Initial work on batch raycast support.

2008-01-08 23:38:33 +00:00
parent abfe5c81f7
commit 702323f27a
12 changed files with 1392 additions and 0 deletions
--- a/Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
+++ b/Extras/BulletMultiThreaded/SpuRaycastTask/SpuSubSimplexConvexCast.cpp
@@ -0,0 +1,145 @@
+/*
+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 "SpuSubSimplexConvexCast.h"
+#include "SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h"
+
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
+#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
+
+
+SpuSubsimplexConvexCast::SpuSubsimplexConvexCast (const void* convexA,
+												  const void* convexB,
+												  SpuVoronoiSimplexSolver* simplexSolver)
+	:m_simplexSolver(simplexSolver), m_convexA(convexA),m_convexB(convexB)
+{
+}
+
+///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
+///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
+#ifdef BT_USE_DOUBLE_PRECISION
+#define MAX_ITERATIONS 64
+#else
+#define MAX_ITERATIONS 32
+#endif
+
+bool	SpuSubsimplexConvexCast::calcTimeOfImpact(const btTransform& fromA,
+												  const btTransform& toA,
+												  const btTransform& fromB,
+												  const btTransform& toB,
+												  SpuCastResult& result)
+{
+	//localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);
+#if 0
+	btMinkowskiSumShape combi(m_convexA,m_convexB);
+	btMinkowskiSumShape* convex = &combi;
+
+	btTransform	rayFromLocalA;
+	btTransform	rayToLocalA;
+
+	rayFromLocalA = fromA.inverse()* fromB;
+	rayToLocalA = toA.inverse()* toB;
+
+
+	m_simplexSolver->reset();
+
+	convex->setTransformB(btTransform(rayFromLocalA.getBasis()));
+
+	//btScalar radius = btScalar(0.01);
+
+	btScalar lambda = btScalar(0.);
+	//todo: need to verify this:
+	//because of minkowski difference, we need the inverse direction
+	
+	btVector3 s = -rayFromLocalA.getOrigin();
+	btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
+	btVector3 x = s;
+	btVector3 v;
+	btVector3 arbitraryPoint = convex->localGetSupportingVertex(r);
+	
+	v = x - arbitraryPoint;
+
+	int maxIter = MAX_ITERATIONS;
+
+	btVector3 n;
+	n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
+	bool hasResult = false;
+	btVector3 c;
+
+	btScalar lastLambda = lambda;
+
+
+	btScalar dist2 = v.length2();
+#ifdef BT_USE_DOUBLE_PRECISION
+	btScalar epsilon = btScalar(0.0001);
+#else
+	btScalar epsilon = btScalar(0.0001);
+#endif //BT_USE_DOUBLE_PRECISION
+	btVector3	w,p;
+	btScalar VdotR;
+	
+	while ( (dist2 > epsilon) && maxIter--)
+	{
+		p = convex->localGetSupportingVertex( v);
+		 w = x - p;
+
+		btScalar VdotW = v.dot(w);
+
+		if ( VdotW > btScalar(0.))
+		{
+			VdotR = v.dot(r);
+
+			if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
+				return false;
+			else
+			{
+				lambda = lambda - VdotW / VdotR;
+				x = s + lambda * r;
+				m_simplexSolver->reset();
+				//check next line
+				w = x-p;
+				lastLambda = lambda;
+				n = v;
+				hasResult = true;
+			}
+		} 
+		m_simplexSolver->addVertex( w, x , p);
+		if (m_simplexSolver->closest(v))
+		{
+			dist2 = v.length2();
+			hasResult = true;
+			//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
+			//printf("DIST2=%f\n",dist2);
+			//printf("numverts = %i\n",m_simplexSolver->numVertices());
+		} else
+		{
+			dist2 = btScalar(0.);
+		} 
+	}
+
+	//int numiter = MAX_ITERATIONS - maxIter;
+//	printf("number of iterations: %d", numiter);
+	result.m_fraction = lambda;
+	result.m_normal = n;
+
+#endif
+
+	return true;
+}
+
+
+