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-rw-r--r--servers/physics_3d/gjk_epa.cpp99
1 files changed, 66 insertions, 33 deletions
diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp
index aa7c11eec5..1a8c7f704f 100644
--- a/servers/physics_3d/gjk_epa.cpp
+++ b/servers/physics_3d/gjk_epa.cpp
@@ -110,26 +110,60 @@ struct MinkowskiDiff {
Transform transform_A;
Transform transform_B;
+ real_t margin_A = 0.0;
+ real_t margin_B = 0.0;
+
+ Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t);
+
+ void Initialize(const Shape3DSW* shape0, const Transform& wtrs0, const real_t margin0,
+ const Shape3DSW* shape1, const Transform& wtrs1, const real_t margin1) {
+ m_shapes[0] = shape0;
+ m_shapes[1] = shape1;
+ transform_A = wtrs0;
+ transform_B = wtrs1;
+ margin_A = margin0;
+ margin_B = margin1;
+
+ if ((margin0 > 0.0) || (margin1 > 0.0)) {
+ get_support = get_support_with_margin;
+ } else {
+ get_support = get_support_without_margin;
+ }
+ }
+
+ static Vector3 get_support_without_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
+ return p_shape->get_support(p_dir.normalized());
+ }
+
+ static Vector3 get_support_with_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
+ Vector3 local_dir_norm = p_dir;
+ if (local_dir_norm.length_squared() < CMP_EPSILON2) {
+ local_dir_norm = Vector3(-1.0, -1.0, -1.0);
+ }
+ local_dir_norm.normalize();
+
+ return p_shape->get_support(local_dir_norm) + p_margin * local_dir_norm;
+ }
+
// 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 Support0(const Vector3& d) const {
+ return transform_A.xform(get_support(m_shapes[0], transform_A.basis.xform_inv(d), margin_A));
}
- _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 Support1(const Vector3& d) const {
+ return transform_B.xform(get_support(m_shapes[1], transform_B.basis.xform_inv(d), margin_B));
}
- _FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const {
- return ( Support0 ( d )-Support1 ( -d ) );
+ _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 ) );
+ _FORCE_INLINE_ Vector3 Support(const Vector3& d, U index) const {
+ if (index) {
+ return Support1(d);
} else {
- return ( Support0 ( d ) );
-}
+ return Support0(d);
+ }
}
};
@@ -828,22 +862,17 @@ struct GJK
};
//
- static void Initialize( const Shape3DSW* shape0,const Transform& wtrs0,
- const Shape3DSW* shape1,const Transform& wtrs1,
+ static void Initialize( const Shape3DSW* shape0, const Transform& wtrs0, real_t margin0,
+ const Shape3DSW* shape1, const Transform& wtrs1, real_t margin1,
sResults& results,
- tShape& shape,
- bool withmargins)
+ tShape& shape)
{
/* Results */
- results.witnesses[0] =
- results.witnesses[1] = Vector3(0,0,0);
+ results.witnesses[0] = Vector3(0,0,0);
+ 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;
-
+ shape.Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1);
}
@@ -857,13 +886,15 @@ struct GJK
//
bool Distance( const Shape3DSW* shape0,
const Transform& wtrs0,
- const Shape3DSW* shape1,
+ real_t margin0,
+ const Shape3DSW* shape1,
const Transform& wtrs1,
+ real_t margin1,
const Vector3& guess,
sResults& results)
{
tShape shape;
- Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
+ Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1, results, shape);
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
if(gjk_status==GJK::eStatus::Valid)
@@ -896,14 +927,16 @@ bool Distance( const Shape3DSW* shape0,
//
bool Penetration( const Shape3DSW* shape0,
const Transform& wtrs0,
- const Shape3DSW* shape1,
+ real_t margin0,
+ const Shape3DSW* shape1,
const Transform& wtrs1,
- const Vector3& guess,
+ real_t margin1,
+ const Vector3& guess,
sResults& results
)
{
tShape shape;
- Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
+ Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1, results, shape);
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
switch(gjk_status)
@@ -963,7 +996,7 @@ bool Penetration( const Shape3DSW* shape0,
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)) {
+ if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) {
r_result_A = res.witnesses[0];
r_result_B = res.witnesses[1];
return true;
@@ -972,15 +1005,15 @@ bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform &p_t
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) {
+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, real_t p_margin_A, real_t p_margin_B) {
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 (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_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);
+ p_result_callback(res.witnesses[1], 0, res.witnesses[0], 0, p_userdata);
} else {
- p_result_callback(res.witnesses[0], res.witnesses[1], p_userdata);
+ p_result_callback(res.witnesses[0], 0, res.witnesses[1], 0, p_userdata);
}
}
return true;
generated by cgit v1.2.3 (git 2.25.1) at 2025-11-04 03:27:47 +0000