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Diffstat (limited to 'servers/physics_3d/gjk_epa.cpp')
| -rw-r--r-- | servers/physics_3d/gjk_epa.cpp | 946 |
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diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp new file mode 100644 index 0000000000..db37f261ce --- /dev/null +++ b/servers/physics_3d/gjk_epa.cpp @@ -0,0 +1,946 @@ +/*************************************************************************/ +/* gjk_epa.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "gjk_epa.h" + +/* Disabling formatting for thirdparty code snippet */ +/* clang-format off */ + +/*************** Bullet's GJK-EPA2 IMPLEMENTATION *******************/ + +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 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. +*/ + +/* +GJK-EPA collision solver by Nathanael Presson, 2008 +*/ + + // Config + +/* GJK */ +#define GJK_MAX_ITERATIONS 128 +#define GJK_ACCURARY ((real_t)0.0001) +#define GJK_MIN_DISTANCE ((real_t)0.0001) +#define GJK_DUPLICATED_EPS ((real_t)0.0001) +#define GJK_SIMPLEX2_EPS ((real_t)0.0) +#define GJK_SIMPLEX3_EPS ((real_t)0.0) +#define GJK_SIMPLEX4_EPS ((real_t)0.0) + +/* EPA */ +#define EPA_MAX_VERTICES 64 +#define EPA_MAX_FACES (EPA_MAX_VERTICES*2) +#define EPA_MAX_ITERATIONS 255 +#define EPA_ACCURACY ((real_t)0.0001) +#define EPA_FALLBACK (10*EPA_ACCURACY) +#define EPA_PLANE_EPS ((real_t)0.00001) +#define EPA_INSIDE_EPS ((real_t)0.01) + +namespace GjkEpa2 { + + +struct sResults { + enum eStatus { + Separated, /* Shapes doesn't penetrate */ + Penetrating, /* Shapes are penetrating */ + GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ + EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ + } status; + + Vector3 witnesses[2]; + Vector3 normal; + real_t distance; +}; + +// Shorthands +typedef unsigned int U; +typedef unsigned char U1; + +// MinkowskiDiff +struct MinkowskiDiff { + + const Shape3DSW* m_shapes[2]; + + Transform transform_A; + Transform transform_B; + + // i wonder how this could be sped up... if it can + _FORCE_INLINE_ Vector3 Support0 ( const Vector3& d ) const { + return transform_A.xform( m_shapes[0]->get_support( transform_A.basis.xform_inv(d).normalized() ) ); + } + + _FORCE_INLINE_ Vector3 Support1 ( const Vector3& d ) const { + return transform_B.xform( m_shapes[1]->get_support( transform_B.basis.xform_inv(d).normalized() ) ); + } + + _FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const { + return ( Support0 ( d )-Support1 ( -d ) ); + } + + _FORCE_INLINE_ Vector3 Support ( const Vector3& d,U index ) const + { + if ( index ) + return ( Support1 ( d ) ); + else + return ( Support0 ( d ) ); + } +}; + +typedef MinkowskiDiff tShape; + + +// GJK +struct GJK +{ + /* Types */ + struct sSV + { + Vector3 d,w; + }; + struct sSimplex + { + sSV* c[4]; + real_t p[4]; + U rank; + }; + struct eStatus { enum _ { + Valid, + Inside, + Failed };}; + /* Fields */ + tShape m_shape; + Vector3 m_ray; + real_t m_distance; + sSimplex m_simplices[2]; + sSV m_store[4]; + sSV* m_free[4]; + U m_nfree; + U m_current; + sSimplex* m_simplex; + eStatus::_ m_status; + /* Methods */ + GJK() + { + Initialize(); + } + void Initialize() + { + m_ray = Vector3(0,0,0); + m_nfree = 0; + m_status = eStatus::Failed; + m_current = 0; + m_distance = 0; + } + eStatus::_ Evaluate(const tShape& shapearg,const Vector3& guess) + { + U iterations=0; + real_t sqdist=0; + real_t alpha=0; + Vector3 lastw[4]; + U clastw=0; + /* Initialize solver */ + m_free[0] = &m_store[0]; + m_free[1] = &m_store[1]; + m_free[2] = &m_store[2]; + m_free[3] = &m_store[3]; + m_nfree = 4; + m_current = 0; + m_status = eStatus::Valid; + m_shape = shapearg; + m_distance = 0; + /* Initialize simplex */ + m_simplices[0].rank = 0; + m_ray = guess; + const real_t sqrl= m_ray.length_squared(); + appendvertice(m_simplices[0],sqrl>0?