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Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

Browse Source 
For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh

Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.

As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
This commit is contained in:
erwin.coumans
2012-06-07 00:56:30 +00:00
parent 777b92a2ad
commit 73b217fb07
323 changed files with 30730 additions and 13635 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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@@ -62,7 +62,6 @@ void btContinuousConvexCollision::computeClosestPoints( const btTransform& trans
const btConvexShape* convexShape = m_convexA;
const btStaticPlaneShape* planeShape = m_planeShape;
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();

4
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
View File

@@ -63,12 +63,12 @@ public:
void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
void setMinkowskiA(btConvexShape* minkA)
void setMinkowskiA(const btConvexShape* minkA)
{
m_minkowskiA = minkA;
}
void setMinkowskiB(btConvexShape* minkB)
void setMinkowskiB(const btConvexShape* minkB)
{
m_minkowskiB = minkB;
}

2
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
View File

@@ -287,7 +287,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
{
//contact point processed callback
if (gContactProcessedCallback)
(*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
}
}
}

17
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btManifoldPoint.h"
class btCollisionObject;
#include "LinearMath/btAlignedAllocator.h"
struct btCollisionResult;
@@ -57,9 +58,8 @@ ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
/// this two body pointers can point to the physics rigidbody class.
/// void* will allow any rigidbody class
void* m_body0;
void* m_body1;
const btCollisionObject* m_body0;
const btCollisionObject* m_body1;
int m_cachedPoints;
@@ -83,7 +83,7 @@ public:
btPersistentManifold();
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
m_body0(body0),m_body1(body1),m_cachedPoints(0),
m_contactBreakingThreshold(contactBreakingThreshold),
@@ -91,13 +91,10 @@ public:
{
}
SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
void setBodies(void* body0,void* body1)
void setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
{
m_body0 = body0;
m_body1 = body1;

