Add support for generic 2d convex shapes, through wrapper class btConvex2dShape. See Bullet/Demos/Box2dDemo for example wrapping a btCylinderShape and 2d btConvexHullShape.
Add some extra degeneracy debugging check in btGjkPairDetector
This commit is contained in:
erwin.coumans
@@ -13,13 +13,18 @@ subject to the following restrictions:
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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 "btBox2dShape.h"
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#include "BulletCollision/CollisionShapes/btBox2dShape.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "btBox2dBox2dCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btConvex2dShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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///create 125 (5x5x5) dynamic object
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#define ARRAY_SIZE_X 17
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#define ARRAY_SIZE_Y 17
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#define ARRAY_SIZE_X 1
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#define ARRAY_SIZE_Y 2
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#define ARRAY_SIZE_Z 1
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//maximum number of objects (and allow user to shoot additional boxes)
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@@ -97,10 +102,19 @@ void Box2dDemo::initPhysics()
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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btVoronoiSimplexSolver* simplex = new btVoronoiSimplexSolver();
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btMinkowskiPenetrationDepthSolver* pdSolver = new btMinkowskiPenetrationDepthSolver();
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btConvex2dConvex2dAlgorithm::CreateFunc* convexAlgo2d = new btConvex2dConvex2dAlgorithm::CreateFunc(simplex,pdSolver);
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m_dispatcher->registerCollisionCreateFunc(CUSTOM_CONVEX_SHAPE_TYPE,CUSTOM_CONVEX_SHAPE_TYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc);
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m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
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m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,CONVEX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
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m_dispatcher->registerCollisionCreateFunc(CONVEX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,convexAlgo2d);
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m_dispatcher->registerCollisionCreateFunc(BOX_2D_SHAPE_PROXYTYPE,BOX_2D_SHAPE_PROXYTYPE,new btBox2dBox2dCollisionAlgorithm::CreateFunc());
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m_broadphase = new btDbvtBroadphase();
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//m_broadphase = new btSimpleBroadphase();
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///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
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btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
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@@ -149,11 +163,24 @@ void Box2dDemo::initPhysics()
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.));
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colShape->setMargin(0.);
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btScalar u = 1*SCALING-0.04;
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btVector3 points[3] = {btVector3(0,u,0),btVector3(-u,-u,0),btVector3(u,-u,0)};
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btConvexShape* colShape= new btConvex2dShape(new btBoxShape(btVector3(SCALING*1,SCALING*1,0.04)));
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//btCollisionShape* colShape = new btBox2dShape(btVector3(SCALING*1,SCALING*1,0.04));
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btConvexShape* colShape2= new btConvex2dShape(new btConvexHullShape(&points[0].getX(),3));
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btConvexShape* colShape3= new btConvex2dShape(new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,0.04)));
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//btUniformScalingShape* colShape = new btUniformScalingShape(convexColShape,1.f);
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colShape->setMargin(0.03);
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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m_collisionShapes.push_back(colShape2);
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/// Create Dynamic Objects
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btTransform startTransform;
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@@ -183,12 +210,25 @@ void Box2dDemo::initPhysics()
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for (int j = i; j < ARRAY_SIZE_Y; ++j)
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{
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startTransform.setOrigin(y);
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startTransform.setOrigin(y-btVector3(-10,0,0));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(0,0,0);
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switch (j%3)
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{
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#if 0
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case 0:
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rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape,localInertia);
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break;
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case 1:
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rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
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break;
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#endif
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default:
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rbInfo = btRigidBody::btRigidBodyConstructionInfo(mass,myMotionState,colShape3,localInertia);
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}
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btRigidBody* body = new btRigidBody(rbInfo);
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//body->setContactProcessingThreshold(colShape->getContactBreakingThreshold());
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body->setActivationState(ISLAND_SLEEPING);
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@@ -199,7 +239,8 @@ void Box2dDemo::initPhysics()
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body->setActivationState(ISLAND_SLEEPING);
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y += deltaY;
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y += -0.8*deltaY;
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//y += deltaY;
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}
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x += deltaX;
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@@ -1,437 +0,0 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
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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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///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
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///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
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#include "btBox2dBox2dCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
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#include "btBox2dShape.h"
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#define USE_PERSISTENT_CONTACTS 1
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btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
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: btActivatingCollisionAlgorithm(ci,obj0,obj1),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
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m_ownManifold = true;
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}
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}
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btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
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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 b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
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#include <stdio.h>
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void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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return;
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btCollisionObject* col0 = body0;
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btCollisionObject* col1 = body1;
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btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
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btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
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resultOut->setPersistentManifold(m_manifoldPtr);
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b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
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// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
