added basic sphere-box case for porting purposes. This way, we can have a basic sample without GJK.
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ejcoumans
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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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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 "btSphereBoxCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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//#include <stdio.h>
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SphereBoxCollisionAlgorithm::SphereBoxCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
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: CollisionAlgorithm(ci),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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m_sphereColObj = static_cast<CollisionObject*>(proxy0->m_clientObject);
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m_boxColObj = static_cast<CollisionObject*>(proxy1->m_clientObject);
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if (!m_manifoldPtr && m_dispatcher->NeedsCollision(*proxy0,*proxy1))
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{
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m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
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m_ownManifold = true;
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}
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}
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SphereBoxCollisionAlgorithm::~SphereBoxCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->ReleaseManifold(m_manifoldPtr);
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}
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}
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void SphereBoxCollisionAlgorithm::ProcessCollision (BroadphaseProxy*,BroadphaseProxy*,const DispatcherInfo& dispatchInfo)
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{
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if (!m_manifoldPtr)
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return;
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SphereShape* sphere0 = (SphereShape*)m_sphereColObj ->m_collisionShape;
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BoxShape* box = (BoxShape*)m_boxColObj->m_collisionShape;
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SimdVector3 normalOnSurfaceB;
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SimdVector3 pOnBox,pOnSphere;
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SimdVector3 sphereCenter = m_sphereColObj->m_worldTransform.getOrigin();
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SimdScalar radius = sphere0->GetRadius();
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float dist = GetSphereDistance(pOnBox,pOnSphere,sphereCenter,radius);
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if (dist < SIMD_EPSILON)
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{
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SimdVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(m_sphereColObj,m_boxColObj,m_manifoldPtr);
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resultOut->AddContactPoint(normalOnSurfaceB,pOnBox,dist);
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m_dispatcher->ReleaseManifoldResult(resultOut);
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}
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}
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float SphereBoxCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
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{
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//not yet
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return 1.f;
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}
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SimdScalar SphereBoxCollisionAlgorithm::GetSphereDistance( SimdVector3& pointOnBox, SimdVector3& v3PointOnSphere, const SimdVector3& sphereCenter, SimdScalar fRadius )
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{
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SimdScalar margins;
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SimdVector3 bounds[2];
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BoxShape* boxShape= (BoxShape*)m_boxColObj->m_collisionShape;
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bounds[0] = -boxShape->GetHalfExtents();
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bounds[1] = boxShape->GetHalfExtents();
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margins = boxShape->GetMargin();//also add sphereShape margin?
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const SimdTransform& m44T = m_boxColObj->m_worldTransform;
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SimdVector3 boundsVec[2];
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SimdScalar fPenetration;
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boundsVec[0] = bounds[0];
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boundsVec[1] = bounds[1];
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SimdVector3 marginsVec( margins, margins, margins );
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// add margins
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bounds[0] += marginsVec;
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bounds[1] -= marginsVec;
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/////////////////////////////////////////////////
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SimdVector3 tmp, prel, n[6], normal, v3P;
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SimdScalar fSep = 10000000.0f, fSepThis;
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n[0].setValue( -1.0f, 0.0f, 0.0f );
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n[1].setValue( 0.0f, -1.0f, 0.0f );
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n[2].setValue( 0.0f, 0.0f, -1.0f );
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n[3].setValue( 1.0f, 0.0f, 0.0f );
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n[4].setValue( 0.0f, 1.0f, 0.0f );
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n[5].setValue( 0.0f, 0.0f, 1.0f );
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// convert point in local space
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prel = m44T.invXform( sphereCenter);
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bool bFound = false;
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v3P = prel;
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for (int i=0;i<6;i++)
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{
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int j = i<3? 0:1;
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if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > 0.0f )
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{
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v3P = v3P - n[i]*fSepThis;
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bFound = true;
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}
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}
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//
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if ( bFound )
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{
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bounds[0] = boundsVec[0];
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bounds[1] = boundsVec[1];
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normal = (prel - v3P).normalize();
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pointOnBox = v3P + normal*margins;
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v3PointOnSphere = prel - normal*fRadius;
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if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > 0.0f )
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{
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return 1.0f;
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}
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// transform back in world space
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tmp = m44T( pointOnBox);
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pointOnBox = tmp;
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tmp = m44T( v3PointOnSphere);
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v3PointOnSphere = tmp;
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SimdScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
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//if this fails, fallback into deeper penetration case, below
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if (fSeps2 > SIMD_EPSILON)
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{
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fSep = - SimdSqrt(fSeps2);
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normal = (pointOnBox-v3PointOnSphere);
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normal *= 1.f/fSep;
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}
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return fSep;
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}
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//////////////////////////////////////////////////
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// Deep penetration case
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fPenetration = GetSpherePenetration( pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
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bounds[0] = boundsVec[0];
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bounds[1] = boundsVec[1];
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if ( fPenetration <= 0.0f )
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return (fPenetration-margins);
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else
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return 1.0f;
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}
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SimdScalar SphereBoxCollisionAlgorithm::GetSpherePenetration( SimdVector3& pointOnBox, SimdVector3& v3PointOnSphere, const SimdVector3& sphereCenter, SimdScalar fRadius, const SimdVector3& aabbMin, const SimdVector3& aabbMax)
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{
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SimdVector3 bounds[2];
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bounds[0] = aabbMin;
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bounds[1] = aabbMax;
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SimdVector3 p0, tmp, prel, n[6], normal;
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SimdScalar fSep = -10000000.0f, fSepThis;
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n[0].setValue( -1.0f, 0.0f, 0.0f );
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n[1].setValue( 0.0f, -1.0f, 0.0f );
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n[2].setValue( 0.0f, 0.0f, -1.0f );
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n[3].setValue( 1.0f, 0.0f, 0.0f );
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n[4].setValue( 0.0f, 1.0f, 0.0f );
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n[5].setValue( 0.0f, 0.0f, 1.0f );
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const SimdTransform& m44T = m_boxColObj->m_worldTransform;
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// convert point in local space
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prel = m44T.invXform( sphereCenter);
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///////////
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for (int i=0;i<6;i++)
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{
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int j = i<3 ? 0:1;
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if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > 0.0f ) return 1.0f;
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if ( fSepThis > fSep )
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{
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p0 = bounds[j]; normal = (SimdVector3&)n[i];
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fSep = fSepThis;
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}
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}
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pointOnBox = prel - normal*(normal.dot((prel-p0)));
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v3PointOnSphere = pointOnBox + normal*fSep;
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// transform back in world space
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tmp = m44T( pointOnBox);
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pointOnBox = tmp;
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tmp = m44T( v3PointOnSphere); v3PointOnSphere = tmp;
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normal = (pointOnBox-v3PointOnSphere).normalize();
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return fSep;
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}
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