minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,152 +1,152 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuSubSimplexConvexCast.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
|
||||
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver)
|
||||
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
|
||||
{
|
||||
}
|
||||
|
||||
///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
|
||||
///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define MAX_ITERATIONS 64
|
||||
#else
|
||||
#define MAX_ITERATIONS 32
|
||||
#endif
|
||||
|
||||
/* Returns the support point of the minkowski sum:
|
||||
* MSUM(Pellet, ConvexShape)
|
||||
*
|
||||
*/
|
||||
void supportPoints (const btTransform& xformRay,
|
||||
const btTransform& xformB,
|
||||
const int shapeType,
|
||||
const void* shape,
|
||||
SpuConvexPolyhedronVertexData* convexVertexData,
|
||||
const btScalar marginB,
|
||||
const btVector3& seperatingAxis,
|
||||
btVector3& w,
|
||||
btVector3& supVertexRay,
|
||||
btVector3& supVertexB)
|
||||
{
|
||||
btVector3 saUnit = seperatingAxis;
|
||||
saUnit.normalize();
|
||||
btVector3 SupportPellet = xformRay(0.0001 * -saUnit);
|
||||
btVector3 rotatedSeperatingAxis = seperatingAxis * xformB.getBasis();
|
||||
btVector3 SupportShape = xformB(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
|
||||
SupportShape += saUnit * marginB;
|
||||
w = SupportPellet - SupportShape;
|
||||
supVertexRay = SupportPellet;
|
||||
supVertexB = SupportShape;
|
||||
}
|
||||
|
||||
bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result)
|
||||
{
|
||||
m_simplexSolver->reset();
|
||||
|
||||
btVector3 linVelRay, linVelB;
|
||||
linVelRay = toRay.getOrigin() - fromRay.getOrigin();
|
||||
linVelB = toB.getOrigin() - fromB.getOrigin ();
|
||||
|
||||
btScalar lambda = btScalar(0.);
|
||||
|
||||
btTransform interpolatedTransRay = fromRay;
|
||||
btTransform interpolatedTransB = fromB;
|
||||
|
||||
btVector3 r = (linVelRay-linVelB);
|
||||
btVector3 supVertexRay;
|
||||
btVector3 supVertexB;
|
||||
btVector3 v;
|
||||
supportPoints (fromRay, fromB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, r, v, supVertexRay, supVertexB);
|
||||
|
||||
btVector3 n;
|
||||
n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
bool hasResult = false;
|
||||
btVector3 c;
|
||||
int maxIter = MAX_ITERATIONS;
|
||||
|
||||
btScalar lastLambda = lambda;
|
||||
|
||||
btScalar dist2 = v.length2();
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#else
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
btVector3 w,p;
|
||||
btScalar VdotR;
|
||||
|
||||
while ( (dist2 > epsilon) && maxIter--)
|
||||
{
|
||||
supportPoints (interpolatedTransRay, interpolatedTransB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, v, w, supVertexRay, supVertexB);
|
||||
|
||||
btScalar VdotW = v.dot(w);
|
||||
|
||||
if (lambda > btScalar(1.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( VdotW > btScalar(0.))
|
||||
{
|
||||
VdotR = v.dot(r);
|
||||
|
||||
if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
|
||||
return false;
|
||||
else
|
||||
{
|
||||
lambda = lambda - VdotW / VdotR;
|
||||
interpolatedTransRay.getOrigin().setInterpolate3(fromRay.getOrigin(), toRay.getOrigin(), lambda);
|
||||
interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
|
||||
lastLambda = lambda;
|
||||
n = v;
|
||||
hasResult = true;
|
||||
}
|
||||
}
|
||||
m_simplexSolver->addVertex(w, supVertexRay, supVertexB);
|
||||
if (m_simplexSolver->closest(v))
|
||||
{
|
||||
dist2 = v.length2();
|
||||
hasResult = true;
|
||||
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
|
||||
//printf("DIST2=%f\n",dist2);
|
||||
//printf("numverts = %i\n",m_simplexSolver->numVertices());
|
||||
} else
|
||||
{
|
||||
dist2 = btScalar(0.);
|
||||
}
|
||||
}
|
||||
|
||||
result.m_fraction = lambda;
|
||||
result.m_normal = n;
|
||||
btVector3 hitRay, hitB;
|
||||
m_simplexSolver->compute_points (hitRay, hitB);
|
||||
/* TODO: We could output hit point here (hitB) */
|
||||
return true;
|
||||
}
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "SpuSubSimplexConvexCast.h"
|
||||
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
