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
42
src/BulletCollision/CollisionShapes/btBox2dShape.cpp
Normal file
42
src/BulletCollision/CollisionShapes/btBox2dShape.cpp
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@@ -0,0 +1,42 @@
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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/
|
||||
|
||||
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.
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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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//{
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void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
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}
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void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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//btScalar margin = btScalar(0.);
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btVector3 halfExtents = getHalfExtentsWithMargin();
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btScalar lx=btScalar(2.)*(halfExtents.x());
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btScalar ly=btScalar(2.)*(halfExtents.y());
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btScalar lz=btScalar(2.)*(halfExtents.z());
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inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
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mass/(btScalar(12.0)) * (lx*lx + lz*lz),
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mass/(btScalar(12.0)) * (lx*lx + ly*ly));
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}
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363
src/BulletCollision/CollisionShapes/btBox2dShape.h
Normal file
363
src/BulletCollision/CollisionShapes/btBox2dShape.h
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@@ -0,0 +1,363 @@
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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/
|
||||
|
||||
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.
|
||||
*/
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#ifndef OBB_BOX_2D_SHAPE_H
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#define OBB_BOX_2D_SHAPE_H
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#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btMinMax.h"
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///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.
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class btBox2dShape: public btPolyhedralConvexShape
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{
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//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
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btVector3 m_centroid;
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btVector3 m_vertices[4];
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btVector3 m_normals[4];
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public:
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btVector3 getHalfExtentsWithMargin() const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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btVector3 margin(getMargin(),getMargin(),getMargin());
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halfExtents += margin;
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return halfExtents;
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}
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const btVector3& getHalfExtentsWithoutMargin() const
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{
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return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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btVector3 margin(getMargin(),getMargin(),getMargin());
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halfExtents += margin;
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return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
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}
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SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
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{
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const btVector3& halfExtents = getHalfExtentsWithoutMargin();
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return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
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}
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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const btVector3& halfExtents = getHalfExtentsWithoutMargin();
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for (int i=0;i<numVectors;i++)
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{
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const btVector3& vec = vectors[i];
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supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
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btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
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btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
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}
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}
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btBox2dShape( const btVector3& boxHalfExtents)
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: btPolyhedralConvexShape(),
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m_centroid(0,0,0)
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{
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m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
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m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
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m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
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m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
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m_normals[0].setValue(0,-1,0);
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m_normals[1].setValue(1,0,0);
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m_normals[2].setValue(0,1,0);
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m_normals[3].setValue(-1,0,0);
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m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
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btVector3 margin(getMargin(),getMargin(),getMargin());
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m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
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};
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virtual void setMargin(btScalar collisionMargin)
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{
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//correct the m_implicitShapeDimensions for the margin
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btVector3 oldMargin(getMargin(),getMargin(),getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
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btConvexInternalShape::setMargin(collisionMargin);
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btVector3 newMargin(getMargin(),getMargin(),getMargin());
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m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
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}
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virtual void setLocalScaling(const btVector3& scaling)
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{
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btVector3 oldMargin(getMargin(),getMargin(),getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
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btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
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btConvexInternalShape::setLocalScaling(scaling);
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m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
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}
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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int getVertexCount() const
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{
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return 4;
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}
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virtual int getNumVertices()const
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{
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return 4;
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}
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const btVector3* getVertices() const
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{
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return &m_vertices[0];
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}
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const btVector3* getNormals() const
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{
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return &m_normals[0];
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}
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virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
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{
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//this plane might not be aligned...
