" );
//}
return true;
}
#endif
void EpaFace::CalcClosestPoint()
{
const btVector3 e0 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
const btVector3 e1 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
m_v = m_pVertices[ 0 ]->m_point +
( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) / m_determinant;
m_vSqrd = m_v.length2();
}
void EpaFace::CalcClosestPointOnA( btVector3& closestPointOnA )
{
const btVector3 e0 = m_pVertices[ 1 ]->m_wSupportPointOnA - m_pVertices[ 0 ]->m_wSupportPointOnA;
const btVector3 e1 = m_pVertices[ 2 ]->m_wSupportPointOnA - m_pVertices[ 0 ]->m_wSupportPointOnA;
closestPointOnA = m_pVertices[ 0 ]->m_wSupportPointOnA +
( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) /
m_determinant;
}
void EpaFace::CalcClosestPointOnB( btVector3& closestPointOnB )
{
const btVector3 e0 = m_pVertices[ 1 ]->m_wSupportPointOnB - m_pVertices[ 0 ]->m_wSupportPointOnB;
const btVector3 e1 = m_pVertices[ 2 ]->m_wSupportPointOnB - m_pVertices[ 0 ]->m_wSupportPointOnB;
closestPointOnB = m_pVertices[ 0 ]->m_wSupportPointOnB +
( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) /
m_determinant;
}
bool EpaFace::IsAffinelyDependent() const
{
return ( m_determinant <= SIMD_EPSILON );
}
bool EpaFace::IsClosestPointInternal() const
{
return ( ( m_lambdas[ 0 ] >= 0 ) && ( m_lambdas[ 1 ] >= 0 ) && ( ( m_lambdas[ 0 ] + m_lambdas[ 1 ] <= m_determinant ) ) );
}
void EpaFace::CollectVertices( EpaVertex** ppVertices )
{
assert( m_pHalfEdge && "Invalid half-edge pointer!" );
int vertexIndex = 0;
EpaHalfEdge* pCurrentHalfEdge = m_pHalfEdge;
do
{
assert( ( ( vertexIndex >= 0 ) && ( vertexIndex < 3 ) ) &&
"Face is not a triangle!" );
assert( pCurrentHalfEdge->m_pVertex && "Half-edge has an invalid vertex pointer!" );
ppVertices[ vertexIndex++ ] = pCurrentHalfEdge->m_pVertex;
pCurrentHalfEdge = pCurrentHalfEdge->m_pNextCCW;
}
while( pCurrentHalfEdge != m_pHalfEdge );
}
//void EpaFace::FixOrder()
//{
// EpaHalfEdge* pHalfEdges[ 3 ];
//
// int halfEdgeIndex = 0;
//
// EpaHalfEdge* pCurrentHalfEdge = m_pHalfEdge;
//
// do
// {
// assert( ( ( halfEdgeIndex >= 0 ) && ( halfEdgeIndex < 3 ) ) &&
// "Face is not a triangle!" );
//
// pHalfEdges[ halfEdgeIndex++ ] = pCurrentHalfEdge;
//
// pCurrentHalfEdge = pCurrentHalfEdge->m_pNextCCW;
// }
// while( pCurrentHalfEdge != m_pHalfEdge );
//
// EpaVertex* pVertices[ 3 ] = { pHalfEdges[ 0 ]->m_pVertex,
// pHalfEdges[ 1 ]->m_pVertex,
// pHalfEdges[ 2 ]->m_pVertex };
//
// // Make them run in the opposite direction
// pHalfEdges[ 0 ]->m_pNextCCW = pHalfEdges[ 2 ];
// pHalfEdges[ 1 ]->m_pNextCCW = pHalfEdges[ 0 ];
// pHalfEdges[ 2 ]->m_pNextCCW = pHalfEdges[ 1 ];
//
// // Make half-edges point to their correct origin vertices
//
// pHalfEdges[ 1 ]->m_pVertex = pVertices[ 2 ];
// pHalfEdges[ 2 ]->m_pVertex = pVertices[ 0 ];
// pHalfEdges[ 0 ]->m_pVertex = pVertices[ 1 ];
//
// // Make vertices point to the correct half-edges
//
// //pHalfEdges[ 0 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 0 ];
// //pHalfEdges[ 1 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 1 ];
// //pHalfEdges[ 2 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 2 ];
//
// // Flip normal and change the sign of plane distance
//
//#ifdef EPA_POLYHEDRON_USE_PLANES
// m_planeNormal = -m_planeNormal;
