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Add plNearestPoints, contribution from Blender

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This commit is contained in:
erwin.coumans
2008-09-13 06:55:34 +00:00
parent 3d2ce530d4
commit d1318a05b3
2 changed files with 94 additions and 0 deletions
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4
src/Bullet-C-Api.h
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@@ -163,9 +163,13 @@ extern "C" {
/* Continuous Collision Detection API */
// needed for source/blender/blenkernel/intern/collision.c
double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
#ifdef __cplusplus
}
#endif
#endif //BULLET_C_API_H

90
src/BulletDynamics/Dynamics/Bullet-C-API.cpp
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@@ -24,6 +24,27 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btScalar.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "LinearMath/btStackAlloc.h"
/*
Create and Delete a Physics SDK
*/
@@ -308,3 +329,72 @@ void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
//plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
// extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
{
btVector3 vp(p1[0], p1[1], p1[2]);
btTriangleShape trishapeA(vp,
btVector3(p2[0], p2[1], p2[2]),
btVector3(p3[0], p3[1], p3[2]));
trishapeA.setMargin(0.000001f);
btVector3 vq(q1[0], q1[1], q1[2]);
btTriangleShape trishapeB(vq,
btVector3(q2[0], q2[1], q2[2]),
btVector3(q3[0], q3[1], q3[2]));
trishapeB.setMargin(0.000001f);
// btVoronoiSimplexSolver sGjkSimplexSolver;
// btGjkEpaPenetrationDepthSolver penSolverPtr;
static btSimplexSolverInterface sGjkSimplexSolver;
sGjkSimplexSolver.reset();
static btGjkEpaPenetrationDepthSolver Solver0;
static btMinkowskiPenetrationDepthSolver Solver1;
btConvexPenetrationDepthSolver* Solver = NULL;
Solver = &Solver1;
btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
convexConvex.m_catchDegeneracies = 1;
// btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
btPointCollector gjkOutput;
btGjkPairDetector::ClosestPointInput input;
btStackAlloc gStackAlloc(1024*1024*2);
input.m_stackAlloc = &gStackAlloc;
btTransform tr;
tr.setIdentity();
input.m_transformA = tr;
input.m_transformB = tr;
convexConvex.getClosestPoints(input, gjkOutput, 0);
if (gjkOutput.m_hasResult)
{
pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
normal[0] = gjkOutput.m_normalOnBInWorld[0];
normal[1] = gjkOutput.m_normalOnBInWorld[1];
normal[2] = gjkOutput.m_normalOnBInWorld[2];
return gjkOutput.m_distance;
}
return -1.0f;
}