-m_ray:Vector3(1,0,0)); + m_simplices[0].p[0] = 1; + m_ray = m_simplices[0].c[0]->w; + sqdist = sqrl; + lastw[0] = + lastw[1] = + lastw[2] = + lastw[3] = m_ray; + /* Loop */ + do { + const U next=1-m_current; + sSimplex& cs=m_simplices[m_current]; + sSimplex& ns=m_simplices[next]; + /* Check zero */ + const real_t rl=m_ray.length(); + if(rl<GJK_MIN_DISTANCE) + {/* Touching or inside */ + m_status=eStatus::Inside; + break; + } + /* Append new vertice in -'v' direction */ + appendvertice(cs,-m_ray); + const Vector3& w=cs.c[cs.rank-1]->w; + bool found=false; + for(U i=0;i<4;++i) + { + if((w-lastw[i]).length_squared()<GJK_DUPLICATED_EPS) + { found=true;break; } + } + if(found) + {/* Return old simplex */ + removevertice(m_simplices[m_current]); + break; + } + else + {/* Update lastw */ + lastw[clastw=(clastw+1)&3]=w; + } + /* Check for termination */ + const real_t omega=vec3_dot(m_ray,w)/rl; + alpha=MAX(omega,alpha); + if(((rl-alpha)-(GJK_ACCURARY*rl))<=0) + {/* Return old simplex */ + removevertice(m_simplices[m_current]); + break; + } + /* Reduce simplex */ + real_t weights[4]; + U mask=0; + switch(cs.rank) + { + case 2: sqdist=projectorigin( cs.c[0]->w, + cs.c[1]->w, + weights,mask);break; + case 3: sqdist=projectorigin( cs.c[0]->w, + cs.c[1]->w, + cs.c[2]->w, + weights,mask);break; + case 4: sqdist=projectorigin( cs.c[0]->w, + cs.c[1]->w, + cs.c[2]->w, + cs.c[3]->w, + weights,mask);break; + } + if(sqdist>=0) + {/* Valid */ + ns.rank = 0; + m_ray = Vector3(0,0,0); + m_current = next; + for(U i=0,ni=cs.rank;i<ni;++i) + { + if(mask&(1<<i)) + { + ns.c[ns.rank] = cs.c[i]; + ns.p[ns.rank++] = weights[i]; + m_ray += cs.c[i]->w*weights[i]; + } + else + { + m_free[m_nfree++] = cs.c[i]; + } + } + if(mask==15) m_status=eStatus::Inside; + } + else + {/* Return old simplex */ + removevertice(m_simplices[m_current]); + break; + } + m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed; + } while(m_status==eStatus::Valid); + m_simplex=&m_simplices[m_current]; + switch(m_status) + { + case eStatus::Valid: m_distance=m_ray.length();break; + case eStatus::Inside: m_distance=0;break; + default: {} + } + return(m_status); + } + bool EncloseOrigin() + { + switch(m_simplex->rank) + { + case 1: + { + for(U i=0;i<3;++i) + { + Vector3 axis=Vector3(0,0,0); + axis[i]=1; + appendvertice(*m_simplex, axis); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + appendvertice(*m_simplex,-axis); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + } + } + break; + case 2: + { + const Vector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w; + for(U i=0;i<3;++i) + { + Vector3 axis=Vector3(0,0,0); + axis[i]=1; + const Vector3 p=vec3_cross(d,axis); + if(p.length_squared()>0) + { + appendvertice(*m_simplex, p); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + appendvertice(*m_simplex,-p); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + } + } + } + break; + case 3: + { + const