fix: some file didn't have the svn:eol-style native yet
This commit is contained in:
erwin.coumans
@@ -1,435 +1,435 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
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///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
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#include "btBox2dBox2dCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
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#include "BulletCollision/CollisionShapes/btBox2dShape.h"
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#define USE_PERSISTENT_CONTACTS 1
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btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
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: btActivatingCollisionAlgorithm(ci,obj0,obj1),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
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m_ownManifold = true;
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}
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}
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btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
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//#include <stdio.h>
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void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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return;
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btCollisionObject* col0 = body0;
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btCollisionObject* col1 = body1;
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btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
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btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
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resultOut->setPersistentManifold(m_manifoldPtr);
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b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
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// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
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if (m_ownManifold)
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{
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resultOut->refreshContactPoints();
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}
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}
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btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
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{
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//not yet
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return 1.f;
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}
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struct ClipVertex
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{
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btVector3 v;
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int id;
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//b2ContactID id;
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//b2ContactID id;
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};
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#define b2Dot(a,b) (a).dot(b)
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#define b2Mul(a,b) (a)*(b)
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#define b2MulT(a,b) (a).transpose()*(b)
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#define b2Cross(a,b) (a).cross(b)
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#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
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int b2_maxManifoldPoints =2;
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static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
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const btVector3& normal, btScalar offset)
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{
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// Start with no output points
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int numOut = 0;
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// Calculate the distance of end points to the line
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btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
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btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
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// If the points are behind the plane
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if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
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if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
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// If the points are on different sides of the plane
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if (distance0 * distance1 < 0.0f)
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{
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// Find intersection point of edge and plane
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btScalar interp = distance0 / (distance0 - distance1);
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vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
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if (distance0 > 0.0f)
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{
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vOut[numOut].id = vIn[0].id;
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}
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else
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{
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vOut[numOut].id = vIn[1].id;
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}
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++numOut;
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}
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return numOut;
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}
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// Find the separation between poly1 and poly2 for a give edge normal on poly1.
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static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
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const btBox2dShape* poly2, const btTransform& xf2)
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{
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const btVector3* vertices1 = poly1->getVertices();
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const btVector3* normals1 = poly1->getNormals();
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int count2 = poly2->getVertexCount();
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const btVector3* vertices2 = poly2->getVertices();
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btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
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// Convert normal from poly1's frame into poly2's frame.
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btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
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btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
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// Find support vertex on poly2 for -normal.
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int index = 0;
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btScalar minDot = BT_LARGE_FLOAT;
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for (int i = 0; i < count2; ++i)
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{
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btScalar dot = b2Dot(vertices2[i], normal1);
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if (dot < minDot)
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{
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minDot = dot;
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index = i;
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}
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}
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btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
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btVector3 v2 = b2Mul(xf2, vertices2[index]);
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btScalar separation = b2Dot(v2 - v1, normal1World);
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return separation;
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}
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// Find the max separation between poly1 and poly2 using edge normals from poly1.
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static btScalar FindMaxSeparation(int* edgeIndex,
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const btBox2dShape* poly1, const btTransform& xf1,
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const btBox2dShape* poly2, const btTransform& xf2)
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{
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int count1 = poly1->getVertexCount();
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const btVector3* normals1 = poly1->getNormals();
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// Vector pointing from the centroid of poly1 to the centroid of poly2.
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btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
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btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
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// Find edge normal on poly1 that has the largest projection onto d.
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int edge = 0;
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btScalar maxDot = -BT_LARGE_FLOAT;
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for (int i = 0; i < count1; ++i)
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{
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btScalar dot = b2Dot(normals1[i], dLocal1);
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if (dot > maxDot)
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{
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maxDot = dot;
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edge = i;
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}
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}
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// Get the separation for the edge normal.
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btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
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if (s > 0.0f)
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{
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return s;
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}
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// Check the separation for the previous edge normal.
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int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
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btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
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if (sPrev > 0.0f)
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{
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return sPrev;
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}
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// Check the separation for the next edge normal.
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int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
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btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
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if (sNext > 0.0f)
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{
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return sNext;
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}
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// Find the best edge and the search direction.
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int bestEdge;
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btScalar bestSeparation;
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int increment;
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if (sPrev > s && sPrev > sNext)
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{
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increment = -1;
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bestEdge = prevEdge;
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bestSeparation = sPrev;
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}
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else if (sNext > s)
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{
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increment = 1;
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bestEdge = nextEdge;
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bestSeparation = sNext;
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}
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else
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{
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*edgeIndex = edge;
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return s;
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}
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// Perform a local search for the best edge normal.
