244 lines
7.5 KiB
C++
244 lines
7.5 KiB
C++
/*
|
|
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 "MinkowskiPenetrationDepthSolver.h"
|
|
#include "CollisionShapes/MinkowskiSumShape.h"
|
|
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
|
|
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
|
|
#include "NarrowPhaseCollision/GjkPairDetector.h"
|
|
|
|
|
|
struct MyResult : public DiscreteCollisionDetectorInterface::Result
|
|
{
|
|
|
|
MyResult():m_hasResult(false)
|
|
{
|
|
}
|
|
|
|
SimdVector3 m_normalOnBInWorld;
|
|
SimdVector3 m_pointInWorld;
|
|
float m_depth;
|
|
bool m_hasResult;
|
|
|
|
void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
|
|
{
|
|
m_normalOnBInWorld = normalOnBInWorld;
|
|
m_pointInWorld = pointInWorld;
|
|
m_depth = depth;
|
|
m_hasResult = true;
|
|
}
|
|
};
|
|
|
|
#define NUM_UNITSPHERE_POINTS 42
|
|
static SimdVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS] =
|
|
{
|
|
SimdVector3(0.000000f , -0.000000f,-1.000000f),
|
|
SimdVector3(0.723608f , -0.525725f,-0.447219f),
|
|
SimdVector3(-0.276388f , -0.850649f,-0.447219f),
|
|
SimdVector3(-0.894426f , -0.000000f,-0.447216f),
|
|
SimdVector3(-0.276388f , 0.850649f,-0.447220f),
|
|
SimdVector3(0.723608f , 0.525725f,-0.447219f),
|
|
SimdVector3(0.276388f , -0.850649f,0.447220f),
|
|
SimdVector3(-0.723608f , -0.525725f,0.447219f),
|
|
SimdVector3(-0.723608f , 0.525725f,0.447219f),
|
|
SimdVector3(0.276388f , 0.850649f,0.447219f),
|
|
SimdVector3(0.894426f , 0.000000f,0.447216f),
|
|
SimdVector3(-0.000000f , 0.000000f,1.000000f),
|
|
SimdVector3(0.425323f , -0.309011f,-0.850654f),
|
|
SimdVector3(-0.162456f , -0.499995f,-0.850654f),
|
|
SimdVector3(0.262869f , -0.809012f,-0.525738f),
|
|
SimdVector3(0.425323f , 0.309011f,-0.850654f),
|
|
SimdVector3(0.850648f , -0.000000f,-0.525736f),
|
|
SimdVector3(-0.525730f , -0.000000f,-0.850652f),
|
|
SimdVector3(-0.688190f , -0.499997f,-0.525736f),
|
|
SimdVector3(-0.162456f , 0.499995f,-0.850654f),
|
|
SimdVector3(-0.688190f , 0.499997f,-0.525736f),
|
|
SimdVector3(0.262869f , 0.809012f,-0.525738f),
|
|
SimdVector3(0.951058f , 0.309013f,0.000000f),
|
|
SimdVector3(0.951058f , -0.309013f,0.000000f),
|
|
SimdVector3(0.587786f , -0.809017f,0.000000f),
|
|
SimdVector3(0.000000f , -1.000000f,0.000000f),
|
|
SimdVector3(-0.587786f , -0.809017f,0.000000f),
|
|
SimdVector3(-0.951058f , -0.309013f,-0.000000f),
|
|
SimdVector3(-0.951058f , 0.309013f,-0.000000f),
|
|
SimdVector3(-0.587786f , 0.809017f,-0.000000f),
|
|
SimdVector3(-0.000000f , 1.000000f,-0.000000f),
|
|
SimdVector3(0.587786f , 0.809017f,-0.000000f),
|
|
SimdVector3(0.688190f , -0.499997f,0.525736f),
|
|
SimdVector3(-0.262869f , -0.809012f,0.525738f),
|
|
SimdVector3(-0.850648f , 0.000000f,0.525736f),
|
|
SimdVector3(-0.262869f , 0.809012f,0.525738f),
|
|
SimdVector3(0.688190f , 0.499997f,0.525736f),
|
|
SimdVector3(0.525730f , 0.000000f,0.850652f),
|
|
SimdVector3(0.162456f , -0.499995f,0.850654f),
|
|
SimdVector3(-0.425323f , -0.309011f,0.850654f),
|
|
SimdVector3(-0.425323f , 0.309011f,0.850654f),
|
|
SimdVector3(0.162456f , 0.499995f,0.850654f)
|
|
};
|
|
|
|
|
|
bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simplexSolver,
|
|
ConvexShape* convexA,ConvexShape* convexB,
|
|
const SimdTransform& transA,const SimdTransform& transB,
|
|
SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
|
|
class IDebugDraw* debugDraw
|
|
)
|
|
{
|
|
|
|
//just take fixed number of orientation, and sample the penetration depth in that direction
|
|
float minProj = 1e30f;
|
|
SimdVector3 minNorm;
|
|
SimdVector3 minVertex;
|
|
SimdVector3 minA,minB;
|
|
SimdVector3 seperatingAxisInA,seperatingAxisInB;
|
|