Vector3 n=vec3_cross(m_simplex->c[1]->w-m_simplex->c[0]->w, + m_simplex->c[2]->w-m_simplex->c[0]->w); + if(n.length_squared()>0) + { + appendvertice(*m_simplex,n); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + appendvertice(*m_simplex,-n); + if(EncloseOrigin()) return(true); + removevertice(*m_simplex); + } + } + break; + case 4: + { + if(Math::abs(det( m_simplex->c[0]->w-m_simplex->c[3]->w, + m_simplex->c[1]->w-m_simplex->c[3]->w, + m_simplex->c[2]->w-m_simplex->c[3]->w))>0) + return(true); + } + break; + } + return(false); + } + /* Internals */ + void getsupport(const Vector3& d,sSV& sv) const + { + sv.d = d/d.length(); + sv.w = m_shape.Support(sv.d); + } + void removevertice(sSimplex& simplex) + { + m_free[m_nfree++]=simplex.c[--simplex.rank]; + } + void appendvertice(sSimplex& simplex,const Vector3& v) + { + simplex.p[simplex.rank]=0; + simplex.c[simplex.rank]=m_free[--m_nfree]; + getsupport(v,*simplex.c[simplex.rank++]); + } + static real_t det(const Vector3& a,const Vector3& b,const Vector3& c) + { + return( a.y*b.z*c.x+a.z*b.x*c.y- + a.x*b.z*c.y-a.y*b.x*c.z+ + a.x*b.y*c.z-a.z*b.y*c.x); + } + static real_t projectorigin( const Vector3& a, + const Vector3& b, + real_t* w,U& m) + { + const Vector3 d=b-a; + const real_t l=d.length_squared(); + if(l>GJK_SIMPLEX2_EPS) + { + const real_t t(l>0?-vec3_dot(a,d)/l:0); + if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length_squared()); } + else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length_squared()); } + else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length_squared()); } + } + return(-1); + } + static real_t projectorigin( const Vector3& a, + const Vector3& b, + const Vector3& c, + real_t* w,U& m) + { + static const U imd3[]={1,2,0}; + const Vector3* vt[]={&a,&b,&c}; + const Vector3 dl[]={a-b,b-c,c-a}; + const Vector3 n=vec3_cross(dl[0],dl[1]); + const real_t l=n.length_squared(); + if(l>GJK_SIMPLEX3_EPS) + { + real_t mindist=-1; + real_t subw[2] = { 0 , 0}; + U subm = 0; + for(U i=0;i<3;++i) + { + if(vec3_dot(*vt[i],vec3_cross(dl[i],n))>0) + { + const U j=imd3[i]; + const real_t subd(projectorigin(*vt[i],*vt[j],subw,subm)); + if((mindist<0)||(subd<mindist)) + { + mindist = subd; + m = static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0)); + w[i] = subw[0]; + w[j] = subw[1]; + w[imd3[j]] = 0; + } + } + } + if(mindist<0) + { + const real_t d=vec3_dot(a,n); + const real_t s=Math::sqrt(l); + const Vector3 p=n*(d/l); + mindist = p.length_squared(); + m = 7; + w[0] = (vec3_cross(dl[1],b-p)).length()/s; + w[1] = (vec3_cross(dl[2],c-p)).length()/s; + w[2] = 1-(w[0]+w[1]); + } + return(mindist); + } + return(-1); + } + static real_t projectorigin( const Vector3& a, + const Vector3& b, + const Vector3& c, + const Vector3& d, + real_t* w,U& m) + { + static const U imd3[]={1,2,0}; + const Vector3* vt[]={&a,&b,&c,&d}; + const Vector3 dl[]={a-d,b-d,c-d}; + const real_t vl=det(dl[0],dl[1],dl[2]); + const bool ng=(vl*vec3_dot(a,vec3_cross(b-c,a-b)))<=0; + if(ng&&(Math::abs(vl)>GJK_SIMPLEX4_EPS)) + { + real_t mindist=-1; + real_t subw[3]; + U subm=0; + for(U i=0;i<3;++i) + { + const U j=imd3[i]; + const real_t s=vl*vec3_dot(d,vec3_cross(dl[i],dl[j])); + if(s>0) + { + const real_t subd=projectorigin(*vt[i],*vt[j],d,subw,subm); + if((mindist<0)||(subd<mindist)) + { + mindist = subd; + m = static_cast<U>((subm&1?1<<i:0)+ + (subm&2?1<<j:0)+ + (subm&4?8:0)); + w[i] = subw[0]; + w[j] = subw[1]; + w[imd3[j]] = 0; + w[3] = subw[2]; + } + } + } + if(mindist<0) + { + mindist = 0; + m = 15; + w[0] = det(c,b,d)/vl; + w[1] = det(a,c,d)/vl; + w[2] = det(b,a,d)/vl; + w[3] = 1-(w[0]+w[1]+w[2]); + } + return(mindist); + } + return(-1); + } +}; + + // EPA + struct EPA + { + /* Types */ + typedef GJK::sSV sSV; + struct sFace + { + Vector3 n; + real_t d; + real_t p; + sSV* c[3]; + sFace* f[3]; + sFace* l[2]; + U1 e[3]; + U1 pass; + }; + struct sList + { + sFace* root; + U count; + sList() : root(nullptr),count(0) {} + }; + struct sHorizon + { + sFace* cf; + sFace* ff; + U nf; + sHorizon() : cf(nullptr),ff(nullptr),nf(0) {} + }; + struct eStatus { enum _ { + Valid, + Touching, + Degenerated, + NonConvex, + InvalidHull, + OutOfFaces, + OutOfVertices, + AccuraryReached, + FallBack, + Failed };}; + /* Fields */ + eStatus::_ m_status; + GJK::sSimplex m_result; + Vector3 m_normal; + real_t m_depth; + sSV m_sv_store[EPA_MAX_VERTICES]; + sFace m_fc_store[EPA_MAX_FACES]; + U m_nextsv; + sList m_hull; + sList m_stock; + /* Methods */ + EPA() + { + Initialize(); + } + + + static inline void bind(sFace* fa,U ea,sFace* fb,U eb) + { + fa->e[ea]=(U1)eb;fa->f[ea]=fb; + fb->e[eb]=(U1)ea;fb->f[eb]=fa; + } + static inline void append(sList& list,sFace* face) + { + face->l[0] = nullptr; + face->l[1] = list.root; + if(list.root) list.root->l[0]=face; + list.root = face; + ++list.count; + } + static inline void remove(sList& list,sFace* face) + { + if(face->l[1]) face->l[1]->l[0]=face->l[0]; + if(face->l[0]) face->l[0]->l[1]=face->l[1]; + if(face==list.root) list.root=face->l[1]; + --list.count; + } + + + void Initialize() + { + m_status = eStatus::Failed; + m_normal = Vector3(0,0,0); + m_depth = 0; + m_nextsv = 0; + for(U i=0;i<EPA_MAX_FACES;++i) + { + append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]); + } + } + eStatus::_ Evaluate(GJK& gjk,const Vector3& guess) + { + GJK::sSimplex& simplex=*gjk.m_simplex; + if((simplex.rank>1)&&gjk.EncloseOrigin()) + { + + /* Clean up */ + while(m_hull.root) + { + sFace* f = m_hull.root; + remove(m_hull,f); + append(m_stock,f); + } + m_status = eStatus::Valid; + m_nextsv = 0; + /* Orient simplex */ + if(gjk.det( simplex.c[0]->w-simplex.c[3]->w, + simplex.c[1]->w-simplex.c[3]->w, + simplex.c[2]->w-simplex.c[3]->w)<0) + { + SWAP(simplex.c[0],simplex.c[1]); + SWAP(simplex.p[0],simplex.p[1]); + } + /* Build initial hull */ + sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true), + newface(simplex.c[1],simplex.c[0],simplex.c[3],true), + newface(simplex.c[2],simplex.c[1],simplex.c[3],true), + newface(simplex.c[0],simplex.c[2],simplex.c[3],true)}; + if(m_hull.count==4) + { + sFace* best=findbest(); + sFace outer=*best; + U pass=0; + U iterations=0; + bind(tetra[0],0,tetra[1],0); + bind(tetra[0],1,tetra[2],0); + bind(tetra[0],2,tetra[3],0); + bind(tetra[1],1,tetra[3],2); + bind(tetra[1],2,tetra[2],1); + bind(tetra[2],2,tetra[3],1); + m_status=eStatus::Valid; + for(;iterations<EPA_MAX_ITERATIONS;++iterations) + { + if(m_nextsv<EPA_MAX_VERTICES) + { + sHorizon horizon; + sSV* w=&m_sv_store[m_nextsv++]; + bool valid=true; + best->pass = (U1)(++pass); + gjk.getsupport(best->n,*w); + const real_t wdist=vec3_dot(best->n,w->w)-best->d; + if(wdist>EPA_ACCURACY) + { + for(U