moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
+++ b/Bullet/NarrowPhaseCollision/SubSimplexConvexCast.cpp
@@ -0,0 +1,132 @@
+/*
+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 "SubSimplexConvexCast.h"
+#include "CollisionShapes/ConvexShape.h"
+#include "CollisionShapes/MinkowskiSumShape.h"
+#include "NarrowPhaseCollision/SimplexSolverInterface.h"
+
+
+SubsimplexConvexCast::SubsimplexConvexCast (ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
+:m_simplexSolver(simplexSolver),
+m_convexA(convexA),m_convexB(convexB)
+{
+}
+
+
+#define MAX_ITERATIONS 1000
+
+bool	SubsimplexConvexCast::calcTimeOfImpact(
+		const SimdTransform& fromA,
+		const SimdTransform& toA,
+		const SimdTransform& fromB,
+		const SimdTransform& toB,
+		CastResult& result)
+{
+
+	MinkowskiSumShape combi(m_convexA,m_convexB);
+	MinkowskiSumShape* convex = &combi;
+
+	SimdTransform	rayFromLocalA;
+	SimdTransform	rayToLocalA;
+
+	rayFromLocalA = fromA.inverse()* fromB;
+	rayToLocalA = toA.inverse()* toB;
+
+
+	m_simplexSolver->reset();
+
+	convex->SetTransformB(SimdTransform(rayFromLocalA.getBasis()));
+
+	//float radius = 0.01f;
+
+	SimdScalar lambda = 0.f;
+	//todo: need to verify this:
+	//because of minkowski difference, we need the inverse direction
+	
+	SimdVector3 s = -rayFromLocalA.getOrigin();
+	SimdVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
+	SimdVector3 x = s;
+	SimdVector3 v;
+	SimdVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
+	
+	v = x - arbitraryPoint;
+
+	int maxIter = MAX_ITERATIONS;
+
+	SimdVector3 n;
+	n.setValue(0.f,0.f,0.f);
+	bool hasResult = false;
+	SimdVector3 c;
+
+	float lastLambda = lambda;
+
+
+	float dist2 = v.length2();
+	float epsilon = 0.0001f;
+
+	SimdVector3	w,p;
+	float VdotR;
+	
+	while ( (dist2 > epsilon) && maxIter--)
+	{
+		p = convex->LocalGetSupportingVertex( v);
+		 w = x - p;
+
+		float VdotW = v.dot(w);
+
+		if ( VdotW > 0.f)
+		{
+			VdotR = v.dot(r);
+
+			if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
+				return false;
+			else
+			{
+				lambda = lambda - VdotW / VdotR;
+				x = s + lambda * r;
+				m_simplexSolver->reset();
+				//check next line
+				w = x-p;
+				lastLambda = lambda;
+				n = v;
+				hasResult = true;
+			}
+		} 
+		m_simplexSolver->addVertex( w, x , p);
+		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 = 0.f;
+		} 
+	}
+
+	//int numiter = MAX_ITERATIONS - maxIter;
+//	printf("number of iterations: %d", numiter);
+	result.m_fraction = lambda;
+	result.m_normal = n;
+
+	return true;
+}
+
+
+