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added basic CCD calculations for Compounds and non-convex (convex-versus-concave).

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This commit is contained in:
ejcoumans
2006-08-11 04:10:37 +00:00
parent 369fabd300
commit d931aae32f
6 changed files with 205 additions and 39 deletions
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95
Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
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@@ -23,7 +23,9 @@ subject to the following restrictions:
#include "CollisionDispatch/ManifoldResult.h"
#include "NarrowPhaseCollision/RaycastCallback.h"
#include "CollisionShapes/TriangleShape.h"
#include "CollisionShapes/SphereShape.h"
#include "IDebugDraw.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
@@ -202,36 +204,84 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B
CollisionObject* convexbody = (CollisionObject* )m_convex.m_clientObject;
CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
const SimdVector3& from = convexbody->m_worldTransform.getOrigin();
SimdVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//only perform CCD above a certain treshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
float squareMot0 = (convexbody->m_interpolationWorldTransform.getOrigin() - convexbody->m_worldTransform.getOrigin()).length2();
if (squareMot0 < convexbody->m_ccdSquareMotionTreshold)
{
return 1.f;
}
//const SimdVector3& from = convexbody->m_worldTransform.getOrigin();
//SimdVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius'
struct LocalTriangleRaycastCallback : public TriangleRaycastCallback
SimdTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
SimdTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
struct LocalTriangleSphereCastCallback : public TriangleCallback
{
LocalTriangleRaycastCallback(const SimdVector3& from,const SimdVector3& to)
:TriangleRaycastCallback(from,to)
{
SimdTransform m_ccdSphereFromTrans;
SimdTransform m_ccdSphereToTrans;
SimdTransform m_meshTransform;
float m_ccdSphereRadius;
float m_hitFraction;
LocalTriangleSphereCastCallback(const SimdTransform& from,const SimdTransform& to,float ccdSphereRadius,float hitFraction)
:m_ccdSphereFromTrans(from),
m_ccdSphereToTrans(to),
m_ccdSphereRadius(ccdSphereRadius),
m_hitFraction(hitFraction)
{
}
virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex)
{
//todo: handle ccd here
return 0.f;
//do a swept sphere for now
SimdTransform ident;
ident.setIdentity();
ConvexCast::CastResult castResult;
castResult.m_fraction = m_hitFraction;
SphereShape pointShape(m_ccdSphereRadius);
TriangleShape triShape(triangle[0],triangle[1],triangle[2]);
VoronoiSimplexSolver simplexSolver;
SubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space?
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
ident,ident,castResult))
{
if (m_hitFraction > castResult.m_fraction)
m_hitFraction = castResult.m_fraction;
}
}
};
LocalTriangleRaycastCallback raycastCallback(from,to);
raycastCallback.m_hitFraction = convexbody->m_hitFraction;
SimdVector3 aabbMin (-1e30f,-1e30f,-1e30f);
SimdVector3 aabbMax (SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
if (triBody->m_collisionShape->IsConcave())
{
SimdVector3 rayAabbMin = convexFromLocal.getOrigin();
rayAabbMin.setMin(convexToLocal.getOrigin());
SimdVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin());
rayAabbMin -= SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
rayAabbMax += SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
float curHitFraction = 1.f; //is this available?
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
convexbody->m_ccdSweptShereRadius,curHitFraction);
raycastCallback.m_hitFraction = convexbody->m_hitFraction;
CollisionObject* concavebody = (CollisionObject* )m_concave.m_clientObject;
@@ -239,15 +289,16 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B
if (triangleMesh)
{
triangleMesh->ProcessAllTriangles(&raycastCallback,aabbMin,aabbMax);
triangleMesh->ProcessAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
}
}
if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
{
convexbody->m_hitFraction = raycastCallback.m_hitFraction;
return raycastCallback.m_hitFraction;
if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
{
convexbody->m_hitFraction = raycastCallback.m_hitFraction;
return raycastCallback.m_hitFraction;
}
}
return 1.f;