j=0;(j<3)&&valid;++j) + { + valid&=expand( pass,w, + best->f[j],best->e[j], + horizon); + } + if(valid&&(horizon.nf>=3)) + { + bind(horizon.cf,1,horizon.ff,2); + remove(m_hull,best); + append(m_stock,best); + best=findbest(); + if(best->p>=outer.p) outer=*best; + } else { m_status=eStatus::InvalidHull;break; } + } else { m_status=eStatus::AccuraryReached;break; } + } else { m_status=eStatus::OutOfVertices;break; } + } + const Vector3 projection=outer.n*outer.d; + m_normal = outer.n; + m_depth = outer.d; + m_result.rank = 3; + m_result.c[0] = outer.c[0]; + m_result.c[1] = outer.c[1]; + m_result.c[2] = outer.c[2]; + m_result.p[0] = vec3_cross( outer.c[1]->w-projection, + outer.c[2]->w-projection).length(); + m_result.p[1] = vec3_cross( outer.c[2]->w-projection, + outer.c[0]->w-projection).length(); + m_result.p[2] = vec3_cross( outer.c[0]->w-projection, + outer.c[1]->w-projection).length(); + const real_t sum=m_result.p[0]+m_result.p[1]+m_result.p[2]; + m_result.p[0] /= sum; + m_result.p[1] /= sum; + m_result.p[2] /= sum; + return(m_status); + } + } + /* Fallback */ + m_status = eStatus::FallBack; + m_normal = -guess; + const real_t nl=m_normal.length(); + if(nl>0) + m_normal = m_normal/nl; + else + m_normal = Vector3(1,0,0); + m_depth = 0; + m_result.rank=1; + m_result.c[0]=simplex.c[0]; + m_result.p[0]=1; + return(m_status); + } + sFace* newface(sSV* a,sSV* b,sSV* c,bool forced) + { + if(m_stock.root) + { + sFace* face=m_stock.root; + remove(m_stock,face); + append(m_hull,face); + face->pass = 0; + face->c[0] = a; + face->c[1] = b; + face->c[2] = c; + face->n = vec3_cross(b->w-a->w,c->w-a->w); + const real_t l=face->n.length(); + const bool v=l>EPA_ACCURACY; + face->p = MIN(MIN( + vec3_dot(a->w,vec3_cross(face->n,a->w-b->w)), + vec3_dot(b->w,vec3_cross(face->n,b->w-c->w))), + vec3_dot(c->w,vec3_cross(face->n,c->w-a->w))) / + (v?l:1); + face->p = face->p>=-EPA_INSIDE_EPS?0:face->p; + if(v) + { + face->d = vec3_dot(a->w,face->n)/l; + face->n /= l; + if(forced||(face->d>=-EPA_PLANE_EPS)) + { + return(face); + } else m_status=eStatus::NonConvex; + } else m_status=eStatus::Degenerated; + remove(m_hull,face); + append(m_stock,face); + return(nullptr); + } + // -- GODOT start -- + //m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces; + m_status=eStatus::OutOfFaces; + // -- GODOT end -- + return(nullptr); + } + sFace* findbest() + { + sFace* minf=m_hull.root; + real_t mind=minf->d*minf->d; + real_t maxp=minf->p; + for(sFace* f=minf->l[1];f;f=f->l[1]) + { + const real_t sqd=f->d*f->d; + if((f->p>=maxp)&&(sqd<mind)) + { + minf=f; + mind=sqd; + maxp=f->p; + } + } + return(minf); + } + bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon) + { + static const U i1m3[]={1,2,0}; + static const U i2m3[]={2,0,1}; + if(f->pass!=pass) + { + const U e1=i1m3[e]; + if((vec3_dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS) + { + sFace* nf=newface(f->c[e1],f->c[e],w,false); + if(nf) + { + bind(nf,0,f,e); + if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf; + horizon.cf=nf; + ++horizon.nf; + return(true); + } + } + else + { + const U e2=i2m3[e]; + f->pass = (U1)pass; + if( expand(pass,w,f->f[e1],f->e[e1],horizon)&& + expand(pass,w,f->f[e2],f->e[e2],horizon)) + { + remove(m_hull,f); + append(m_stock,f); + return(true); + } + } + } + return(false); + } + + }; + + // + static void Initialize( const Shape3DSW* shape0,const Transform& wtrs0, + const Shape3DSW* shape1,const Transform& wtrs1, + sResults& results, + tShape& shape, + bool