// m_planeDistance = -m_planeDistance;
//#endif
//}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA_FACE_H
#define EPA_FACE_H
class EpaVertex;
class EpaHalfEdge;
#ifdef EPA_POLYHEDRON_USE_PLANES
extern btScalar PLANE_THICKNESS;
#endif
//! Note : This class is not supposed to be a base class
class EpaFace
{
private :
//! Prevents copying objects from this class
EpaFace( const EpaFace& epaFace );
const EpaFace& operator = ( const EpaFace& epaFace );
public :
EpaFace();
~EpaFace();
bool Initialize();
#ifdef EPA_POLYHEDRON_USE_PLANES
bool CalculatePlane();
#endif
void CalcClosestPoint();
void CalcClosestPointOnA( btVector3& closestPointOnA );
void CalcClosestPointOnB( btVector3& closestPointOnB );
bool IsAffinelyDependent() const;
bool IsClosestPointInternal() const;
void CollectVertices( EpaVertex** ppVertices );
//void FixOrder();
public :
EpaHalfEdge* m_pHalfEdge;
// We keep vertices here so we don't need to call CollectVertices
// every time we need them
EpaVertex* m_pVertices[ 3 ];
#ifdef EPA_POLYHEDRON_USE_PLANES
btVector3 m_planeNormal;
btScalar m_planeDistance;
//btVector3 m_robustPlaneNormal;
//btScalar m_robustPlaneDistance;
#endif
btVector3 m_v;
btScalar m_vSqrd;
btScalar m_determinant;
btScalar m_lambdas[ 2 ];
bool m_deleted;
};
#endif

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA_HALF_EDGE_H
#define EPA_HALF_EDGE_H
class EpaFace;
class EpaVertex;
//! Note : This class is not supposed to be a base class
class EpaHalfEdge
{
private :
//! Prevents copying objects from this class
EpaHalfEdge( const EpaHalfEdge& epaHalfEdge );
const EpaHalfEdge& operator = ( const EpaHalfEdge& epaHalfEdge );
public :
EpaHalfEdge() : m_pTwin( 0 ), m_pNextCCW( 0 ), m_pFace( 0 ), m_pVertex( 0 )
{
}
~EpaHalfEdge()
{
}
public :
//! Twin half-edge link
EpaHalfEdge* m_pTwin;
//! Next half-edge in counter clock-wise ( CCW ) order
EpaHalfEdge* m_pNextCCW;
//! Parent face link
EpaFace* m_pFace;
//! Origin vertex link
EpaVertex* m_pVertex;
};
#endif

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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 "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMinMax.h"
#include <list>
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "EpaCommon.h"
#include "EpaVertex.h"
#include "EpaHalfEdge.h"
#include "EpaFace.h"
#include "EpaPolyhedron.h"
#include "Epa.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "EpaPenetrationDepthSolver.h"
btScalar g_GJKMaxRelError = 1e-3f;
btScalar g_GJKMaxRelErrorSqrd = g_GJKMaxRelError * g_GJKMaxRelError;
bool EpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc )
{
EPA_DEBUG_ASSERT( pConvexA ,"Convex shape A is invalid!" );
EPA_DEBUG_ASSERT( pConvexB ,"Convex shape B is invalid!" );
btScalar penDepth;
#ifdef EPA_USE_HYBRID
bool needsEPA = !HybridPenDepth( simplexSolver, pConvexA, pConvexB, transformA, transformB,
wWitnessOnA, wWitnessOnB, penDepth, v );
if ( needsEPA )
{
#endif
penDepth = EpaPenDepth( simplexSolver, pConvexA, pConvexB,
transformA, transformB,
wWitnessOnA, wWitnessOnB );
EPA_DEBUG_ASSERT( ( penDepth > 0 ) ,"EPA or Hybrid Technique failed to calculate penetration depth!" );
#ifdef EPA_USE_HYBRID
}
#endif
return ( penDepth > 0 );
}
#ifdef EPA_USE_HYBRID
bool EpaPenetrationDepthSolver::HybridPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