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for ( ; ; )
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{
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if (increment == -1)
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edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
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else
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edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
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s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
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if (s > 0.0f)
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{
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return s;
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}
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if (s > bestSeparation)
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{
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bestEdge = edge;
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bestSeparation = s;
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}
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else
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{
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break;
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}
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}
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*edgeIndex = bestEdge;
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return bestSeparation;
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}
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static void FindIncidentEdge(ClipVertex c[2],
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const btBox2dShape* poly1, const btTransform& xf1, int edge1,
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const btBox2dShape* poly2, const btTransform& xf2)
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{
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const btVector3* normals1 = poly1->getNormals();
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int count2 = poly2->getVertexCount();
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const btVector3* vertices2 = poly2->getVertices();
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const btVector3* normals2 = poly2->getNormals();
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btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
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// Get the normal of the reference edge in poly2's frame.
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btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
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// Find the incident edge on poly2.
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int index = 0;
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btScalar minDot = BT_LARGE_FLOAT;
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for (int i = 0; i < count2; ++i)
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{
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btScalar dot = b2Dot(normal1, normals2[i]);
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if (dot < minDot)
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{
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minDot = dot;
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index = i;
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}
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}
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// Build the clip vertices for the incident edge.
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int i1 = index;
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int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
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c[0].v = b2Mul(xf2, vertices2[i1]);
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// c[0].id.features.referenceEdge = (unsigned char)edge1;
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// c[0].id.features.incidentEdge = (unsigned char)i1;
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// c[0].id.features.incidentVertex = 0;
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c[1].v = b2Mul(xf2, vertices2[i2]);
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// c[1].id.features.referenceEdge = (unsigned char)edge1;
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// c[1].id.features.incidentEdge = (unsigned char)i2;
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// c[1].id.features.incidentVertex = 1;
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}
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// Find edge normal of max separation on A - return if separating axis is found
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// Find edge normal of max separation on B - return if separation axis is found
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// Choose reference edge as min(minA, minB)
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// Find incident edge
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// Clip
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// The normal points from 1 to 2
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void b2CollidePolygons(btManifoldResult* manifold,
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const btBox2dShape* polyA, const btTransform& xfA,
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const btBox2dShape* polyB, const btTransform& xfB)
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{
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int edgeA = 0;
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btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
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if (separationA > 0.0f)
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return;
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int edgeB = 0;
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btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
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if (separationB > 0.0f)
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return;
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const btBox2dShape* poly1; // reference poly
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const btBox2dShape* poly2; // incident poly
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btTransform xf1, xf2;
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int edge1; // reference edge
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unsigned char flip;
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const btScalar k_relativeTol = 0.98f;
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const btScalar k_absoluteTol = 0.001f;
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// TODO_ERIN use "radius" of poly for absolute tolerance.
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if (separationB > k_relativeTol * separationA + k_absoluteTol)
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{
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poly1 = polyB;
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poly2 = polyA;
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xf1 = xfB;
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xf2 = xfA;
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edge1 = edgeB;
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flip = 1;
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}
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else
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{
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poly1 = polyA;
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poly2 = polyB;
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xf1 = xfA;
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xf2 = xfB;
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edge1 = edgeA;
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flip = 0;
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}
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ClipVertex incidentEdge[2];
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FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
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int count1 = poly1->getVertexCount();
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const btVector3* vertices1 = poly1->getVertices();
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btVector3 v11 = vertices1[edge1];
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btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
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btVector3 dv = v12 - v11;
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btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
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sideNormal.normalize();
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btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
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v11 = b2Mul(xf1, v11);
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v12 = b2Mul(xf1, v12);
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btScalar frontOffset = b2Dot(frontNormal, v11);
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btScalar sideOffset1 = -b2Dot(sideNormal, v11);
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btScalar sideOffset2 = b2Dot(sideNormal, v12);
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// Clip incident edge against extruded edge1 side edges.
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ClipVertex clipPoints1[2];
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clipPoints1[0].v.setValue(0,0,0);
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clipPoints1[1].v.setValue(0,0,0);
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ClipVertex clipPoints2[2];
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clipPoints2[0].v.setValue(0,0,0);
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clipPoints2[1].v.setValue(0,0,0);
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int np;
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// Clip to box side 1
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np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
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if (np < 2)
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return;
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// Clip to negative box side 1
|
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np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
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if (np < 2)
|
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{
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return;
|
||||
}
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// Now clipPoints2 contains the clipped points.
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btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
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int pointCount = 0;
|
||||
for (int i = 0; i < b2_maxManifoldPoints; ++i)
|
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{
|
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btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
|
||||
|
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if (separation <= 0.0f)
|
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{
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||||
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//b2ManifoldPoint* cp = manifold->points + pointCount;
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//btScalar separation = separation;
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//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
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//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
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manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
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||||
|
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// cp->id = clipPoints2[i].id;
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// cp->id.features.flip = flip;
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++pointCount;
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}
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}
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// manifold->pointCount = pointCount;}
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}
|
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
|
||||
|
||||
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.