878
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
View File

@@ -1,440 +1,438 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include <float.h> //for FLT_MAX
int gExpectedNbTests=0;
int gActualNbTests = 0;
bool gUseInternalObject = true;
// Clips a face to the back of a plane
void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
{
int ve;
btScalar ds, de;
int numVerts = pVtxIn.size();
if (numVerts < 2)
return;
btVector3 firstVertex=pVtxIn[pVtxIn.size()-1];
btVector3 endVertex = pVtxIn[0];
ds = planeNormalWS.dot(firstVertex)+planeEqWS;
for (ve = 0; ve < numVerts; ve++)
{
endVertex=pVtxIn[ve];
de = planeNormalWS.dot(endVertex)+planeEqWS;
if (ds<0)
{
if (de<0)
{
// Start < 0, end < 0, so output endVertex
ppVtxOut.push_back(endVertex);
}
else
{
// Start < 0, end >= 0, so output intersection
ppVtxOut.push_back( firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
}
}
else
{
if (de<0)
{
// Start >= 0, end < 0 so output intersection and end
ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
ppVtxOut.push_back(endVertex);
}
}
firstVertex = endVertex;
ds = de;
}
}
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
{
btScalar Min0,Max0;
btScalar Min1,Max1;
hullA.project(transA,sep_axis, Min0, Max0);
hullB.project(transB, sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
btScalar d0 = Max0 - Min1;
assert(d0>=0.0f);
btScalar d1 = Max1 - Min0;
assert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
}
static int gActualSATPairTests=0;
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
#ifdef TEST_INTERNAL_OBJECTS
inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
{
// This version is ~11.000 cycles (4%) faster overall in one of the tests.
// IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
// IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
// IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
}
void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
{
const btMatrix3x3& rot = tr.getBasis();
const btVector3& r0 = rot[0];
const btVector3& r1 = rot[1];
const btVector3& r2 = rot[2];
const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
out.setValue(x, y, z);
}
bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
{
const btScalar dp = delta_c.dot(axis);
btVector3 localAxis0;
InverseTransformPoint3x3(localAxis0, axis,trans0);
btVector3 localAxis1;
InverseTransformPoint3x3(localAxis1, axis,trans1);
btScalar p0[3];
BoxSupport(convex0.m_extents, localAxis0, p0);
btScalar p1[3];
BoxSupport(convex1.m_extents, localAxis1, p1);
const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
const btScalar MinMaxRadius = MaxRadius + MinRadius;
const btScalar d0 = MinMaxRadius + dp;
const btScalar d1 = MinMaxRadius - dp;
const btScalar depth = d0<d1 ? d0:d1;
if(depth>dmin)
return false;
return true;
}
#endif //TEST_INTERNAL_OBJECTS
bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
{
gActualSATPairTests++;
//#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
//#endif
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
// Test normals from hullA
for(int i=0;i<numFacesA;i++)
{
const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
if (DeltaC2.dot(faceANormalWS)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
return false;
if(d<dmin)
{
dmin = d;
sep = faceANormalWS;
}
}
int numFacesB = hullB.m_faces.size();
// Test normals from hullB
for(int i=0;i<numFacesB;i++)
{
const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
if (DeltaC2.dot(WorldNormal)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{
const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
{
const btVector3 edge1 = hullB.m_uniqueEdges[e1];
const btVector3 WorldEdge1 = transB.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
curEdgeEdge++;
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
if (DeltaC2.dot(Cross)<0)
continue;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar dist;
if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
return false;
if(dist<dmin)
{
dmin = dist;
sep = Cross;
}
}
}
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
sep = -sep;
return true;
}
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVertexArray worldVertsB2;
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
pVtxOut->reserve(pVtxIn->size());
int closestFaceA=-1;
{
btScalar dmin = FLT_MAX;
for(int face=0;face<hullA.m_faces.size();face++)
{
const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
btScalar d = faceANormalWS.dot(separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
}
}
}
if (closestFaceA<0)
return;
const btFace& polyA = hullA.m_faces[closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = pVtxIn->size();
int numVerticesA = polyA.m_indices.size();
for(int e0=0;e0<numVerticesA;e0++)
{
const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
const btVector3 edge0 = a - b;
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
btVector3 worldPlaneAnormal1 = transA.getBasis()* btVector3(polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);//.cross(WorldEdge0);
btVector3 worldA1 = transA*a;
btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
//int otherFace=0;
#ifdef BLA1
int otherFace = polyA.m_connectedFaces[e0];
btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
#else
btVector3 planeNormalWS = planeNormalWS1;
btScalar planeEqWS=planeEqWS1;
#endif
//clip face
clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
btSwap(pVtxIn,pVtxOut);
pVtxOut->resize(0);
}
//#define ONLY_REPORT_DEEPEST_POINT
btVector3 point;
// only keep points that are behind the witness face
{
btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btScalar localPlaneEq = polyA.m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
for (int i=0;i<pVtxIn->size();i++)
{
btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
if (depth <=minDist)
{
// printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
depth = minDist;
}
if (depth <=maxDist)
{
btVector3 point = pVtxIn->at(i);
#ifdef ONLY_REPORT_DEEPEST_POINT
curMaxDist = depth;
#else
#if 0
if (depth<-3)
{
printf("error in btPolyhedralContactClipping depth = %f\n", depth);
printf("likely wrong separatingNormal passed in\n");
}
#endif
resultOut.addContactPoint(separatingNormal,point,depth);
#endif
}
}
}
#ifdef ONLY_REPORT_DEEPEST_POINT
if (curMaxDist<maxDist)
{
resultOut.addContactPoint(separatingNormal,point,curMaxDist);
}
#endif //ONLY_REPORT_DEEPEST_POINT
}
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVector3 separatingNormal = separatingNormal1.normalized();
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
btScalar curMaxDist=maxDist;
int closestFaceB=-1;
btScalar dmax = -FLT_MAX;
{
for(int face=0;face<hullB.m_faces.size();face++)
{
const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
btScalar d = WorldNormal.dot(separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
btVertexArray worldVertsB1;
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
for(int e0=0;e0<numVertices;e0++)
{
const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
worldVertsB1.push_back(transB*b);
}
}
if (closestFaceB>=0)
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include <float.h> //for FLT_MAX
int gExpectedNbTests=0;
int gActualNbTests = 0;
bool gUseInternalObject = true;
// Clips a face to the back of a plane
void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
{
int ve;
btScalar ds, de;
int numVerts = pVtxIn.size();
if (numVerts < 2)
return;
btVector3 firstVertex=pVtxIn[pVtxIn.size()-1];
btVector3 endVertex = pVtxIn[0];
ds = planeNormalWS.dot(firstVertex)+planeEqWS;
for (ve = 0; ve < numVerts; ve++)
{
endVertex=pVtxIn[ve];
de = planeNormalWS.dot(endVertex)+planeEqWS;
if (ds<0)
{
if (de<0)
{
// Start < 0, end < 0, so output endVertex
ppVtxOut.push_back(endVertex);
}
else
{
// Start < 0, end >= 0, so output intersection
ppVtxOut.push_back( firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