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if (m_ownManifold)
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{
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resultOut->refreshContactPoints();
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}
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}
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btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
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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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struct ClipVertex
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{
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btVector3 v;
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int id;
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//b2ContactID id;
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//b2ContactID id;
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};
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#define b2Dot(a,b) (a).dot(b)
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#define b2Mul(a,b) (a)*(b)
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#define b2MulT(a,b) (a).transpose()*(b)
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#define b2Cross(a,b) (a).cross(b)
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#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
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int b2_maxManifoldPoints =2;
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static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
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const btVector3& normal, btScalar offset)
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{
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// Start with no output points
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int numOut = 0;
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// Calculate the distance of end points to the line
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btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
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btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
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// If the points are behind the plane
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if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
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if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
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// If the points are on different sides of the plane
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if (distance0 * distance1 < 0.0f)
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{
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// Find intersection point of edge and plane
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btScalar interp = distance0 / (distance0 - distance1);
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vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
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if (distance0 > 0.0f)
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{
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vOut[numOut].id = vIn[0].id;
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}
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else
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{
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vOut[numOut].id = vIn[1].id;
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}
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++numOut;
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}
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return numOut;
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}
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// Find the separation between poly1 and poly2 for a give edge normal on poly1.
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static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
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const btBox2dShape* poly2, const btTransform& xf2)
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{
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int count1 = poly1->getVertexCount();
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const btVector3* vertices1 = poly1->getVertices();
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const btVector3* normals1 = poly1->getNormals();
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int count2 = poly2->getVertexCount();
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const btVector3* vertices2 = poly2->getVertices();
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btAssert(0 <= edge1 && edge1 < count1);
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// Convert normal from poly1's frame into poly2's frame.
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btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
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btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
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// Find support vertex on poly2 for -normal.
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int index = 0;
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btScalar minDot = BT_LARGE_FLOAT;
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for (int i = 0; i < count2; ++i)
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{
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btScalar dot = b2Dot(vertices2[i], normal1);
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if (dot < minDot)
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{
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minDot = dot;
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index = i;
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}
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}
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btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
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btVector3 v2 = b2Mul(xf2, vertices2[index]);
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btScalar separation = b2Dot(v2 - v1, normal1World);
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return separation;
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}
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// Find the max separation between poly1 and poly2 using edge normals from poly1.
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static btScalar FindMaxSeparation(int* edgeIndex,
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const btBox2dShape* poly1, const btTransform& xf1,
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const btBox2dShape* poly2, const btTransform& xf2)
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{
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int count1 = poly1->getVertexCount();
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const btVector3* normals1 = poly1->getNormals();
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// Vector pointing from the centroid of poly1 to the centroid of poly2.
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btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
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btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
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// Find edge normal on poly1 that has the largest projection onto d.
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int edge = 0;
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btScalar maxDot = -BT_LARGE_FLOAT;
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for (int i = 0; i < count1; ++i)
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{
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btScalar dot = b2Dot(normals1[i], dLocal1);
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if (dot > maxDot)
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{
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maxDot = dot;
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edge = i;
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}
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}
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// Get the separation for the edge normal.
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btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
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if (s > 0.0f)
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{
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return s;
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}
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// Check the separation for the previous edge normal.
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int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
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btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
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if (sPrev > 0.0f)
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{
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return sPrev;
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}
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// Check the separation for the next edge normal.
