From b8376a16730dd26a01a7a730c14b0521188e393c Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Fri, 27 Oct 2006 21:01:16 +0000 Subject: [PATCH] removed SphereSphereCollisionAlgorithm.cpp (is now part of core Bullet/src) and added ODE BoxBoxCollisionAlgorithm/BoxBoxDetector for comparison --- .../BoxBoxCollisionAlgorithm.cpp | 72 ++ ...Algorithm.h => BoxBoxCollisionAlgorithm.h} | 26 +- .../BoxBoxDetector.cpp | 675 ++++++++++++++++++ .../BoxBoxDetector.h | 37 + .../SphereSphereCollisionAlgorithm.cpp | 81 --- 5 files changed, 796 insertions(+), 95 deletions(-) create mode 100644 Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.cpp rename Extras/AlternativeCollisionAlgorithms/{SphereSphereCollisionAlgorithm.h => BoxBoxCollisionAlgorithm.h} (54%) create mode 100644 Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.cpp create mode 100644 Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.h delete mode 100644 Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp diff --git a/Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.cpp b/Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.cpp new file mode 100644 index 000000000..b1b25ee4f --- /dev/null +++ b/Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.cpp @@ -0,0 +1,72 @@ +/* +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 "BoxBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BoxBoxDetector.h" + +BoxBoxCollisionAlgorithm::BoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1) +: btCollisionAlgorithm(ci), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1)) + { + m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1); + m_ownManifold = true; + } +} + +BoxBoxCollisionAlgorithm::~BoxBoxCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void BoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + if (!m_manifoldPtr) + return; + + btCollisionObject* col0 = body0; + btCollisionObject* col1 = body1; + btBoxShape* box0 = (btBoxShape*)col0->m_collisionShape; + btBoxShape* box1 = (btBoxShape*)col1->m_collisionShape; + + + + /// report a contact. internally this will be kept persistent, and contact reduction is done + resultOut->setPersistentManifold(m_manifoldPtr); + + btDiscreteCollisionDetectorInterface::ClosestPointInput input; + input.m_maximumDistanceSquared; + input.m_transformA = body0->m_worldTransform; + input.m_transformB = body1->m_worldTransform; + + BoxBoxDetector detector(box0,box1); + detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + +} + +float BoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + //not yet + return 1.f; +} diff --git a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h b/Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h similarity index 54% rename from Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h rename to Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h index a9b0f6893..cbd8ee0c8 100644 --- a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h +++ b/Extras/AlternativeCollisionAlgorithms/BoxBoxCollisionAlgorithm.h @@ -13,42 +13,40 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H -#define SPHERE_SPHERE_COLLISION_ALGORITHM_H +#ifndef BOX_BOX__COLLISION_ALGORITHM_H +#define BOX_BOX__COLLISION_ALGORITHM_H #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" class btPersistentManifold; -/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. -/// Other features are frame-coherency (persistent data) and collision response. -/// Also provides the most basic sample for custom/user btCollisionAlgorithm -class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm +///box-box collision detection +class BoxBoxCollisionAlgorithm : public btCollisionAlgorithm { bool m_ownManifold; btPersistentManifold* m_manifoldPtr; public: - btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) + BoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) : btCollisionAlgorithm(ci) {} - virtual void processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo); + virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - virtual float calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo); + virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + BoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); - virtual ~btSphereSphereCollisionAlgorithm(); + virtual ~BoxBoxCollisionAlgorithm(); struct CreateFunc :public btCollisionAlgorithmCreateFunc { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { - return new btSphereSphereCollisionAlgorithm(0,ci,proxy0,proxy1); + return new BoxBoxCollisionAlgorithm(0,ci,body0,body1); } }; }; -#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H \ No newline at end of file +#endif //BOX_BOX__COLLISION_ALGORITHM_H \ No newline at end of file diff --git a/Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.cpp b/Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.cpp new file mode 100644 index 000000000..f983e5fb6 --- /dev/null +++ b/Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.cpp @@ -0,0 +1,675 @@ + +/************************************************************************* + * * + * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * + * All rights reserved. Email: russ@q12.org Web: www.q12.org * + * * + * This library is free software; you can redistribute it and/or * + * modify it under the terms of EITHER: * + * (1) The GNU Lesser bteral Public License as published by the Free * + * Software Foundation; either version 2.1 of the License, or (at * + * your option) any later version. The text of the GNU Lesser * + * bteral Public License is included with this library in the * + * file LICENSE.TXT. * + * (2) The BSD-style license that is included with this library in * + * the file LICENSE-BSD.TXT. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * + * LICENSE.TXT and LICENSE-BSD.TXT for more details. * + * * + *************************************************************************/ + +#include "BoxBoxDetector.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" + +#include + +BoxBoxDetector::BoxBoxDetector(btBoxShape* box1,btBoxShape* box2) +: m_box1(box1), +m_box2(box2) +{ + +} + + + + + + + + + +// given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and +// generate contact points. this returns 0 if there is no contact otherwise +// it returns the number of contacts generated. +// `normal' returns the contact normal. +// `depth' returns the maximum penetration depth along that normal. +// `return_code' returns a number indicating the type of contact that was +// detected: +// 1,2,3 = box 2 intersects with a face of box 1 +// 4,5,6 = box 1 intersects with a face of box 2 +// 7..15 = edge-edge contact +// `maxc' is the maximum number of contacts allowed to be generated, i.e. +// the size of the `contact' array. +// `contact' and `skip' are the contact array information provided to the +// collision functions. this function only fills in the position and depth +// fields. +struct dContactGeom; +#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)]) +#define dInfinity FLT_MAX + + +/*PURE_INLINE btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); } +PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); } +PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); } +PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); } +*/ +static btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); } +static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,4); } +static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); } +static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); } +#define dMULTIPLYOP1_331(A,op,B,C) \ +do { \ + (A)[0] op dDOT41((B),(C)); \ + (A)[1] op dDOT41((B+1),(C)); \ + (A)[2] op dDOT41((B+2),(C)); \ +} while(0) +#define dMULTIPLYOP0_331(A,op,B,C) \ +do { \ + (A)[0] op dDOT((B),(C)); \ + (A)[1] op dDOT((B+4),(C)); \ + (A)[2] op dDOT((B+8),(C)); \ +} while(0) + +#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C) +#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C) + +typedef btScalar dMatrix3[4*3]; + +void dLineClosestApproach (const btVector3 pa, const btVector3 ua, + const btVector3 pb, const btVector3 ub, + btScalar *alpha, btScalar *beta) +{ + btVector3 p; + p[0] = pb[0] - pa[0]; + p[1] = pb[1] - pa[1]; + p[2] = pb[2] - pa[2]; + btScalar uaub = dDOT(ua,ub); + btScalar q1 = dDOT(ua,p); + btScalar q2 = -dDOT(ub,p); + btScalar d = 1-uaub*uaub; + if (d <= btScalar(0.0001f)) { + // @@@ this needs to be made more robust + *alpha = 0; + *beta = 0; + } + else { + d = 1.f/d; + *alpha = (q1 + uaub*q2)*d; + *beta = (uaub*q1 + q2)*d; + } +} + + + +// find all the intersection points between the 2D rectangle with vertices +// at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]), +// (p[2],p[3]),(p[4],p[5]),(p[6],p[7]). +// +// the intersection points are returned as x,y pairs in the 