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btVector4 plane ;
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getPlaneEquation(plane,i);
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planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
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planeSupport = localGetSupportingVertex(-planeNormal);
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}
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const btVector3& getCentroid() const
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{
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return m_centroid;
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}
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virtual int getNumPlanes() const
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{
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return 6;
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}
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virtual int getNumEdges() const
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{
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return 12;
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}
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virtual void getVertex(int i,btVector3& vtx) const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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vtx = btVector3(
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halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
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halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
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halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
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}
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virtual void getPlaneEquation(btVector4& plane,int i) const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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switch (i)
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{
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case 0:
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plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
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break;
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case 1:
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plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
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break;
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case 2:
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plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
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break;
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case 3:
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plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
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break;
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case 4:
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plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
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break;
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case 5:
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plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
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break;
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default:
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btAssert(0);
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}
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}
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virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
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//virtual void getEdge(int i,Edge& edge) const
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{
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int edgeVert0 = 0;
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int edgeVert1 = 0;
|
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|
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switch (i)
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{
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case 0:
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edgeVert0 = 0;
|
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edgeVert1 = 1;
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break;
|
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case 1:
|
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edgeVert0 = 0;
|
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edgeVert1 = 2;
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break;
|
||||
case 2:
|
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edgeVert0 = 1;
|
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edgeVert1 = 3;
|
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|
||||
break;
|
||||
case 3:
|
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edgeVert0 = 2;
|
||||
edgeVert1 = 3;
|
||||
break;
|
||||
case 4:
|
||||
edgeVert0 = 0;
|
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edgeVert1 = 4;
|
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break;
|
||||
case 5:
|
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edgeVert0 = 1;
|
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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
|
||||
|
||||
|
||||
@@ -60,6 +60,11 @@ public:
|
||||
return btBroadphaseProxy::isPolyhedral(getShapeType());
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE bool isConvex2d() const
|
||||
{
|
||||
return btBroadphaseProxy::isConvex2d(getShapeType());
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE bool isConvex() const
|
||||
{
|
||||
return btBroadphaseProxy::isConvex(getShapeType());
|
||||
|
||||
92
src/BulletCollision/CollisionShapes/btConvex2dShape.cpp
Normal file
92
src/BulletCollision/CollisionShapes/btConvex2dShape.cpp
Normal file
@@ -0,0 +1,92 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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 "btConvex2dShape.h"
|
||||
|
||||
btConvex2dShape::btConvex2dShape( btConvexShape* convexChildShape):
|
||||
btConvexShape (), m_childConvexShape(convexChildShape)
|
||||
{
|
||||
m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
btConvex2dShape::~btConvex2dShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
||||
{
|
||||
return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
|
||||
}
|
||||
|
||||
void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
|
||||
}
|
||||
|
||||
|
||||
btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
|
||||
{
|
||||
return m_childConvexShape->localGetSupportingVertex(vec);
|
||||
}
|
||||
|
||||
|
||||
void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
||||
{
|
||||
///this linear upscaling is not realistic, but we don't deal with large mass ratios...
|
||||
m_childConvexShape->calculateLocalInertia(mass,inertia);
|
||||
}
|
||||
|
||||
|
||||
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
m_childConvexShape->getAabb(t,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
void btConvex2dShape::setLocalScaling(const btVector3& scaling)
|
||||
{
|
||||
m_childConvexShape->setLocalScaling(scaling);
|
||||
}
|
||||
|
||||
const btVector3& btConvex2dShape::getLocalScaling() const
|
||||
{
|
||||
return m_childConvexShape->getLocalScaling();
|
||||
}
|
||||
|
||||
void btConvex2dShape::setMargin(btScalar margin)
|
||||
{
|
||||
m_childConvexShape->setMargin(margin);
|
||||
}
|
||||
btScalar btConvex2dShape::getMargin() const
|
||||
{
|
||||
return m_childConvexShape->getMargin();
|
||||
}
|
||||
|
||||
int btConvex2dShape::getNumPreferredPenetrationDirections() const
|
||||
{
|
||||
return m_childConvexShape->getNumPreferredPenetrationDirections();
|
||||
}
|
||||
|
||||
void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
|
||||
{
|
||||
m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
|
||||
}
|
||||
80
src/BulletCollision/CollisionShapes/btConvex2dShape.h
Normal file
80
src/BulletCollision/CollisionShapes/btConvex2dShape.h
Normal file
@@ -0,0 +1,80 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
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 BT_CONVEX_2D_SHAPE_H
|
||||
#define BT_CONVEX_2D_SHAPE_H
|
||||
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
///The btConvex2dShape allows to use arbitrary convex shapes are 2d convex shapes, with the Z component assumed to be 0.
|
||||
///For 2d boxes, the btBox2dShape is recommended.
|
||||
class btConvex2dShape : public btConvexShape
|
||||
{
|
||||
btConvexShape* m_childConvexShape;
|
||||
|
||||
public:
|
||||
|
||||
btConvex2dShape( btConvexShape* convexChildShape);
|
||||
|
||||
virtual ~btConvex2dShape();
|
||||
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
|
||||
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
|
||||
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||||
|
||||
btConvexShape* getChildShape()
|
||||
{
|
||||
return m_childConvexShape;
|
||||
}
|
||||
|
||||
const btConvexShape* getChildShape() const
|
||||
{
|
||||
return m_childConvexShape;
|
||||
}
|
||||
|
||||
virtual const char* getName()const
|
||||
{
|
||||
return "Convex2dShape";
|
||||
}
|
||||
|
||||
|
||||
|
||||
///////////////////////////
|
||||
|
||||
|
||||
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling) ;
|
||||
virtual const btVector3& getLocalScaling() const ;
|
||||
|
||||
virtual void setMargin(btScalar margin);
|
||||
virtual btScalar getMargin() const;
|
||||
|
||||
virtual int getNumPreferredPenetrationDirections() const;
|
||||
|
||||
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const;
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_CONVEX_2D_SHAPE_H
|
||||
Reference in New Issue
Block a user