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int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
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btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
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if (sNext > 0.0f)
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{
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return sNext;
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}
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// Find the best edge and the search direction.
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int bestEdge;
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btScalar bestSeparation;
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int increment;
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if (sPrev > s && sPrev > sNext)
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{
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increment = -1;
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bestEdge = prevEdge;
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bestSeparation = sPrev;
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}
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else if (sNext > s)
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{
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increment = 1;
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bestEdge = nextEdge;
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bestSeparation = sNext;
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}
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else
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{
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*edgeIndex = edge;
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return s;
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}
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// Perform a local search for the best edge normal.
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for ( ; ; )
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{
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if (increment == -1)
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edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
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else
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edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
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s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
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if (s > 0.0f)
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{
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return s;
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}
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if (s > bestSeparation)
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{
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bestEdge = edge;
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bestSeparation = s;
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}
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else
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{
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break;
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}
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}
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*edgeIndex = bestEdge;
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return bestSeparation;
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}
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static void FindIncidentEdge(ClipVertex c[2],
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const btBox2dShape* poly1, const btTransform& xf1, int edge1,
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const btBox2dShape* poly2, const btTransform& xf2)
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{
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int count1 = poly1->getVertexCount();
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const btVector3* normals1 = poly1->getNormals();
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int count2 = poly2->getVertexCount();
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const btVector3* vertices2 = poly2->getVertices();
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const btVector3* normals2 = poly2->getNormals();
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btAssert(0 <= edge1 && edge1 < count1);
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// Get the normal of the reference edge in poly2's frame.
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btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
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// Find the incident edge on poly2.
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int index = 0;
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btScalar minDot = BT_LARGE_FLOAT;
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for (int i = 0; i < count2; ++i)
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{
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btScalar dot = b2Dot(normal1, normals2[i]);
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if (dot < minDot)
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{
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minDot = dot;
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index = i;
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}
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}
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// Build the clip vertices for the incident edge.
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int i1 = index;
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int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
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c[0].v = b2Mul(xf2, vertices2[i1]);
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// c[0].id.features.referenceEdge = (unsigned char)edge1;
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// c[0].id.features.incidentEdge = (unsigned char)i1;
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// c[0].id.features.incidentVertex = 0;
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c[1].v = b2Mul(xf2, vertices2[i2]);
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// c[1].id.features.referenceEdge = (unsigned char)edge1;
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// c[1].id.features.incidentEdge = (unsigned char)i2;
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// c[1].id.features.incidentVertex = 1;
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}
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// Find edge normal of max separation on A - return if separating axis is found
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// Find edge normal of max separation on B - return if separation axis is found
|
||||
// Choose reference edge as min(minA, minB)
|
||||
// Find incident edge
|
||||
// Clip
|
||||
|
||||
// The normal points from 1 to 2
|
||||
void b2CollidePolygons(btManifoldResult* manifold,
|
||||
const btBox2dShape* polyA, const btTransform& xfA,
|
||||
const btBox2dShape* polyB, const btTransform& xfB)
|
||||
{
|
||||
|
||||
int edgeA = 0;
|
||||
btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
|
||||
if (separationA > 0.0f)
|
||||
return;
|
||||
|
||||
int edgeB = 0;
|
||||
btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
|
||||
if (separationB > 0.0f)
|
||||
return;
|
||||
|
||||
const btBox2dShape* poly1; // reference poly
|
||||
const btBox2dShape* poly2; // incident poly
|
||||
btTransform xf1, xf2;
|
||||
int edge1; // reference edge
|
||||
unsigned char flip;
|
||||
const btScalar k_relativeTol = 0.98f;
|
||||
const btScalar k_absoluteTol = 0.001f;
|
||||
|
||||
// TODO_ERIN use "radius" of poly for absolute tolerance.