btScalar& penDepth, btVector3& v )
{
btScalar squaredDistance = SIMD_INFINITY;
btScalar delta = 0.f;
const btScalar margin = pConvexA->getMargin() + pConvexB->getMargin();
const btScalar marginSqrd = margin * margin;
simplexSolver.reset();
int nbIterations = 0;
while ( true )
{
assert( ( v.length2() > 0 ) && "Warning: v is the zero vector!" );
btVector3 seperatingAxisInA = -v * transformA.getBasis();
btVector3 seperatingAxisInB = v * transformB.getBasis();
btVector3 pInA = pConvexA->localGetSupportingVertexWithoutMargin( seperatingAxisInA );
btVector3 qInB = pConvexB->localGetSupportingVertexWithoutMargin( seperatingAxisInB );
btPoint3 pWorld = transformA( pInA );
btPoint3 qWorld = transformB( qInB );
btVector3 w = pWorld - qWorld;
delta = v.dot( w );
// potential exit, they don't overlap
if ( ( delta > 0 ) && ( ( delta * delta / squaredDistance ) > marginSqrd ) )
{
// Convex shapes do not overlap
// Returning true means that Hybrid's result is ok and there's no need to run EPA
penDepth = 0;
return true;
}
//exit 0: the new point is already in the simplex, or we didn't come any closer
if ( ( squaredDistance - delta <= squaredDistance * g_GJKMaxRelErrorSqrd ) || simplexSolver.inSimplex( w ) )
{
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
// Returning true means that Hybrid's result is ok and there's no need to run EPA
return true;
}
//add current vertex to simplex
simplexSolver.addVertex( w, pWorld, qWorld );
//calculate the closest point to the origin (update vector v)
if ( !simplexSolver.closest( v ) )
{
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
// Returning true means that Hybrid's result is ok and there's no need to run EPA
return true;
}
btScalar previousSquaredDistance = squaredDistance;
squaredDistance = v.length2();
//are we getting any closer ?
if ( previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance )
{
simplexSolver.backup_closest( v );
squaredDistance = v.length2();
simplexSolver.compute_points( wWitnessOnA, wWitnessOnB );
assert( ( squaredDistance > 0 ) && "squaredDistance is zero!" );
btScalar vLength = sqrt( squaredDistance );
wWitnessOnA -= v * ( pConvexA->getMargin() / vLength );
wWitnessOnB += v * ( pConvexB->getMargin() / vLength );
penDepth = pConvexA->getMargin() + pConvexB->getMargin() - vLength;
// Returning true means that Hybrid's result is ok and there's no need to run EPA
return true;
}
if ( simplexSolver.fullSimplex() || ( squaredDistance <= SIMD_EPSILON * simplexSolver.maxVertex() ) )
{
// Convex Shapes intersect - we need to run EPA
// Returning false means that Hybrid couldn't do anything for us
// and that we need to run EPA to calculate the pen depth
return false;
}
++nbIterations;
}
}
#endif
btScalar EpaPenetrationDepthSolver::EpaPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB )
{
Epa epa( pConvexA, pConvexB, transformA, transformB );
if ( !epa.Initialize( simplexSolver ) )
{
EPA_DEBUG_ASSERT( false ,"Epa failed to initialize!" );
return 0;
}
return epa.calcPenDepth( wWitnessOnA, wWitnessOnB );
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA2_PENETRATION_DEPTH_H
#define EPA2_PENETRATION_DEPTH_H
/**
* EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
* calculate the penetration depth between two convex shapes.