SimdVector3 pInA,qInB,pWorld,qWorld,w;
|
|
|
|
#define USE_BATCHED_SUPPORT 1
|
|
#ifdef USE_BATCHED_SUPPORT
|
|
SimdVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS];
|
|
SimdVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS];
|
|
SimdVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS];
|
|
SimdVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS];
|
|
int i;
|
|
|
|
for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
|
|
{
|
|
const SimdVector3& norm = sPenetrationDirections[i];
|
|
seperatingAxisInABatch[i] = (-norm)* transA.getBasis();
|
|
seperatingAxisInBBatch[i] = norm * transB.getBasis();
|
|
}
|
|
|
|
convexA->BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,NUM_UNITSPHERE_POINTS);
|
|
convexB->BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,NUM_UNITSPHERE_POINTS);
|
|
for (i=0;i<NUM_UNITSPHERE_POINTS;i++)
|
|
{
|
|
const SimdVector3& norm = sPenetrationDirections[i];
|
|
seperatingAxisInA = seperatingAxisInABatch[i];
|
|
seperatingAxisInB = seperatingAxisInBBatch[i];
|
|
|
|
pInA = supportVerticesABatch[i];
|
|
qInB = supportVerticesBBatch[i];
|
|
|
|
pWorld = transA(pInA);
|
|
qWorld = transB(qInB);
|
|
w = qWorld - pWorld;
|
|
float delta = norm.dot(w);
|
|
//find smallest delta
|
|
if (delta < minProj)
|
|
{
|
|
minProj = delta;
|
|
minNorm = norm;
|
|
minA = pWorld;
|
|
minB = qWorld;
|
|
}
|
|
}
|
|
#else
|
|
for (int i=0;i<NUM_UNITSPHERE_POINTS;i++)
|
|
{
|
|
const SimdVector3& norm = sPenetrationDirections[i];
|
|
seperatingAxisInA = (-norm)* transA.getBasis();
|
|
seperatingAxisInB = norm* transB.getBasis();
|
|
pInA = convexA->LocalGetSupportingVertexWithoutMargin(seperatingAxisInA);
|
|
qInB = convexB->LocalGetSupportingVertexWithoutMargin(seperatingAxisInB);
|
|
pWorld = transA(pInA);
|
|
qWorld = transB(qInB);
|
|
w = qWorld - pWorld;
|
|
float delta = norm.dot(w);
|
|
//find smallest delta
|
|
if (delta < minProj)
|
|
{
|
|
minProj = delta;
|
|
minNorm = norm;
|
|
minA = pWorld;
|
|
minB = qWorld;
|
|
}
|
|
}
|
|
#endif //USE_BATCHED_SUPPORT
|
|
|
|
//add the margins
|
|
|
|
minA += minNorm*convexA->GetMargin();
|
|
minB -= minNorm*convexB->GetMargin();
|
|
minProj += (convexA->GetMargin() + convexB->GetMargin());
|
|
|
|
|
|
|
|
|
|
//#define DEBUG_DRAW 1
|
|
#ifdef DEBUG_DRAW
|
|
if (debugDraw)
|
|
{
|
|
SimdVector3 color(0,1,0);
|
|
debugDraw->DrawLine(minA,minB,color);
|
|
color = SimdVector3 (1,1,1);
|
|
SimdVector3 vec = minB-minA;
|
|
float prj2 = minNorm.dot(vec);
|
|
debugDraw->DrawLine(minA,minA+(minNorm*minProj),color);
|
|
|
|
}
|
|
#endif //DEBUG_DRAW
|
|
|
|
|
|
|
|
GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
|
|
|
|
SimdScalar offsetDist = minProj;
|
|
SimdVector3 offset = minNorm * offsetDist;
|
|
|
|
|
|
|
|
GjkPairDetector::ClosestPointInput input;
|
|
|
|
SimdVector3 newOrg = transA.getOrigin() + offset;
|
|
|
|
SimdTransform displacedTrans = transA;
|
|
displacedTrans.setOrigin(newOrg);
|
|
|
|
input.m_transformA = displacedTrans;
|
|
input.m_transformB = transB;
|
|
input.m_maximumDistanceSquared = 1e30f;//minProj;
|
|
|
|
MyResult res;
|
|
gjkdet.GetClosestPoints(input,res,debugDraw);
|
|
|
|
float correctedMinNorm = minProj - res.m_depth;
|
|
|
|
|
|
//the penetration depth is over-estimated, relax it
|
|
float penetration_relaxation= 1.f;
|
|
minNorm*=penetration_relaxation;
|
|
|
|
if (res.m_hasResult)
|
|
{
|
|
|
|
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
|
|
pb = res.m_pointInWorld;
|
|
|
|
#ifdef DEBUG_DRAW
|
|
if (debugDraw)
|
|
{
|
|
SimdVector3 color(1,0,0);
|
|
debugDraw->DrawLine(pa,pb,color);
|
|
}
|
|
#endif//DEBUG_DRAW
|
|
|
|
|
|
}
|
|
return res.m_hasResult;
|
|
}
|
|
|
|
|
|
|