withmargins) + { + /* Results */ + results.witnesses[0] = + results.witnesses[1] = Vector3(0,0,0); + results.status = sResults::Separated; + /* Shape */ + shape.m_shapes[0] = shape0; + shape.m_shapes[1] = shape1; + shape.transform_A = wtrs0; + shape.transform_B = wtrs1; + + } + + + +// +// Api +// + +// + +// +bool Distance( const Shape3DSW* shape0, + const Transform& wtrs0, + const Shape3DSW* shape1, + const Transform& wtrs1, + const Vector3& guess, + sResults& results) +{ + tShape shape; + Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); + GJK gjk; + GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess); + if(gjk_status==GJK::eStatus::Valid) + { + Vector3 w0=Vector3(0,0,0); + Vector3 w1=Vector3(0,0,0); + for(U i=0;i<gjk.m_simplex->rank;++i) + { + const real_t p=gjk.m_simplex->p[i]; + w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p; + w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p; + } + results.witnesses[0] = w0; + results.witnesses[1] = w1; + results.normal = w0-w1; + results.distance = results.normal.length(); + results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1; + return(true); + } + else + { + results.status = gjk_status==GJK::eStatus::Inside? + sResults::Penetrating : + sResults::GJK_Failed ; + return(false); + } +} + +// +bool Penetration( const Shape3DSW* shape0, + const Transform& wtrs0, + const Shape3DSW* shape1, + const Transform& wtrs1, + const Vector3& guess, + sResults& results + ) +{ + tShape shape; + Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); + GJK gjk; + GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess); + switch(gjk_status) + { + case GJK::eStatus::Inside: + { + EPA epa; + EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess); + if(epa_status!=EPA::eStatus::Failed) + { + Vector3 w0=Vector3(0,0,0); + for(U i=0;i<epa.m_result.rank;++i) + { + w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i]; + } + results.status = sResults::Penetrating; + results.witnesses[0] = w0; + results.witnesses[1] = w0-epa.m_normal*epa.m_depth; + results.normal = -epa.m_normal; + results.distance = -epa.m_depth; + return(true); + } else results.status=sResults::EPA_Failed; + } + break; + case GJK::eStatus::Failed: + results.status=sResults::GJK_Failed; + break; + default: {} + } + return(false); +} + + +/* Symbols cleanup */ + +#undef GJK_MAX_ITERATIONS +#undef GJK_ACCURARY +#undef GJK_MIN_DISTANCE +#undef GJK_DUPLICATED_EPS +#undef GJK_SIMPLEX2_EPS +#undef GJK_SIMPLEX3_EPS +#undef GJK_SIMPLEX4_EPS + +#undef EPA_MAX_VERTICES +#undef EPA_MAX_FACES +#undef EPA_MAX_ITERATIONS +#undef EPA_ACCURACY +#undef EPA_FALLBACK +#undef EPA_PLANE_EPS +#undef EPA_INSIDE_EPS + + +} // end of namespace + +/* clang-format on */ + +bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) { + + GjkEpa2::sResults res; + + if (GjkEpa2::Distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) { + + r_result_A = res.witnesses[0]; + r_result_B = res.witnesses[1]; + return true; + } + + return false; +} + +bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap) { + + GjkEpa2::sResults res; + + if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) { + if (p_result_callback) { + if (p_swap) + p_result_callback(res.witnesses[1], res.witnesses[0], p_userdata); + else + p_result_callback(res.witnesses[0], res.witnesses[1], p_userdata); + } + return true; + } + + return false; +} |