|
||||
*/
|
||||
|
||||
///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
|
||||
///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
|
||||
|
||||
#include "btBox2dBox2dCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
|
||||
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
|
||||
|
||||
#define USE_PERSISTENT_CONTACTS 1
|
||||
|
||||
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
|
||||
: btActivatingCollisionAlgorithm(ci,obj0,obj1),
|
||||
m_ownManifold(false),
|
||||
m_manifoldPtr(mf)
|
||||
{
|
||||
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
|
||||
{
|
||||
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
|
||||
m_ownManifold = true;
|
||||
}
|
||||
}
|
||||
|
||||
btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
|
||||
{
|
||||
|
||||
if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
|
||||
|
||||
//#include <stdio.h>
|
||||
void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
if (!m_manifoldPtr)
|
||||
return;
|
||||
|
||||
btCollisionObject* col0 = body0;
|
||||
btCollisionObject* col1 = body1;
|
||||
btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
|
||||
btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
|
||||
|
||||
resultOut->setPersistentManifold(m_manifoldPtr);
|
||||
|
||||
b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
|
||||
|
||||
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
|
||||
if (m_ownManifold)
|
||||
{
|
||||
resultOut->refreshContactPoints();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
|
||||
{
|
||||
//not yet
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
|
||||
struct ClipVertex
|
||||
{
|
||||
btVector3 v;
|
||||
int id;
|
||||
//b2ContactID id;
|
||||
//b2ContactID id;
|
||||
};
|
||||
|
||||
#define b2Dot(a,b) (a).dot(b)
|
||||
#define b2Mul(a,b) (a)*(b)
|
||||
#define b2MulT(a,b) (a).transpose()*(b)
|
||||
#define b2Cross(a,b) (a).cross(b)
|
||||
#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
|
||||
|
||||
int b2_maxManifoldPoints =2;
|
||||
|
||||
static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
|
||||
const btVector3& normal, btScalar offset)
|
||||
{
|
||||
// Start with no output points
|
||||
int numOut = 0;
|
||||
|
||||
// Calculate the distance of end points to the line
|
||||
btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
|
||||
btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
|
||||
|
||||
// If the points are behind the plane
|
||||
if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
|
||||
if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
|
||||
|
||||
// If the points are on different sides of the plane
|
||||
if (distance0 * distance1 < 0.0f)
|
||||
{
|
||||
// Find intersection point of edge and plane
|
||||
btScalar interp = distance0 / (distance0 - distance1);
|
||||
vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
|
||||
if (distance0 > 0.0f)
|
||||
{
|
||||
vOut[numOut].id = vIn[0].id;
|
||||
}
|
||||
else
|
||||
{
|
||||
vOut[numOut].id = vIn[1].id;
|
||||
}
|
||||
++numOut;
|
||||
}
|
||||
|
||||
return numOut;
|
||||
}
|
||||
|
||||
// Find the separation between poly1 and poly2 for a give edge normal on poly1.
|
||||
static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
|
||||
const btBox2dShape* poly2, const btTransform& xf2)
|
||||
{
|
||||
const btVector3* vertices1 = poly1->getVertices();
|
||||
const btVector3* normals1 = poly1->getNormals();
|
||||
|
||||
int count2 = poly2->getVertexCount();
|
||||
const btVector3* vertices2 = poly2->getVertices();
|
||||
|
||||
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
|
||||
|
||||
// Convert normal from poly1's frame into poly2's frame.
|
||||
btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
|
||||
btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
|
||||
|
||||
// Find support vertex on poly2 for -normal.
|
||||
int index = 0;
|
||||
btScalar minDot = BT_LARGE_FLOAT;
|
||||
|
||||
for (int i = 0; i < count2; ++i)
|
||||
{
|
||||
btScalar dot = b2Dot(vertices2[i], normal1);
|
||||
if (dot < minDot)
|
||||
{
|
||||
minDot = dot;
|
||||
index = i;
|
||||
}
|
||||
}
|
||||
|
||||
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
|
||||
btVector3 v2 = b2Mul(xf2, vertices2[index]);
|
||||
btScalar separation = b2Dot(v2 - v1, normal1World);
|
||||
return separation;
|
||||
}
|
||||
|
||||
// Find the max separation between poly1 and poly2 using edge normals from poly1.
|
||||
static btScalar FindMaxSeparation(int* edgeIndex,
|
||||
const btBox2dShape* poly1, const btTransform& xf1,
|
||||
const btBox2dShape* poly2, const btTransform& xf2)
|
||||
{
|
||||
int count1 = poly1->getVertexCount();
|
||||
const btVector3* normals1 = poly1->getNormals();
|
||||
|
||||
// Vector pointing from the centroid of poly1 to the centroid of poly2.
|
||||
btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
|
||||
btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
|
||||
|
||||
// Find edge normal on poly1 that has the largest projection onto d.
|
||||
int edge = 0;
|
||||
btScalar maxDot = -BT_LARGE_FLOAT;
|
||||
for (int i = 0; i < count1; ++i)
|
||||
{
|
||||
btScalar dot = b2Dot(normals1[i], dLocal1);
|
||||
if (dot > maxDot)
|
||||
{
|
||||
maxDot = dot;
|
||||
edge = i;
|
||||
}
|
||||
}
|
||||
|
||||
// Get the separation for the edge normal.