|
||||
|
||||
|
||||
SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
|
||||
SpuVoronoiSimplexSolver* simplexSolver)
|
||||
:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
|
||||
{
|
||||
}
|
||||
|
||||
///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
|
||||
///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define MAX_ITERATIONS 64
|
||||
#else
|
||||
#define MAX_ITERATIONS 32
|
||||
#endif
|
||||
|
||||
/* Returns the support point of the minkowski sum:
|
||||
* MSUM(Pellet, ConvexShape)
|
||||
*
|
||||
*/
|
||||
void supportPoints (const btTransform& xformRay,
|
||||
const btTransform& xformB,
|
||||
const int shapeType,
|
||||
const void* shape,
|
||||
SpuConvexPolyhedronVertexData* convexVertexData,
|
||||
const btScalar marginB,
|
||||
const btVector3& seperatingAxis,
|
||||
btVector3& w,
|
||||
btVector3& supVertexRay,
|
||||
btVector3& supVertexB)
|
||||
{
|
||||
btVector3 saUnit = seperatingAxis;
|
||||
saUnit.normalize();
|
||||
btVector3 SupportPellet = xformRay(0.0001 * -saUnit);
|
||||
btVector3 rotatedSeperatingAxis = seperatingAxis * xformB.getBasis();
|
||||
btVector3 SupportShape = xformB(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
|
||||
SupportShape += saUnit * marginB;
|
||||
w = SupportPellet - SupportShape;
|
||||
supVertexRay = SupportPellet;
|
||||
supVertexB = SupportShape;
|
||||
}
|
||||
|
||||
bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
|
||||
const btTransform& toRay,
|
||||
const btTransform& fromB,
|
||||
const btTransform& toB,
|
||||
SpuCastResult& result)
|
||||
{
|
||||
m_simplexSolver->reset();
|
||||
|
||||
btVector3 linVelRay, linVelB;
|
||||
linVelRay = toRay.getOrigin() - fromRay.getOrigin();
|
||||
linVelB = toB.getOrigin() - fromB.getOrigin ();
|
||||
|
||||
btScalar lambda = btScalar(0.);
|
||||
|
||||
btTransform interpolatedTransRay = fromRay;
|
||||
btTransform interpolatedTransB = fromB;
|
||||
|
||||
btVector3 r = (linVelRay-linVelB);
|
||||
btVector3 supVertexRay;
|
||||
btVector3 supVertexB;
|
||||
btVector3 v;
|
||||
supportPoints (fromRay, fromB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, r, v, supVertexRay, supVertexB);
|
||||
|
||||
btVector3 n;
|
||||
n.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
|
||||
bool hasResult = false;
|
||||
btVector3 c;
|
||||
int maxIter = MAX_ITERATIONS;
|
||||
|
||||
btScalar lastLambda = lambda;
|
||||
|
||||
btScalar dist2 = v.length2();
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#else
|
||||
btScalar epsilon = btScalar(0.0001);
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
btVector3 w,p;
|
||||
btScalar VdotR;
|
||||
|
||||
while ( (dist2 > epsilon) && maxIter--)
|
||||
{
|
||||
supportPoints (interpolatedTransRay, interpolatedTransB, m_shapeTypeB, m_shapeB, m_convexDataB, m_marginB, v, w, supVertexRay, supVertexB);
|
||||
|
||||
btScalar VdotW = v.dot(w);
|
||||
|
||||
if (lambda > btScalar(1.0))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if ( VdotW > btScalar(0.))
|
||||
{
|
||||
VdotR = v.dot(r);
|
||||
|
||||
if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
|
||||
return false;
|
||||
else
|
||||
{
|
||||
lambda = lambda - VdotW / VdotR;
|
||||
interpolatedTransRay.getOrigin().setInterpolate3(fromRay.getOrigin(), toRay.getOrigin(), lambda);
|
||||
interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(), toB.getOrigin(), lambda);
|
||||
lastLambda = lambda;
|
||||
n = v;
|
||||
hasResult = true;
|
||||
}
|
||||
}
|
||||
m_simplexSolver->addVertex(w, supVertexRay, supVertexB);
|
||||
if (m_simplexSolver->closest(v))
|
||||
{
|
||||
dist2 = v.length2();
|
||||
hasResult = true;
|
||||
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
|
||||
//printf("DIST2=%f\n",dist2);
|
||||
//printf("numverts = %i\n",m_simplexSolver->numVertices());
|
||||
} else
|
||||
{
|
||||
dist2 = btScalar(0.);
|
||||
}
|
||||
}
|
||||
|
||||
result.m_fraction = lambda;
|
||||
result.m_normal = n;
|
||||
btVector3 hitRay, hitB;
|
||||
m_simplexSolver->compute_points (hitRay, hitB);
|
||||
/* TODO: We could output hit point here (hitB) */
|
||||
return true;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user