}
}
else
{
if (de<0)
{
// Start >= 0, end < 0 so output intersection and end
ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
ppVtxOut.push_back(endVertex);
}
}
firstVertex = endVertex;
ds = de;
}
}
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
{
btScalar Min0,Max0;
btScalar Min1,Max1;
hullA.project(transA,sep_axis, Min0, Max0);
hullB.project(transB, sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
btScalar d0 = Max0 - Min1;
assert(d0>=0.0f);
btScalar d1 = Max1 - Min0;
assert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
}
static int gActualSATPairTests=0;
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
#ifdef TEST_INTERNAL_OBJECTS
inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
{
// This version is ~11.000 cycles (4%) faster overall in one of the tests.
// IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
// IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
// IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
}
void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
{
const btMatrix3x3& rot = tr.getBasis();
const btVector3& r0 = rot[0];
const btVector3& r1 = rot[1];
const btVector3& r2 = rot[2];
const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
out.setValue(x, y, z);
}
bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
{
const btScalar dp = delta_c.dot(axis);
btVector3 localAxis0;
InverseTransformPoint3x3(localAxis0, axis,trans0);
btVector3 localAxis1;
InverseTransformPoint3x3(localAxis1, axis,trans1);
btScalar p0[3];
BoxSupport(convex0.m_extents, localAxis0, p0);
btScalar p1[3];
BoxSupport(convex1.m_extents, localAxis1, p1);
const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
const btScalar MinMaxRadius = MaxRadius + MinRadius;
const btScalar d0 = MinMaxRadius + dp;
const btScalar d1 = MinMaxRadius - dp;
const btScalar depth = d0<d1 ? d0:d1;
if(depth>dmin)
return false;
return true;
}
#endif //TEST_INTERNAL_OBJECTS
bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
{
gActualSATPairTests++;
//#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
//#endif
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
// Test normals from hullA
for(int i=0;i<numFacesA;i++)
{
const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
if (DeltaC2.dot(faceANormalWS)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
return false;
if(d<dmin)
{
dmin = d;
sep = faceANormalWS;
}
}
int numFacesB = hullB.m_faces.size();
// Test normals from hullB
for(int i=0;i<numFacesB;i++)
{
const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
if (DeltaC2.dot(WorldNormal)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{
const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
{
const btVector3 edge1 = hullB.m_uniqueEdges[e1];
const btVector3 WorldEdge1 = transB.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
curEdgeEdge++;
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
if (DeltaC2.dot(Cross)<0)
continue;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar dist;
if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
return false;
if(dist<dmin)
{
dmin = dist;
sep = Cross;
}
}
}
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
sep = -sep;
return true;
}
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVertexArray worldVertsB2;
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
pVtxOut->reserve(pVtxIn->size());
int closestFaceA=-1;
{
btScalar dmin = FLT_MAX;
for(int face=0;face<hullA.m_faces.size();face++)
{
const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
btScalar d = faceANormalWS.dot(separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
}
}
}
if (closestFaceA<0)
return;
const btFace& polyA = hullA.m_faces[closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numVerticesA = polyA.m_indices.size();
for(int e0=0;e0<numVerticesA;e0++)
{
const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
const btVector3 edge0 = a - b;
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
btVector3 worldPlaneAnormal1 = transA.getBasis()* btVector3(polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);//.cross(WorldEdge0);
btVector3 worldA1 = transA*a;
btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
//int otherFace=0;
#ifdef BLA1
int otherFace = polyA.m_connectedFaces[e0];
btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
#else
btVector3 planeNormalWS = planeNormalWS1;
btScalar planeEqWS=planeEqWS1;
#endif
//clip face
clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
btSwap(pVtxIn,pVtxOut);
pVtxOut->resize(0);
}
//#define ONLY_REPORT_DEEPEST_POINT
btVector3 point;
// only keep points that are behind the witness face
{
btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btScalar localPlaneEq = polyA.m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
for (int i=0;i<pVtxIn->size();i++)
{
btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
if (depth <=minDist)
{
// printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
depth = minDist;
}
if (depth <=maxDist)
{
btVector3 point = pVtxIn->at(i);
#ifdef ONLY_REPORT_DEEPEST_POINT
curMaxDist = depth;
#else
#if 0
if (depth<-3)
{
printf("error in btPolyhedralContactClipping depth = %f\n", depth);
printf("likely wrong separatingNormal passed in\n");
}
#endif
resultOut.addContactPoint(separatingNormal,point,depth);
#endif
}
}
}
#ifdef ONLY_REPORT_DEEPEST_POINT
if (curMaxDist<maxDist)
{
resultOut.addContactPoint(separatingNormal,point,curMaxDist);
}
#endif //ONLY_REPORT_DEEPEST_POINT
}
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVector3 separatingNormal = separatingNormal1.normalized();
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
int closestFaceB=-1;
btScalar dmax = -FLT_MAX;
{
for(int face=0;face<hullB.m_faces.size();face++)
{
const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
btScalar d = WorldNormal.dot(separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
btVertexArray worldVertsB1;
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
for(int e0=0;e0<numVertices;e0++)
{
const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
worldVertsB1.push_back(transB*b);
}
}
if (closestFaceB>=0)
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
}

92
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
View File

@@ -1,46 +1,46 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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.
*/
///This file was written by Erwin Coumans
#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "btDiscreteCollisionDetectorInterface.h"
class btConvexPolyhedron;
typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
///the clipFace method is used internally
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
};
#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
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.
*/
///This file was written by Erwin Coumans
#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "btDiscreteCollisionDetectorInterface.h"
class btConvexPolyhedron;
typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
///the clipFace method is used internally
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
};
#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H

6
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
View File

@@ -92,13 +92,15 @@ struct btSubSimplexClosestResult
/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
/// Can be used with GJK, as an alternative to Johnson distance algorithm.
#ifdef NO_VIRTUAL_INTERFACE
class btVoronoiSimplexSolver
ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver
#else
class btVoronoiSimplexSolver : public btSimplexSolverInterface
ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
#endif
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_numVertices;
btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];