|
||||
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
|
||||
if (s > 0.0f)
|
||||
{
|
||||
return s;
|
||||
}
|
||||
|
||||
// Check the separation for the previous edge normal.
|
||||
int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
|
||||
btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
|
||||
if (sPrev > 0.0f)
|
||||
{
|
||||
return sPrev;
|
||||
}
|
||||
|
||||
// Check the separation for the next edge normal.
|
||||
int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
|
||||
btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
|
||||
if (sNext > 0.0f)
|
||||
{
|
||||
return sNext;
|
||||
}
|
||||
|
||||
// Find the best edge and the search direction.
|
||||
int bestEdge;
|
||||
btScalar bestSeparation;
|
||||
int increment;
|
||||
if (sPrev > s && sPrev > sNext)
|
||||
{
|
||||
increment = -1;
|
||||
bestEdge = prevEdge;
|
||||
bestSeparation = sPrev;
|
||||
}
|
||||
else if (sNext > s)
|
||||
{
|
||||
increment = 1;
|
||||
bestEdge = nextEdge;
|
||||
bestSeparation = sNext;
|
||||
}
|
||||
else
|
||||
{
|
||||
*edgeIndex = edge;
|
||||
return s;
|
||||
}
|
||||
|
||||
// Perform a local search for the best edge normal.
|
||||
for ( ; ; )
|
||||
{
|
||||
if (increment == -1)
|
||||
edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
|
||||
else
|
||||
edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
|
||||
|
||||
s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
|
||||
if (s > 0.0f)
|
||||
{
|
||||
return s;
|
||||
}
|
||||
|
||||
if (s > bestSeparation)
|
||||
{
|
||||
bestEdge = edge;
|
||||
bestSeparation = s;
|
||||
}
|
||||
else
|
||||
{
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
*edgeIndex = bestEdge;
|
||||
return bestSeparation;
|
||||
}
|
||||
|
||||
static void FindIncidentEdge(ClipVertex c[2],
|
||||
const btBox2dShape* poly1, const btTransform& xf1, int edge1,
|
||||
const btBox2dShape* poly2, const btTransform& xf2)
|
||||
{
|
||||
const btVector3* normals1 = poly1->getNormals();
|
||||
|
||||
int count2 = poly2->getVertexCount();
|
||||
const btVector3* vertices2 = poly2->getVertices();
|
||||
const btVector3* normals2 = poly2->getNormals();
|
||||
|
||||
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
|
||||
|
||||
// Get the normal of the reference edge in poly2's frame.
|
||||
btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
|
||||
|
||||
// Find the incident edge on poly2.
|
||||
int index = 0;
|
||||
btScalar minDot = BT_LARGE_FLOAT;
|
||||
for (int i = 0; i < count2; ++i)
|
||||
{
|
||||
btScalar dot = b2Dot(normal1, normals2[i]);
|
||||
if (dot < minDot)
|
||||
{
|
||||
minDot = dot;
|
||||
index = i;
|
||||
}
|
||||
}
|
||||
|
||||
// Build the clip vertices for the incident edge.
|
||||
int i1 = index;
|
||||
int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
|
||||
|
||||
c[0].v = b2Mul(xf2, vertices2[i1]);
|
||||
// c[0].id.features.referenceEdge = (unsigned char)edge1;
|
||||
// c[0].id.features.incidentEdge = (unsigned char)i1;
|
||||
// c[0].id.features.incidentVertex = 0;
|
||||
|
||||
c[1].v = b2Mul(xf2, vertices2[i2]);
|
||||
// c[1].id.features.referenceEdge = (unsigned char)edge1;
|
||||
// c[1].id.features.incidentEdge = (unsigned char)i2;
|
||||
// c[1].id.features.incidentVertex = 1;
|
||||
}
|
||||
|
||||
// Find edge normal of max separation on A - return if separating axis is found
|
||||
// Find edge normal of max separation on B - return if separation axis is found
|
||||
// Choose reference edge as min(minA, minB)
|
||||
// Find incident edge
|
||||
// Clip
|
||||
|
||||
// The normal points from 1 to 2
|
||||
void b2CollidePolygons(btManifoldResult* manifold,
|
||||
const btBox2dShape* polyA, const btTransform& xfA,
|
||||
const btBox2dShape* polyB, const btTransform& xfB)
|
||||
{
|
||||
|
||||
int edgeA = 0;
|
||||
btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
|
||||
if (separationA > 0.0f)
|
||||
return;
|
||||
|
||||
int edgeB = 0;
|
||||
btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
|
||||
if (separationB > 0.0f)
|
||||
return;
|
||||
|
||||
const btBox2dShape* poly1; // reference poly
|
||||
const btBox2dShape* poly2; // incident poly
|
||||
btTransform xf1, xf2;
|
||||
int edge1; // reference edge
|
||||
unsigned char flip;
|
||||
const btScalar k_relativeTol = 0.98f;
|
||||
const btScalar k_absoluteTol = 0.001f;
|
||||
|
||||
// TODO_ERIN use "radius" of poly for absolute tolerance.