|
||||
if (separationB > k_relativeTol * separationA + k_absoluteTol)
|
||||
{
|
||||
poly1 = polyB;
|
||||
poly2 = polyA;
|
||||
xf1 = xfB;
|
||||
xf2 = xfA;
|
||||
edge1 = edgeB;
|
||||
flip = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
poly1 = polyA;
|
||||
poly2 = polyB;
|
||||
xf1 = xfA;
|
||||
xf2 = xfB;
|
||||
edge1 = edgeA;
|
||||
flip = 0;
|
||||
}
|
||||
|
||||
ClipVertex incidentEdge[2];
|
||||
FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
|
||||
|
||||
int count1 = poly1->getVertexCount();
|
||||
const btVector3* vertices1 = poly1->getVertices();
|
||||
|
||||
btVector3 v11 = vertices1[edge1];
|
||||
btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
|
||||
|
||||
btVector3 dv = v12 - v11;
|
||||
btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
|
||||
sideNormal.normalize();
|
||||
btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
|
||||
|
||||
|
||||
v11 = b2Mul(xf1, v11);
|
||||
v12 = b2Mul(xf1, v12);
|
||||
|
||||
btScalar frontOffset = b2Dot(frontNormal, v11);
|
||||
btScalar sideOffset1 = -b2Dot(sideNormal, v11);
|
||||
btScalar sideOffset2 = b2Dot(sideNormal, v12);
|
||||
|
||||
// Clip incident edge against extruded edge1 side edges.
|
||||
ClipVertex clipPoints1[2];
|
||||
clipPoints1[0].v.setValue(0,0,0);
|
||||
clipPoints1[1].v.setValue(0,0,0);
|
||||
|
||||
ClipVertex clipPoints2[2];
|
||||
clipPoints2[0].v.setValue(0,0,0);
|
||||
clipPoints2[1].v.setValue(0,0,0);
|
||||
|
||||
|
||||
int np;
|
||||
|
||||
// Clip to box side 1
|
||||
np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
|
||||
|
||||
if (np < 2)
|
||||
return;
|
||||
|
||||
// Clip to negative box side 1
|
||||
np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
|
||||
|
||||
if (np < 2)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
// Now clipPoints2 contains the clipped points.
|
||||
btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
|
||||
|
||||
int pointCount = 0;
|
||||
for (int i = 0; i < b2_maxManifoldPoints; ++i)
|
||||
{
|
||||
btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
|
||||
|
||||
if (separation <= 0.0f)
|
||||
{
|
||||
|
||||
//b2ManifoldPoint* cp = manifold->points + pointCount;
|
||||
//btScalar separation = separation;
|
||||
//cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
|
||||
//cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
|
||||
|
||||
manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
|
||||
|
||||
// cp->id = clipPoints2[i].id;
|
||||
// cp->id.features.flip = flip;
|
||||
++pointCount;
|
||||
}
|
||||
}
|
||||
|
||||
// manifold->pointCount = pointCount;}
|
||||
}
|
||||
@@ -1,66 +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.
|
||||
*/
|
||||
|
||||
#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
///box-box collision detection
|
||||
class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
public:
|
||||
btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
|
||||
: btActivatingCollisionAlgorithm(ci) {}
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
virtual ~btBox2dBox2dCollisionAlgorithm();
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
{
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
|
||||
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
|
||||
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
|
||||
|
||||
@@ -1,42 +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 "btBox2dShape.h"
|
||||
|
||||
|
||||
//{
|
||||
|
||||
|
||||
void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
|
||||
void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
//btScalar margin = btScalar(0.);
|
||||
btVector3 halfExtents = getHalfExtentsWithMargin();
|
||||
|
||||
btScalar lx=btScalar(2.)*(halfExtents.x());
|
||||
btScalar ly=btScalar(2.)*(halfExtents.y());
|
||||
btScalar lz=btScalar(2.)*(halfExtents.z());
|
||||
|
||||
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
|
||||
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
|
||||
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
|
||||
|
||||
}
|
||||
|
||||
@@ -1,363 +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.