'ret' array. +// the number of intersection points is returned by the function (this will +// be in the range 0 to 8). + +static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16]) +{ + // q (and r) contain nq (and nr) coordinate points for the current (and + // chopped) polygons + int nq=4,nr; + btScalar buffer[16]; + btScalar *q = p; + btScalar *r = ret; + for (int dir=0; dir <= 1; dir++) { + // direction notation: xy[0] = x axis, xy[1] = y axis + for (int sign=-1; sign <= 1; sign += 2) { + // chop q along the line xy[dir] = sign*h[dir] + btScalar *pq = q; + btScalar *pr = r; + nr = 0; + for (int i=nq; i > 0; i--) { + // go through all points in q and all lines between adjacent points + if (sign*pq[dir] < h[dir]) { + // this point is inside the chopping line + pr[0] = pq[0]; + pr[1] = pq[1]; + pr += 2; + nr++; + if (nr & 8) { + q = r; + goto done; + } + } + btScalar *nextq = (i > 1) ? pq+2 : q; + if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) { + // this line crosses the chopping line + pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) / + (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]); + pr[dir] = sign*h[dir]; + pr += 2; + nr++; + if (nr & 8) { + q = r; + goto done; + } + } + pq += 2; + } + q = r; + r = (q==ret) ? buffer : ret; + nq = nr; + } + } + done: + if (q != ret) memcpy (ret,q,nr*2*sizeof(btScalar)); + return nr; +} + +#define dAtan2(y,x) ((float)atan2f((y),(x))) /* arc tangent with 2 args */ +#define M__PI 3.14159265f + +// given n points in the plane (array p, of size 2*n), generate m points that +// best represent the whole set. the definition of 'best' here is not +// predetermined - the idea is to select points that give good box-box +// collision detection behavior. the chosen point indexes are returned in the +// array iret (of size m). 'i0' is always the first entry in the array. +// n must be in the range [1..8]. m must be in the range [1..n]. i0 must be +// in the range [0..n-1]. + +void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]) +{ + // compute the centroid of the polygon in cx,cy + int i,j; + btScalar a,cx,cy,q; + if (n==1) { + cx = p[0]; + cy = p[1]; + } + else if (n==2) { + cx = btScalar(0.5)*(p[0] + p[2]); + cy = btScalar(0.5)*(p[1] + p[3]); + } + else { + a = 0; + cx = 0; + cy = 0; + for (i=0; i<(n-1); i++) { + q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1]; + a += q; + cx += q*(p[i*2]+p[i*2+2]); + cy += q*(p[i*2+1]+p[i*2+3]); + } + q = p[n*2-2]*p[1] - p[0]*p[n*2-1]; + a = 1.f/(btScalar(3.0)*(a+q)); + cx = a*(cx + q*(p[n*2-2]+p[0])); + cy = a*(cy + q*(p[n*2-1]+p[1])); + } + + // compute the angle of each point w.r.t. the centroid + btScalar A[8]; + for (i=0; i M__PI) a -= 2*M__PI; + btScalar maxdiff=1e9,diff; +#ifndef dNODEBUG + *iret = i0; // iret is not allowed to keep this value +#endif + for (i=0; i M__PI) diff = 2*M__PI - diff; + if (diff < maxdiff) { + maxdiff = diff; + *iret = i; + } + } + } +#ifndef dNODEBUG + ASSERT (*iret != i0); // ensure iret got set +#endif + avail[*iret] = 0; + iret++; + } +} + + + + +int dBoxBox2 (const btVector3 p1, const dMatrix3 R1, + const btVector3 side1, const btVector3 p2, + const dMatrix3 R2, const btVector3 side2, + btVector3& normal, btScalar *depth, int *return_code, + int maxc, dContactGeom *contact, int skip,btDiscreteCollisionDetectorInterface::Result& output) +{ + const btScalar fudge_factor = btScalar(1.05); + btVector3 p,pp,normalC; + const btScalar *normalR = 0; + btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33, + Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l; + int i,j,invert_normal,code; + + // get vector from centers of box 1 to box 2, relative to box 1 + p[0] = p2[0] - p1[0]; + p[1] = p2[1] - p1[1]; + p[2] = p2[2] - p1[2]; + dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1 + + // get side lengths / 2 + A[0] = side1[0]*btScalar(0.5); + A[1] = side1[1]*btScalar(0.5); + A[2] = side1[2]*btScalar(0.5); + B[0] = side2[0]*btScalar(0.5); + B[1] = side2[1]*btScalar(0.5); + B[2] = side2[2]*btScalar(0.5); + + // Rij is R1'*R2, i.e. the relative rotation between R1 and R2 + R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2); + R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2); + R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2); + + Q11 = fabsf(R11); Q12 = fabsf(R12); Q13 = fabsf(R13); + Q21 = fabsf(R21); Q22 = fabsf(R22); Q23 = fabsf(R23); + Q31 = fabsf(R31); Q32 = fabsf(R32); Q33 = fabsf(R33); + + // for all 15 possible separating axes: + // * see if the axis separates the boxes. if so, return 0. + // * find the depth of the penetration along the separating axis (s2) + // * if this is the largest depth so far, record it. + // the normal vector will be set to the separating axis with the smallest + // depth. note: normalR is set to point to a column of R1 or R2 if that is + // the smallest depth normal so far. otherwise normalR is 0 and normalC is + // set to a vector relative to body 1. invert_normal is 1 if the sign of + // the normal should be flipped. + +#define TST(expr1,expr2,norm,cc) \ + s2 = fabsf(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) { \ + s = s2; \ + normalR = norm; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } + + s = -dInfinity; + invert_normal = 0; + code = 0; + + // separating axis = u1,u2,u3 + TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1); + TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2); + TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3); + + // separating axis = v1,v2,v3 + TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4); + TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5); + TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6); + + // note: cross product axes need to be scaled when s is computed. + // normal (n1,n2,n3) is relative to box 1. +#undef TST +#define TST(expr1,expr2,n1,n2,n3,cc) \ + s2 = fabsf(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + l = sqrtf((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \ + if (l > 0) { \ + s2 /= l; \ + if (s2*fudge_factor > s) { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } \ + } + + // separating axis = u1 x (v1,v2,v3) + TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7); + TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8); + TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9); + + // separating axis = u2 x (v1,v2,v3) + TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10); + TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11); + TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12); + + // separating axis = u3 x (v1,v2,v3) + TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13); + TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14); + TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15); + +#undef TST + + if (!code) return 0; + + // if we get to this point, the boxes interpenetrate. compute the normal + // in global coordinates. + if (normalR) { + normal[0] = normalR[0]; + normal[1] = normalR[4]; + normal[2] = normalR[8]; + } + else { + dMULTIPLY0_331 (normal,R1,normalC); + } + if (invert_normal) { + normal[0] = -normal[0]; + normal[1] = -normal[1]; + normal[2] = -normal[2]; + } + *depth = -s; + + // compute contact point(s) + + if (code > 6) { + // an edge from box 1 touches an edge from box 2. + // find a point pa on the intersecting edge of box 1 + btVector3 pa; + btScalar sign; + for (i=0; i<3; i++) pa[i] = p1[i]; + for (j=0; j<3; j++) { + sign = (dDOT14(normal,R1+j) > 0) ? btScalar(1.0) : btScalar(-1.0); + for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j]; + } + + // find a point pb on the intersecting edge of box 2 + btVector3 pb; + for (i=0; i<3; i++) pb[i] = p2[i]; + for (j=0; j<3; j++) { + sign = (dDOT14(normal,R2+j) > 0) ? btScalar(-1.0) : btScalar(1.0); + for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j]; + } + + btScalar alpha,beta; + btVector3 ua,ub; + for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4]; + for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4]; + + dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta); + for (i=0; i<3; i++) pa[i] += ua[i]*alpha; + for (i=0; i<3; i++) pb[i] += ub[i]*beta; + + { + + //contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]); + //contact[0].depth = *depth; + btVector3 pointInWorld; + + for (i=0; i<3; i++) + pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5); + output.addContactPoint(-normal,pointInWorld,-*depth); + + *return_code = code; + } + return 1; + } + + // okay, we have a face-something intersection (because the separating + // axis is perpendicular to a face). define face 'a' to be the reference + // face (i.e. the normal vector is perpendicular to this) and face 'b' to be + // the incident face (the closest face of the other box). + + const btScalar *Ra,*Rb,*pa,*pb,*Sa,*Sb; + if (code <= 3) { + Ra = R1; + Rb = R2; + pa = p1; + pb = p2; + Sa = A; + Sb = B; + } + else { + Ra = R2; + Rb = R1; + pa = p2; + pb = p1; + Sa = B; + Sb = A; + } + + // nr = normal vector of reference face dotted with axes of incident box. + // anr = absolute values of nr. + btVector3 normal2,nr,anr; + if (code <= 3) { + normal2[0] = normal[0]; + normal2[1] = normal[1]; + normal2[2] = normal[2]; + } + else { + normal2[0] = -normal[0]; + normal2[1] = -normal[1]; + normal2[2] = -normal[2]; + } + dMULTIPLY1_331 (nr,Rb,normal2); + anr[0] = fabsf (nr[0]); + anr[1] = fabsf (nr[1]); + anr[2] = fabsf (nr[2]); + + // find the largest compontent of anr: this corresponds to the normal + // for the indident face. the other axis numbers of the indicent face + // are stored in a1,a2. + int lanr,a1,a2; + if (anr[1] > anr[0]) { + if (anr[1] > anr[2]) { + a1 = 0; + lanr = 1; + a2 = 2; + } + else { + a1 = 0; + a2 = 1; + lanr = 2; + } + } + else { + if (anr[0] > anr[2]) { + lanr = 0; + a1 = 1; + a2 = 2; + } + else { + a1 = 0; + a2 = 1; + lanr = 2; + } + } + + // compute center point of incident face, in reference-face coordinates + btVector3 center; + if (nr[lanr] < 0) { + for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr]; + } + else { + for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr]; + } + + // find the normal and non-normal axis numbers of the reference box + int codeN,code1,code2; + if (code <= 3) codeN = code-1; else codeN = code-4; + if (codeN==0) { + code1 = 1; + code2 = 2; + } + else if (codeN==1) { + code1 = 0; + code2 = 2; + } + else { + code1 = 0; + code2 = 1; + } + + // find the four corners of the incident face, in reference-face coordinates + btScalar quad[8]; // 2D coordinate of incident face (x,y pairs) + btScalar c1,c2,m11,m12,m21,m22; + c1 = dDOT14 (center,Ra+code1); + c2 = dDOT14 (center,Ra+code2); + // optimize this? - we have already computed this data above, but it is not + // stored in an easy-to-index format. for now it's quicker just to recompute + // the four dot products. + m11 = dDOT44 (Ra+code1,Rb+a1); + m12 = dDOT44 (Ra+code1,Rb+a2); + m21 = dDOT44 (Ra+code2,Rb+a1); + m22 = dDOT44 (Ra+code2,Rb+a2); + { + btScalar k1 = m11*Sb[a1]; + btScalar k2 = m21*Sb[a1]; + btScalar k3 = m12*Sb[a2]; + btScalar k4 = m22*Sb[a2]; + quad[0] = c1 - k1 - k3; + quad[1] = c2 - k2 - k4; + quad[2] = c1 - k1 + k3; + quad[3] = c2 - k2 + k4; + quad[4] = c1 + k1 + k3; + quad[5] = c2 + k2 + k4; + quad[6] = c1 + k1 - k3; + quad[7] = c2 + k2 - k4; + } + + // find the size of the reference face + btScalar rect[2]; + rect[0] = Sa[code1]; + rect[1] = Sa[code2]; + + // intersect the incident and reference faces + btScalar ret[16]; + int n = intersectRectQuad2 (rect,quad,ret); + if (n < 1) return 0; // this should never happen + + // convert the intersection points into reference-face coordinates, + // and compute the contact position and depth for each point. only keep + // those points that have a positive (penetrating) depth. delete points in + // the 'ret' array as necessary so that 'point' and 'ret' correspond. + btScalar point[3*8]; // penetrating contact points + btScalar dep[8]; // depths for those points + btScalar det1 = 1.f/(m11*m22 - m12*m21); + m11 *= det1; + m12 *= det1; + m21 *= det1; + m22 *= det1; + int cnum = 0; // number of penetrating contact points found + for (j=0; j < n; j++) { + btScalar k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2); + btScalar k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2); + for (i=0; i<3; i++) point[cnum*3+i] = + center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2]; + dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3); + if (dep[cnum] >= 0) { + ret[cnum*2] = ret[j*2]; + ret[cnum*2+1] = ret[j*2+1]; + cnum++; + } + } + if (cnum < 1) return 0; // this should never happen + + // we can't generate more contacts than we actually have + if (maxc > cnum) maxc = cnum; + if (maxc < 1) maxc = 1; + + if (cnum <= maxc) { + // we have less contacts than we need, so we use them all + for (j=0; j < cnum; j++) { + + //AddContactPoint... + + //dContactGeom *con = CONTACT(contact,skip*j); + //for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i]; + //con->depth = dep[j]; + + btVector3 pointInWorld; + for (i=0; i<3; i++) + pointInWorld[i] = point[j*3+i] + pa[i]; + output.addContactPoint(-normal,pointInWorld,-dep[j]); + + } + } + else { + // we have