|
||||
if (separationB > k_relativeTol * separationA + k_absoluteTol)
|
||||
{
|
||||
poly1 = polyB;
|
||||
poly2 = polyA;
|
||||
xf1 = xfB;
|
||||
xf2 = xfA;
|
||||
edge1 = edgeB;
|
||||
flip = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
poly1 = polyA;
|
||||
poly2 = polyB;
|
||||
xf1 = xfA;
|
||||
xf2 = xfB;
|
||||
edge1 = edgeA;
|
||||
flip = 0;
|
||||
}
|
||||
|
||||
ClipVertex incidentEdge[2];
|
||||
FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
|
||||
|
||||
int count1 = poly1->getVertexCount();
|
||||
const btVector3* vertices1 = poly1->getVertices();
|
||||
|
||||
btVector3 v11 = vertices1[edge1];
|
||||
btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
|
||||
|
||||
btVector3 dv = v12 - v11;
|
||||
btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
|
||||
sideNormal.normalize();
|
||||
btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
|
||||
|
||||
|
||||
v11 = b2Mul(xf1, v11);
|
||||
v12 = b2Mul(xf1, v12);
|
||||
|
||||
btScalar frontOffset = b2Dot(frontNormal, v11);
|
||||
btScalar sideOffset1 = -b2Dot(sideNormal, v11);
|
||||
btScalar sideOffset2 = b2Dot(sideNormal, v12);
|
||||
|
||||
// Clip incident edge against extruded edge1 side edges.
|
||||
ClipVertex clipPoints1[2];
|
||||
clipPoints1[0].v.setValue(0,0,0);
|
||||
clipPoints1[1].v.setValue(0,0,0);
|
||||
|
||||
ClipVertex clipPoints2[2];
|
||||
clipPoints2[0].v.setValue(0,0,0);
|
||||
clipPoints2[1].v.setValue(0,0,0);
|
||||
|
||||
|
||||
int np;
|
||||
|
||||
// Clip to box side 1
|
||||
np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
|
||||
|
||||
if (np < 2)
|
||||
return;
|
||||
|
||||
// Clip to negative box side 1
|
||||
np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
|
||||
|
||||
if (np < 2)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// Now clipPoints2 contains the clipped points.
|
||||
btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
|
||||
|
||||
int pointCount = 0;
|
||||
for (int i = 0; i < b2_maxManifoldPoints; ++i)
|
||||
{
|
||||
btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
|
||||
|
||||
if (separation <= 0.0f)
|
||||
{
|
||||
|
||||
//b2ManifoldPoint* cp = manifold->points + pointCount;
|
||||
//btScalar separation = separation;
|
||||
//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
|
||||
//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
|
||||
|
||||
manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
|
||||
|
||||
// cp->id = clipPoints2[i].id;
|
||||
// cp->id.features.flip = flip;
|
||||
++pointCount;
|
||||
}
|
||||
}
|
||||
|
||||
// manifold->pointCount = pointCount;}
|
||||
}
|
||||
|
||||
@@ -1,66 +1,66 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
///box-box collision detection
|
||||
class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
public:
|
||||
btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
|
||||
: btActivatingCollisionAlgorithm(ci) {}
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
virtual ~btBox2dBox2dCollisionAlgorithm();
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
{
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
|
||||
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
|
||||
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
///box-box collision detection
|
||||
class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
public:
|
||||
btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
|
||||
: btActivatingCollisionAlgorithm(ci) {}
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
virtual ~btBox2dBox2dCollisionAlgorithm();
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
{
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
|
||||
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
|
||||
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
|
||||
|
||||
@@ -1,247 +1,247 @@
|
||||
/*
|
||||
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 "btConvex2dConvex2dAlgorithm.h"
|
||||
|
||||
//#include <stdio.h>
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
|
||||
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
|
||||
|
||||
|
||||
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
|
||||
{
|
||||
m_numPerturbationIterations = 0;
|
||||
m_minimumPointsPerturbationThreshold = 3;
|
||||
m_simplexSolver = simplexSolver;
|
||||
m_pdSolver = pdSolver;
|
||||
}
|
||||
|
||||
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
|
||||
{
|
||||
}
|
||||
|
||||
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
|
||||
: btActivatingCollisionAlgorithm(ci,body0,body1),
|
||||
m_simplexSolver(simplexSolver),
|
||||
m_pdSolver(pdSolver),
|
||||
m_ownManifold (false),
|
||||
m_manifoldPtr(mf),
|
||||
m_lowLevelOfDetail(false),
|
||||
m_numPerturbationIterations(numPerturbationIterations),
|
||||
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
|
||||
{
|
||||
(void)body0;
|
||||
(void)body1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
|
||||
{
|
||||
if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
}
|
||||
|
||||
void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
|
||||
{
|
||||
m_lowLevelOfDetail = useLowLevel;
|
||||
}
|
||||
|
||||
|
||||
|
||||
extern btScalar gContactBreakingThreshold;
|
||||
|
||||
|
||||
//
|
||||
// Convex-Convex collision algorithm
|
||||
//
|
||||
void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
|
||||
if (!m_manifoldPtr)
|
||||
{
|
||||
//swapped?