|
||||
*/
|
||||
|
||||
#ifndef OBB_BOX_2D_SHAPE_H
|
||||
#define OBB_BOX_2D_SHAPE_H
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMinMax.h"
|
||||
|
||||
///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
|
||||
class btBox2dShape: public btPolyhedralConvexShape
|
||||
{
|
||||
|
||||
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
|
||||
|
||||
btVector3 m_centroid;
|
||||
btVector3 m_vertices[4];
|
||||
btVector3 m_normals[4];
|
||||
|
||||
public:
|
||||
|
||||
btVector3 getHalfExtentsWithMargin() const
|
||||
{
|
||||
btVector3 halfExtents = getHalfExtentsWithoutMargin();
|
||||
btVector3 margin(getMargin(),getMargin(),getMargin());
|
||||
halfExtents += margin;
|
||||
return halfExtents;
|
||||
}
|
||||
|
||||
const btVector3& getHalfExtentsWithoutMargin() const
|
||||
{
|
||||
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
|
||||
}
|
||||
|
||||
|
||||
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
|
||||
{
|
||||
btVector3 halfExtents = getHalfExtentsWithoutMargin();
|
||||
btVector3 margin(getMargin(),getMargin(),getMargin());
|
||||
halfExtents += margin;
|
||||
|
||||
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
|
||||
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
|
||||
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
||||
{
|
||||
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
|
||||
|
||||
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
|
||||
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
|
||||
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
|
||||
}
|
||||
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
|
||||
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
const btVector3& vec = vectors[i];
|
||||
supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
|
||||
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
|
||||
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
btBox2dShape( const btVector3& boxHalfExtents)
|
||||
: btPolyhedralConvexShape(),
|
||||
m_centroid(0,0,0)
|
||||
{
|
||||
m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
|
||||
m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
|
||||
m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
|
||||
m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
|
||||
|
||||
m_normals[0].setValue(0,-1,0);
|
||||
m_normals[1].setValue(1,0,0);
|
||||
m_normals[2].setValue(0,1,0);
|
||||
m_normals[3].setValue(-1,0,0);
|
||||
|
||||
m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
|
||||
btVector3 margin(getMargin(),getMargin(),getMargin());
|
||||
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
|
||||
};
|
||||
|
||||
virtual void setMargin(btScalar collisionMargin)
|
||||
{
|
||||
//correct the m_implicitShapeDimensions for the margin
|
||||
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
|
||||
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
|
||||
|
||||
btConvexInternalShape::setMargin(collisionMargin);
|
||||
btVector3 newMargin(getMargin(),getMargin(),getMargin());
|
||||
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
|
||||
|
||||
}
|
||||
virtual void setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
|
||||
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
|
||||
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
|
||||
|
||||
btConvexInternalShape::setLocalScaling(scaling);
|
||||
|
||||
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
|
||||
|
||||
}
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
|
||||
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int getVertexCount() const
|
||||
{
|
||||
return 4;
|
||||
}
|
||||
|
||||
virtual int getNumVertices()const
|
||||
{
|
||||
return 4;
|
||||
}
|
||||
|
||||
const btVector3* getVertices() const
|
||||
{
|
||||
return &m_vertices[0];
|
||||
}
|
||||
|
||||
const btVector3* getNormals() const
|
||||
{
|
||||
return &m_normals[0];
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
|
||||
{
|
||||
//this plane might not be aligned...
