Refactoring:
Moved optional code to Extras: AlgebraicCCD,EPA,quickstep Moved SimpleBroadphase data to OverlappingPairCache, and derive both SimpleBroadphase and AxisSweep3 from OverlappingPairCache. Added ParallelPhysicsEnvironment (prepair more parallel mainloop) Upgraded hardcoded limit from 1024/8192 to 32766/65535 (max objects / max overlapping pairs)
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ejcoumans
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Extras/EPA/EpaFace.cpp
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254
Extras/EPA/EpaFace.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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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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#include "SimdScalar.h"
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#include "SimdVector3.h"
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#include "SimdPoint3.h"
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#include "NarrowPhaseCollision/EpaCommon.h"
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#include "NarrowPhaseCollision/EpaVertex.h"
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#include "NarrowPhaseCollision/EpaHalfEdge.h"
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#include "NarrowPhaseCollision/EpaFace.h"
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#ifdef EPA_POLYHEDRON_USE_PLANES
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SimdScalar PLANE_THICKNESS = 1e-5f;
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#endif
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EpaFace::EpaFace() : m_pHalfEdge( 0 ), m_deleted( false )
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{
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m_pVertices[ 0 ] = m_pVertices[ 1 ] = m_pVertices[ 2 ] = 0;
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}
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EpaFace::~EpaFace()
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{
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}
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bool EpaFace::Initialize()
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{
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assert( m_pHalfEdge && "Must setup half-edge first!" );
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CollectVertices( m_pVertices );
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const SimdVector3 e0 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
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const SimdVector3 e1 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
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const SimdScalar e0Sqrd = e0.length2();
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const SimdScalar e1Sqrd = e1.length2();
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const SimdScalar e0e1 = e0.dot( e1 );
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m_determinant = e0Sqrd * e1Sqrd - e0e1 * e0e1;
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const SimdScalar e0v0 = e0.dot( m_pVertices[ 0 ]->m_point );
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const SimdScalar e1v0 = e1.dot( m_pVertices[ 0 ]->m_point );
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m_lambdas[ 0 ] = e0e1 * e1v0 - e1Sqrd * e0v0;
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m_lambdas[ 1 ] = e0e1 * e0v0 - e0Sqrd * e1v0;
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if ( IsAffinelyDependent() )
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{
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return false;
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}
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CalcClosestPoint();
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#ifdef EPA_POLYHEDRON_USE_PLANES
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if ( !CalculatePlane() )
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{
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return false;
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}
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#endif
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return true;
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}
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#ifdef EPA_POLYHEDRON_USE_PLANES
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bool EpaFace::CalculatePlane()
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{
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assert( ( m_pVertices[ 0 ] && m_pVertices[ 1 ] && m_pVertices[ 2 ] )
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&& "Must setup vertices pointers first!" );
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// Traditional method
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const SimdVector3 v1 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
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const SimdVector3 v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
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m_planeNormal = v2.cross( v1 );
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if ( m_planeNormal.length2() == 0 )
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{
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return false;
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}
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m_planeNormal.normalize();
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m_planeDistance = m_pVertices[ 0 ]->m_point.dot( -m_planeNormal );
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// Robust method
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//SimdVector3 _v1 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
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//SimdVector3 _v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
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//SimdVector3 n;
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//n = _v2.cross( _v1 );
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//_v1 = m_pVertices[ 0 ]->m_point - m_pVertices[ 1 ]->m_point;
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//_v2 = m_pVertices[ 2 ]->m_point - m_pVertices[ 1 ]->m_point;
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//n += ( _v1.cross( _v2 ) );
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//_v1 = m_pVertices[ 0 ]->m_point - m_pVertices[ 2 ]->m_point;
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//_v2 = m_pVertices[ 1 ]->m_point - m_pVertices[ 2 ]->m_point;
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//n += ( _v2.cross( _v1 ) );
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//n /= 3;
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//n.normalize();
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//SimdVector3 c = ( m_pVertices[ 0 ]->m_point + m_pVertices[ 1 ]->m_point + m_pVertices[ 2 ]->m_point ) / 3;
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//SimdScalar d = c.dot( -n );
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//m_robustPlaneNormal = n;
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//m_robustPlaneDistance = d;
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// Compare results from both methods and check whether they disagree
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//if ( d < 0 )
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//{
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// assert( ( m_planeDistance < 0 ) && "He he! Busted!" );
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//}
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//else
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//{
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// assert( ( m_planeDistance >= 0 ) && "He he! Busted!" );
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//}
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return true;
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}
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#endif
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void EpaFace::CalcClosestPoint()