|
||||
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
|
||||
m_ownManifold = true;
|
||||
}
|
||||
resultOut->setPersistentManifold(m_manifoldPtr);
|
||||
|
||||
//comment-out next line to test multi-contact generation
|
||||
//resultOut->getPersistentManifold()->clearManifold();
|
||||
|
||||
|
||||
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
|
||||
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
|
||||
|
||||
btVector3 normalOnB;
|
||||
btVector3 pointOnBWorld;
|
||||
|
||||
{
|
||||
|
||||
|
||||
btGjkPairDetector::ClosestPointInput input;
|
||||
|
||||
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
|
||||
//TODO: if (dispatchInfo.m_useContinuous)
|
||||
gjkPairDetector.setMinkowskiA(min0);
|
||||
gjkPairDetector.setMinkowskiB(min1);
|
||||
|
||||
{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
|
||||
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
|
||||
}
|
||||
|
||||
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
|
||||
input.m_transformA = body0->getWorldTransform();
|
||||
input.m_transformB = body1->getWorldTransform();
|
||||
|
||||
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
||||
|
||||
btVector3 v0,v1;
|
||||
btVector3 sepNormalWorldSpace;
|
||||
|
||||
}
|
||||
|
||||
if (m_ownManifold)
|
||||
{
|
||||
resultOut->refreshContactPoints();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
(void)resultOut;
|
||||
(void)dispatchInfo;
|
||||
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
|
||||
|
||||
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
|
||||
///col0->m_worldTransform,
|
||||
btScalar resultFraction = btScalar(1.);
|
||||
|
||||
|
||||
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
|
||||
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
|
||||
|
||||
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
|
||||
squareMot1 < col1->getCcdSquareMotionThreshold())
|
||||
return resultFraction;
|
||||
|
||||
|
||||
//An adhoc way of testing the Continuous Collision Detection algorithms
|
||||
//One object is approximated as a sphere, to simplify things
|
||||
//Starting in penetration should report no time of impact
|
||||
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
|
||||
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
|
||||
|
||||
|
||||
/// Convex0 against sphere for Convex1
|
||||
{
|
||||
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
|
||||
|
||||
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
|
||||
btConvexCast::CastResult result;
|
||||
btVoronoiSimplexSolver voronoiSimplex;
|
||||
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
||||
///Simplification, one object is simplified as a sphere
|
||||
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
|
||||
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
||||
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
|
||||
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
|
||||
{
|
||||
|
||||
//store result.m_fraction in both bodies
|
||||
|
||||
if (col0->getHitFraction()> result.m_fraction)
|
||||
col0->setHitFraction( result.m_fraction );
|
||||
|
||||
if (col1->getHitFraction() > result.m_fraction)
|
||||
col1->setHitFraction( result.m_fraction);
|
||||
|
||||
if (resultFraction > result.m_fraction)
|
||||
resultFraction = result.m_fraction;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/// Sphere (for convex0) against Convex1
|
||||
{
|
||||
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
|
||||
|
||||
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
|
||||
btConvexCast::CastResult result;
|
||||
btVoronoiSimplexSolver voronoiSimplex;
|
||||
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
||||
///Simplification, one object is simplified as a sphere
|
||||
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
|
||||
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
||||
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
|
||||
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
|
||||
{
|
||||
|
||||
//store result.m_fraction in both bodies
|
||||
|
||||
if (col0->getHitFraction() > result.m_fraction)
|
||||
col0->setHitFraction( result.m_fraction);
|
||||
|
||||
if (col1->getHitFraction() > result.m_fraction)
|
||||
col1->setHitFraction( result.m_fraction);
|
||||
|
||||
if (resultFraction > result.m_fraction)
|
||||
resultFraction = result.m_fraction;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return resultFraction;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
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 "btConvex2dConvex2dAlgorithm.h"
|
||||
|
||||
//#include <stdio.h>
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
|
||||
|
||||
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
|
||||
|
||||
|
||||
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
|
||||
{
|
||||
m_numPerturbationIterations = 0;
|
||||
m_minimumPointsPerturbationThreshold = 3;
|
||||
m_simplexSolver = simplexSolver;
|
||||
m_pdSolver = pdSolver;
|
||||
}
|
||||
|
||||
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
|
||||
{
|
||||
}
|
||||
|
||||
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
|
||||
: btActivatingCollisionAlgorithm(ci,body0,body1),
|
||||
m_simplexSolver(simplexSolver),
|
||||
m_pdSolver(pdSolver),
|
||||
m_ownManifold (false),
|
||||
m_manifoldPtr(mf),
|
||||
m_lowLevelOfDetail(false),
|
||||
m_numPerturbationIterations(numPerturbationIterations),
|
||||
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
|
||||
{
|
||||
(void)body0;
|
||||
(void)body1;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
|
||||
{
|
||||
if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
}
|
||||
|
||||
void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
|
||||
{
|
||||
m_lowLevelOfDetail = useLowLevel;
|
||||
}
|
||||
|
||||
|
||||
|
||||
extern btScalar gContactBreakingThreshold;
|
||||
|
||||
|
||||
//
|
||||
// Convex-Convex collision algorithm
|
||||
//
|
||||
void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
|
||||
if (!m_manifoldPtr)
|
||||
{
|
||||
//swapped?