*/
extern btScalar g_GJKMaxRelError;
extern btScalar g_GJKMaxRelErrorSqrd;
//! Note : This class is not supposed to be a base class
class EpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
{
public :
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
private :
#ifdef EPA_USE_HYBRID
bool HybridPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
btScalar& penDepth, btVector3& v );
#endif
btScalar EpaPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
};
#endif // EPA_PENETRATION_DEPTH_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA_POLYHEDRON_H
#define EPA_POLYHEDRON_H
class EpaFace;
class EpaVertex;
//! Note : This class is not supposed to be a base class
class EpaPolyhedron
{
private :
//! Prevents copying objects from this class
EpaPolyhedron( const EpaPolyhedron& epaPolyhedron );
const EpaPolyhedron& operator = ( const EpaPolyhedron& epaPolyhedron );
public :
EpaPolyhedron();
~EpaPolyhedron();
bool Create( btPoint3* pInitialPoints,
btPoint3* pSupportPointsOnA, btPoint3* pSupportPointsOnB,
const int nbInitialPoints );
void Destroy();
EpaFace* CreateFace();
EpaHalfEdge* CreateHalfEdge();
EpaVertex* CreateVertex( const btPoint3& wSupportPoint,
const btPoint3& wSupportPointOnA,
const btPoint3& wSupportPointOnB );
void DeleteFace( EpaFace* pFace );
void DestroyAllFaces();
void DestroyAllHalfEdges();
void DestroyAllVertices();
bool Expand( const btPoint3& wSupportPoint,
const btPoint3& wSupportPointOnA,
const btPoint3& wSupportPointOnB,
EpaFace* pFace, std::list< EpaFace* >& newFaces );
std::list< EpaFace* >& GetFaces();
int GetNbFaces() const;
private :
void DeleteVisibleFaces( const btPoint3& point, EpaFace* pFace,
std::list< EpaHalfEdge* >& coneBaseTwinHalfEdges );
void CreateCone( EpaVertex* pAppexVertex, std::list< EpaHalfEdge* >& baseTwinHalfEdges,
std::list< EpaFace* >& newFaces );
EpaFace* CreateConeFace( EpaVertex* pAppexVertex, EpaHalfEdge* pBaseTwinHalfEdge,
std::list< EpaHalfEdge* >& halfEdgesToLink );
#ifdef _DEBUG
public :
//! Please don't remove this method, it will help debugging if some problems arise in the future
bool _dbgSaveToFile( const char* pFileName );
#endif
private :
//! This is the number of valid faces, m_faces list also contain deleted faces
int m_nbFaces;
std::list< EpaFace* > m_faces;
std::list< EpaHalfEdge* > m_halfEdges;
std::list< EpaVertex* > m_vertices;
};
#endif

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
EPA Copyright (c) Ricardo Padrela 2006
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.
*/
#ifndef EPA_VERTEX_H
#define EPA_VERTEX_H
class EpaHalfEdge;
//! Note : This class is not supposed to be a base class
class EpaVertex
{
private :
//! Prevents copying objects from this class
EpaVertex( const EpaVertex& epaVertex );
const EpaVertex& operator = ( const EpaVertex& epaVertex );
public :
EpaVertex( const btPoint3& point ) : /*m_pHalfEdge( 0 ),*/ m_point( point )
{
}
EpaVertex( const btPoint3& point,
const btPoint3& wSupportPointOnA,
const btPoint3& wSupportPointOnB ) : /*m_pHalfEdge( 0 ),*/ m_point( point ),
m_wSupportPointOnA( wSupportPointOnA ),
m_wSupportPointOnB( wSupportPointOnB )
{
}
~EpaVertex()
{
}
public :
//! This is not necessary
//EpaHalfEdge* m_pHalfEdge;
btPoint3 m_point;
btPoint3 m_wSupportPointOnA;
btPoint3 m_wSupportPointOnB;
};
#endif

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SubDir TOP Extras EPA ;
IncludeDir Extras/EPA ;
Library EPA : [ Wildcard *.h *.cpp ] ;
CFlags EPA : [ FIncludes $(TOP)/Extras/EPA ] ;
LibDepends EPA : ;
InstallHeader [ Wildcard *.h ] : EPA ;