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{
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const SimdVector3 e0 = m_pVertices[ 1 ]->m_point - m_pVertices[ 0 ]->m_point;
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const SimdVector3 e1 = m_pVertices[ 2 ]->m_point - m_pVertices[ 0 ]->m_point;
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m_v = m_pVertices[ 0 ]->m_point +
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( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) / m_determinant;
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m_vSqrd = m_v.length2();
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}
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void EpaFace::CalcClosestPointOnA( SimdVector3& closestPointOnA )
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{
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const SimdVector3 e0 = m_pVertices[ 1 ]->m_wSupportPointOnA - m_pVertices[ 0 ]->m_wSupportPointOnA;
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const SimdVector3 e1 = m_pVertices[ 2 ]->m_wSupportPointOnA - m_pVertices[ 0 ]->m_wSupportPointOnA;
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closestPointOnA = m_pVertices[ 0 ]->m_wSupportPointOnA +
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( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) /
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m_determinant;
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}
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void EpaFace::CalcClosestPointOnB( SimdVector3& closestPointOnB )
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{
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const SimdVector3 e0 = m_pVertices[ 1 ]->m_wSupportPointOnB - m_pVertices[ 0 ]->m_wSupportPointOnB;
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const SimdVector3 e1 = m_pVertices[ 2 ]->m_wSupportPointOnB - m_pVertices[ 0 ]->m_wSupportPointOnB;
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closestPointOnB = m_pVertices[ 0 ]->m_wSupportPointOnB +
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( e0 * m_lambdas[ 0 ] + e1 * m_lambdas[ 1 ] ) /
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m_determinant;
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}
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bool EpaFace::IsAffinelyDependent() const
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{
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return ( m_determinant <= SIMD_EPSILON );
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}
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bool EpaFace::IsClosestPointInternal() const
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{
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return ( ( m_lambdas[ 0 ] >= 0 ) && ( m_lambdas[ 1 ] >= 0 ) && ( ( m_lambdas[ 0 ] + m_lambdas[ 1 ] <= m_determinant ) ) );
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}
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void EpaFace::CollectVertices( EpaVertex** ppVertices )
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{
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assert( m_pHalfEdge && "Invalid half-edge pointer!" );
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int vertexIndex = 0;
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EpaHalfEdge* pCurrentHalfEdge = m_pHalfEdge;
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do
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{
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assert( ( ( vertexIndex >= 0 ) && ( vertexIndex < 3 ) ) &&
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"Face is not a triangle!" );
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assert( pCurrentHalfEdge->m_pVertex && "Half-edge has an invalid vertex pointer!" );
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ppVertices[ vertexIndex++ ] = pCurrentHalfEdge->m_pVertex;
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pCurrentHalfEdge = pCurrentHalfEdge->m_pNextCCW;
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}
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while( pCurrentHalfEdge != m_pHalfEdge );
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}
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//void EpaFace::FixOrder()
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//{
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// EpaHalfEdge* pHalfEdges[ 3 ];
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//
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// int halfEdgeIndex = 0;
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//
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// EpaHalfEdge* pCurrentHalfEdge = m_pHalfEdge;
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//
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// do
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// {
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// assert( ( ( halfEdgeIndex >= 0 ) && ( halfEdgeIndex < 3 ) ) &&
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// "Face is not a triangle!" );
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//
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// pHalfEdges[ halfEdgeIndex++ ] = pCurrentHalfEdge;
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//
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// pCurrentHalfEdge = pCurrentHalfEdge->m_pNextCCW;
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// }
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// while( pCurrentHalfEdge != m_pHalfEdge );
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//
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// EpaVertex* pVertices[ 3 ] = { pHalfEdges[ 0 ]->m_pVertex,
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// pHalfEdges[ 1 ]->m_pVertex,
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// pHalfEdges[ 2 ]->m_pVertex };
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//
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// // Make them run in the opposite direction
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// pHalfEdges[ 0 ]->m_pNextCCW = pHalfEdges[ 2 ];
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// pHalfEdges[ 1 ]->m_pNextCCW = pHalfEdges[ 0 ];
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// pHalfEdges[ 2 ]->m_pNextCCW = pHalfEdges[ 1 ];
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//
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// // Make half-edges point to their correct origin vertices
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//
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// pHalfEdges[ 1 ]->m_pVertex = pVertices[ 2 ];
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// pHalfEdges[ 2 ]->m_pVertex = pVertices[ 0 ];
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// pHalfEdges[ 0 ]->m_pVertex = pVertices[ 1 ];
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//
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// // Make vertices point to the correct half-edges
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//
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// //pHalfEdges[ 0 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 0 ];
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// //pHalfEdges[ 1 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 1 ];
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// //pHalfEdges[ 2 ]->m_pVertex->m_pHalfEdge = pHalfEdges[ 2 ];
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//
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// // Flip normal and change the sign of plane distance
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//
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//#ifdef EPA_POLYHEDRON_USE_PLANES
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// m_planeNormal = -m_planeNormal;
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// m_planeDistance = -m_planeDistance;
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//#endif
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//}
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