|
||||
btVector4 plane ;
|
||||
getPlaneEquation(plane,i);
|
||||
planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
|
||||
planeSupport = localGetSupportingVertex(-planeNormal);
|
||||
}
|
||||
|
||||
|
||||
const btVector3& getCentroid() const
|
||||
{
|
||||
return m_centroid;
|
||||
}
|
||||
|
||||
virtual int getNumPlanes() const
|
||||
{
|
||||
return 6;
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual int getNumEdges() const
|
||||
{
|
||||
return 12;
|
||||
}
|
||||
|
||||
|
||||
virtual void getVertex(int i,btVector3& vtx) const
|
||||
{
|
||||
btVector3 halfExtents = getHalfExtentsWithoutMargin();
|
||||
|
||||
vtx = btVector3(
|
||||
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
|
||||
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
|
||||
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
|
||||
}
|
||||
|
||||
|
||||
virtual void getPlaneEquation(btVector4& plane,int i) const
|
||||
{
|
||||
btVector3 halfExtents = getHalfExtentsWithoutMargin();
|
||||
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
|
||||
break;
|
||||
case 1:
|
||||
plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
|
||||
break;
|
||||
case 2:
|
||||
plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
|
||||
break;
|
||||
case 3:
|
||||
plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
|
||||
break;
|
||||
case 4:
|
||||
plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
|
||||
break;
|
||||
case 5:
|
||||
plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
|
||||
break;
|
||||
default:
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
|
||||
//virtual void getEdge(int i,Edge& edge) const
|
||||
{
|
||||
int edgeVert0 = 0;
|
||||
int edgeVert1 = 0;
|
||||
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
edgeVert0 = 0;
|
||||
edgeVert1 = 1;
|
||||
break;
|
||||
case 1:
|
||||
edgeVert0 = 0;
|
||||
edgeVert1 = 2;
|
||||
break;
|
||||
case 2:
|
||||
edgeVert0 = 1;
|
||||
edgeVert1 = 3;
|
||||
|
||||
break;
|
||||
case 3:
|
||||
edgeVert0 = 2;
|
||||
edgeVert1 = 3;
|
||||
break;
|
||||
case 4:
|
||||
edgeVert0 = 0;
|
||||
edgeVert1 = 4;
|
||||
break;
|
||||
case 5:
|
||||
edgeVert0 = 1;
|
||||
edgeVert1 = 5;
|
||||
|
||||
break;
|
||||
case 6:
|
||||
edgeVert0 = 2;
|
||||
edgeVert1 = 6;
|
||||
break;
|
||||
case 7:
|
||||
edgeVert0 = 3;
|
||||
edgeVert1 = 7;
|
||||
break;
|
||||
case 8:
|
||||
edgeVert0 = 4;
|
||||
edgeVert1 = 5;
|
||||
break;
|
||||
case 9:
|
||||
edgeVert0 = 4;
|
||||
edgeVert1 = 6;
|
||||
break;
|
||||
case 10:
|
||||
edgeVert0 = 5;
|
||||
edgeVert1 = 7;
|
||||
break;
|
||||
case 11:
|
||||
edgeVert0 = 6;
|
||||
edgeVert1 = 7;
|
||||
break;
|
||||
default:
|
||||
btAssert(0);
|
||||
|
||||
}
|
||||
|
||||
getVertex(edgeVert0,pa );
|
||||
getVertex(edgeVert1,pb );
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
virtual bool isInside(const btVector3& pt,btScalar tolerance) const
|
||||
{
|
||||
btVector3 halfExtents = getHalfExtentsWithoutMargin();
|
||||
|
||||
//btScalar minDist = 2*tolerance;
|
||||
|
||||
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
|
||||
(pt.x() >= (-halfExtents.x()-tolerance)) &&
|
||||
(pt.y() <= (halfExtents.y()+tolerance)) &&
|
||||
(pt.y() >= (-halfExtents.y()-tolerance)) &&
|
||||
(pt.z() <= (halfExtents.z()+tolerance)) &&
|
||||
(pt.z() >= (-halfExtents.z()-tolerance));
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
//debugging
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "Box2d";
|
||||
}
|
||||
|
||||
virtual int getNumPreferredPenetrationDirections() const
|
||||
{
|
||||
return 6;
|
||||
}
|
||||
|
||||
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
|
||||
{
|
||||
switch (index)
|
||||
{
|
||||
case 0:
|
||||
penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
|
||||
break;
|
||||
case 1:
|
||||
penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
|
||||
break;
|
||||
case 2:
|
||||
penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
|
||||
break;
|
||||
case 3:
|
||||
penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
|
||||
break;
|
||||
case 4:
|
||||
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
|
||||
break;
|
||||
case 5:
|
||||
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
|
||||
break;
|
||||
default:
|
||||
btAssert(0);
|
||||
}
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //OBB_BOX_2D_SHAPE_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user