|
||||
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
|
||||
m_ownManifold = true;
|
||||
}
|
||||
resultOut->setPersistentManifold(m_manifoldPtr);
|
||||
|
||||
//comment-out next line to test multi-contact generation
|
||||
//resultOut->getPersistentManifold()->clearManifold();
|
||||
|
||||
|
||||
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
|
||||
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
|
||||
|
||||
btVector3 normalOnB;
|
||||
btVector3 pointOnBWorld;
|
||||
|
||||
{
|
||||
|
||||
|
||||
btGjkPairDetector::ClosestPointInput input;
|
||||
|
||||
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
|
||||
//TODO: if (dispatchInfo.m_useContinuous)
|
||||
gjkPairDetector.setMinkowskiA(min0);
|
||||
gjkPairDetector.setMinkowskiB(min1);
|
||||
|
||||
{
|
||||
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
|
||||
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
|
||||
}
|
||||
|
||||
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
|
||||
input.m_transformA = body0->getWorldTransform();
|
||||
input.m_transformB = body1->getWorldTransform();
|
||||
|
||||
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
||||
|
||||
btVector3 v0,v1;
|
||||
btVector3 sepNormalWorldSpace;
|
||||
|
||||
}
|
||||
|
||||
if (m_ownManifold)
|
||||
{
|
||||
resultOut->refreshContactPoints();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
(void)resultOut;
|
||||
(void)dispatchInfo;
|
||||
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
|
||||
|
||||
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
|
||||
///col0->m_worldTransform,
|
||||
btScalar resultFraction = btScalar(1.);
|
||||
|
||||
|
||||
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
|
||||
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
|
||||
|
||||
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
|
||||
squareMot1 < col1->getCcdSquareMotionThreshold())
|
||||
return resultFraction;
|
||||
|
||||
|
||||
//An adhoc way of testing the Continuous Collision Detection algorithms
|
||||
//One object is approximated as a sphere, to simplify things
|
||||
//Starting in penetration should report no time of impact
|
||||
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
|
||||
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
|
||||
|
||||
|
||||
/// Convex0 against sphere for Convex1
|
||||
{
|
||||
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
|
||||
|
||||
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
|
||||
btConvexCast::CastResult result;
|
||||
btVoronoiSimplexSolver voronoiSimplex;
|
||||
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
||||
///Simplification, one object is simplified as a sphere
|
||||
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
|
||||
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
||||
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
|
||||
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
|
||||
{
|
||||
|
||||
//store result.m_fraction in both bodies
|
||||
|
||||
if (col0->getHitFraction()> result.m_fraction)
|
||||
col0->setHitFraction( result.m_fraction );
|
||||
|
||||
if (col1->getHitFraction() > result.m_fraction)
|
||||
col1->setHitFraction( result.m_fraction);
|
||||
|
||||
if (resultFraction > result.m_fraction)
|
||||
resultFraction = result.m_fraction;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/// Sphere (for convex0) against Convex1
|
||||
{
|
||||
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
|
||||
|
||||
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
|
||||
btConvexCast::CastResult result;
|
||||
btVoronoiSimplexSolver voronoiSimplex;
|
||||
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
||||
///Simplification, one object is simplified as a sphere
|
||||
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
|
||||
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
||||
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
|
||||
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
|
||||
{
|
||||
|
||||
//store result.m_fraction in both bodies
|
||||
|
||||
if (col0->getHitFraction() > result.m_fraction)
|
||||
col0->setHitFraction( result.m_fraction);
|
||||
|
||||
if (col1->getHitFraction() > result.m_fraction)
|
||||
col1->setHitFraction( result.m_fraction);
|
||||
|
||||
if (resultFraction > result.m_fraction)
|
||||
resultFraction = result.m_fraction;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return resultFraction;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,95 +1,95 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
||||
#define CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
|
||||
|
||||
class btConvexPenetrationDepthSolver;
|
||||
|
||||
|
||||
///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
|
||||
///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
|
||||
class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
|
||||
{
|
||||
btSimplexSolverInterface* m_simplexSolver;
|
||||
btConvexPenetrationDepthSolver* m_pdSolver;
|
||||
|
||||
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
bool m_lowLevelOfDetail;
|
||||
|
||||
int m_numPerturbationIterations;
|
||||
int m_minimumPointsPerturbationThreshold;
|
||||
|
||||
public:
|
||||
|
||||
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
|
||||
|
||||
|
||||
virtual ~btConvex2dConvex2dAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
///should we use m_ownManifold to avoid adding duplicates?