more contacts than are wanted, some of them must be culled. + // find the deepest point, it is always the first contact. + int i1 = 0; + btScalar maxdepth = dep[0]; + for (i=1; i maxdepth) { + maxdepth = dep[i]; + i1 = i; + } + } + + int iret[8]; + cullPoints2 (cnum,ret,maxc,i1,iret); + + for (j=0; j < maxc; j++) { +// dContactGeom *con = CONTACT(contact,skip*j); + // for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i]; + // con->depth = dep[iret[j]]; + + btVector3 posInWorld; + for (i=0; i<3; i++) + posInWorld[i] = point[iret[j]*3+i] + pa[i]; + output.addContactPoint(-normal,posInWorld,-dep[iret[j]]); + } + cnum = maxc; + } + + *return_code = code; + return cnum; +} + +void BoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) +{ + + const btTransform& transformA = input.m_transformA; + const btTransform& transformB = input.m_transformB; + + int skip = 0; + dContactGeom *contact = 0; + + dMatrix3 R1; + dMatrix3 R2; + + for (int i=0;i<3;i++) + { + for (int j=0;j<3;j++) + { + R1[i+4*j] = transformA.getBasis()[j][i]; + R2[i+4*j] = transformB.getBasis()[j][i]; + } + } + + + btVector3 normal; + btScalar depth; + int return_code; + int maxc = 10; + + + dBoxBox2 (transformA.getOrigin(), + R1, + 2.f*m_box1->getHalfExtents(), + transformB.getOrigin(), + R2, + 2.f*m_box2->getHalfExtents(), + normal, &depth, &return_code, + maxc, contact, skip, + output + ); + +} diff --git a/Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.h b/Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.h new file mode 100644 index 000000000..4c6d9ed74 --- /dev/null +++ b/Extras/AlternativeCollisionAlgorithms/BoxBoxDetector.h @@ -0,0 +1,37 @@ +/* +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_BOX_DETECTOR_H +#define BOX_BOX_DETECTOR_H + + +class btBoxShape; +#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" + +struct BoxBoxDetector : public btDiscreteCollisionDetectorInterface +{ + btBoxShape* m_box1; + btBoxShape* m_box2; + +public: + + BoxBoxDetector(btBoxShape* box1,btBoxShape* box2); + + virtual ~BoxBoxDetector() {}; + + virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw); + +}; + +#endif //BOX_BOX_DETECTOR_H diff --git a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp deleted file mode 100644 index 9fe82da79..000000000 --- a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp +++ /dev/null @@ -1,81 +0,0 @@ -/* -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 "btSphereSphereCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" - -btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) -: btCollisionAlgorithm(ci), -m_ownManifold(false), -m_manifoldPtr(mf) -{ - if (!m_manifoldPtr && m_dispatcher->needsCollision(*proxy0,*proxy1)) - { - m_manifoldPtr = m_dispatcher->getNewManifold(proxy0->m_clientObject,proxy1->m_clientObject); - m_ownManifold = true; - } -} - -btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm() -{ - if (m_ownManifold) - { - if (m_manifoldPtr) - m_dispatcher->releaseManifold(m_manifoldPtr); - } -} - -void btSphereSphereCollisionAlgorithm::processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo) -{ - if (!m_manifoldPtr) - return; - - btCollisionObject* col0 = static_cast(proxy0->m_clientObject); - btCollisionObject* col1 = static_cast(proxy1->m_clientObject); - btSphereShape* sphere0 = (btSphereShape*)col0->m_collisionShape; - btSphereShape* sphere1 = (btSphereShape*)col1->m_collisionShape; - - btVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin(); - float len = diff.length(); - btScalar radius0 = sphere0->getRadius(); - btScalar radius1 = sphere1->getRadius(); - - ///iff distance positive, don't generate a new contact - if ( len > (radius0+radius1)) - return; - - ///distance (negative means penetration) - btScalar dist = len - (radius0+radius1); - - btVector3 normalOnSurfaceB = diff / len; - ///point on A (worldspace) - btVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB; - ///point on B (worldspace) - btVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB; - - /// report a contact. internally this will be kept persistent, and contact reduction is done - btManifoldResult* resultOut = m_dispatcher->getNewManifoldResult(col0,col1,m_manifoldPtr); - resultOut->addContactPoint(normalOnSurfaceB,pos1,dist); - m_dispatcher->releaseManifoldResult(resultOut); - -} - -float btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo) -{ - //not yet - return 1.f; -}