146 lines
4.6 KiB
C++
146 lines
4.6 KiB
C++
/*
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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 "SpuSubSimplexConvexCast.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
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SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVertexData* convexDataB, int shapeTypeB, float marginB,
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SpuVoronoiSimplexSolver* simplexSolver)
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:m_simplexSolver(simplexSolver), m_shapeB(shapeB), m_convexDataB(convexDataB), m_shapeTypeB(shapeTypeB), m_marginB(marginB)
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{
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}
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///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
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///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565
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#ifdef BT_USE_DOUBLE_PRECISION
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#define MAX_ITERATIONS 64
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#else
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#define MAX_ITERATIONS 32
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#endif
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/* Returns the support point of the minkowski sum:
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* MSUM(Pellet, ConvexShape)
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*
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*/
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btVector3 supportPoint (btTransform xform, int shapeType, const void* shape, SpuConvexPolyhedronVertexData* convexVertexData, btVector3 seperatingAxis)
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{
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btVector3 SupportPellet = btVector3(0.0, 0.0, 0.0);
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btVector3 rotatedSeperatingAxis = seperatingAxis * xform.getBasis();
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btVector3 SupportShape = xform(localGetSupportingVertexWithoutMargin(shapeType, (void*)shape, rotatedSeperatingAxis, convexVertexData));
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return SupportPellet + SupportShape;
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}
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bool SpuSubsimplexRayCast::calcTimeOfImpact(const btTransform& fromRay,
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const btTransform& toRay,
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const btTransform& fromB,
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const btTransform& toB,
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SpuCastResult& result)
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{
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btTransform rayFromLocalA;
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btTransform rayToLocalA;
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rayFromLocalA = fromRay.inverse()* fromB;
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rayToLocalA = toRay.inverse()* toB;
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m_simplexSolver->reset();
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btTransform bXform = btTransform(rayFromLocalA.getBasis());
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//btScalar radius = btScalar(0.01);
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btScalar lambda = btScalar(0.);
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//todo: need to verify this:
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//because of minkowski difference, we need the inverse direction
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btVector3 s = -rayFromLocalA.getOrigin();
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btVector3 r = -(rayToLocalA.getOrigin()-rayFromLocalA.getOrigin());
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btVector3 x = s;
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btVector3 v;
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btVector3 arbitraryPoint = supportPoint(bXform, m_shapeTypeB, m_shapeB, m_convexDataB, r);
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v = x - arbitraryPoint;
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int maxIter = MAX_ITERATIONS;
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btVector3 n;
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n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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bool hasResult = false;
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btVector3 c;
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btScalar lastLambda = lambda;
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btScalar dist2 = v.length2();
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#ifdef BT_USE_DOUBLE_PRECISION
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btScalar epsilon = btScalar(0.0001);
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#else
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btScalar epsilon = btScalar(0.0001);
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#endif //BT_USE_DOUBLE_PRECISION
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btVector3 w,p;
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btScalar VdotR;
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while ( (dist2 > epsilon) && maxIter--)
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{
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p = supportPoint(bXform, m_shapeTypeB, m_shapeB, m_convexDataB, v);
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w = x - p;
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btScalar VdotW = v.dot(w);
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if ( VdotW > btScalar(0.))
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{
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VdotR = v.dot(r);
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if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON))
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return false;
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else
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{
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lambda = lambda - VdotW / VdotR;
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x = s + lambda * r;
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m_simplexSolver->reset();
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//check next line
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w = x-p;
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lastLambda = lambda;
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n = v;
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hasResult = true;
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}
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}
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m_simplexSolver->addVertex( w, x , p);
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if (m_simplexSolver->closest(v))
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{
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dist2 = v.length2();
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hasResult = true;
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//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
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//printf("DIST2=%f\n",dist2);
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//printf("numverts = %i\n",m_simplexSolver->numVertices());
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} else
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{
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dist2 = btScalar(0.);
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}
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}
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//int numiter = MAX_ITERATIONS - maxIter;
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// printf("number of iterations: %d", numiter);
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result.m_fraction = lambda;
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result.m_normal = n;
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return true;
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}
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