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
|
||||
|
||||
void setLowLevelOfDetail(bool useLowLevel);
|
||||
|
||||
|
||||
const btPersistentManifold* getManifold()
|
||||
{
|
||||
return m_manifoldPtr;
|
||||
}
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
|
||||
btConvexPenetrationDepthSolver* m_pdSolver;
|
||||
btSimplexSolverInterface* m_simplexSolver;
|
||||
int m_numPerturbationIterations;
|
||||
int m_minimumPointsPerturbationThreshold;
|
||||
|
||||
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
|
||||
|
||||
virtual ~CreateFunc();
|
||||
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
|
||||
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
#ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
||||
#define CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
|
||||
|
||||
class btConvexPenetrationDepthSolver;
|
||||
|
||||
|
||||
///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape
|
||||
///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation
|
||||
class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
|
||||
{
|
||||
btSimplexSolverInterface* m_simplexSolver;
|
||||
btConvexPenetrationDepthSolver* m_pdSolver;
|
||||
|
||||
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
bool m_lowLevelOfDetail;
|
||||
|
||||
int m_numPerturbationIterations;
|
||||
int m_minimumPointsPerturbationThreshold;
|
||||
|
||||
public:
|
||||
|
||||
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
|
||||
|
||||
|
||||
virtual ~btConvex2dConvex2dAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
///should we use m_ownManifold to avoid adding duplicates?
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
|
||||
|
||||
void setLowLevelOfDetail(bool useLowLevel);
|
||||
|
||||
|
||||
const btPersistentManifold* getManifold()
|
||||
{
|
||||
return m_manifoldPtr;
|
||||
}
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
|
||||
btConvexPenetrationDepthSolver* m_pdSolver;
|
||||
btSimplexSolverInterface* m_simplexSolver;
|
||||
int m_numPerturbationIterations;
|
||||
int m_minimumPointsPerturbationThreshold;
|
||||
|
||||
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
|
||||
|
||||
virtual ~CreateFunc();
|
||||
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
|
||||
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,46 +1,46 @@
|
||||
|
||||
#ifndef BT_INTERNAL_EDGE_UTILITY_H
|
||||
#define BT_INTERNAL_EDGE_UTILITY_H
|
||||
|
||||
#include "LinearMath/btHashMap.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
|
||||
|
||||
///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
|
||||
///See also http://code.google.com/p/bullet/issues/detail?id=27
|
||||
|
||||
class btBvhTriangleMeshShape;
|
||||
class btCollisionObject;
|
||||
class btManifoldPoint;
|
||||
class btIDebugDraw;
|
||||
|
||||
|
||||
|
||||
enum btInternalEdgeAdjustFlags
|
||||
{
|
||||
BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
|
||||
BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
|
||||
BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
|
||||
};
|
||||
|
||||
|
||||
///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
|
||||
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
|
||||
|
||||
|
||||
///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
|
||||
///If this info map is missing, or the triangle is not store in this map, nothing will be done
|
||||
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
|
||||
|
||||
///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
|
||||
///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
|
||||
//#define BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
|
||||
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
void btSetDebugDrawer(btIDebugDraw* debugDrawer);
|
||||
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
|
||||
|
||||
#endif //BT_INTERNAL_EDGE_UTILITY_H
|
||||
|
||||
|
||||
#ifndef BT_INTERNAL_EDGE_UTILITY_H
|
||||
#define BT_INTERNAL_EDGE_UTILITY_H
|
||||
|
||||
#include "LinearMath/btHashMap.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
|
||||
|
||||
///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
|
||||
///See also http://code.google.com/p/bullet/issues/detail?id=27
|
||||
|
||||
class btBvhTriangleMeshShape;
|
||||
class btCollisionObject;
|
||||
class btManifoldPoint;
|
||||
class btIDebugDraw;
|
||||
|
||||
|
||||
|
||||
enum btInternalEdgeAdjustFlags
|
||||
{
|
||||
BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
|
||||
BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
|
||||
BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
|
||||
};
|
||||
|
||||
|
||||
///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
|
||||
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
|
||||
|
||||
|
||||
///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
|
||||
///If this info map is missing, or the triangle is not store in this map, nothing will be done
|
||||
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
|
||||
|
||||
///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
|
||||
///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
|
||||
//#define BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
|
||||
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
void btSetDebugDrawer(btIDebugDraw* debugDrawer);
|
||||
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
|
||||
|
||||
|
||||
#endif //BT_INTERNAL_EDGE_UTILITY_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user