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path: root/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
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-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp99
1 files changed, 34 insertions, 65 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
index 1cb3d2e7a1..9087f84398 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
@@ -22,7 +22,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
-
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -34,8 +33,6 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
-
-
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -45,31 +42,28 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
+btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
-btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
-{
+btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
+{
}
-btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
-: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_simplexSolver(simplexSolver),
-m_pdSolver(pdSolver),
-m_ownManifold (false),
-m_manifoldPtr(mf),
-m_lowLevelOfDetail(false)
+btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
+ : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
+ m_simplexSolver(simplexSolver),
+ m_pdSolver(pdSolver),
+ m_ownManifold(false),
+ m_manifoldPtr(mf),
+ m_lowLevelOfDetail(false)
{
(void)body0Wrap;
(void)body1Wrap;
}
-
-
-
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
{
if (m_ownManifold)
@@ -79,26 +73,22 @@ btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
}
}
-void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
+void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
{
m_lowLevelOfDetail = useLowLevel;
}
-
-
extern btScalar gContactBreakingThreshold;
-
//
// Convex-Convex collision algorithm
//
-void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvex2dConvex2dAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
-
if (!m_manifoldPtr)
{
//swapped?
- m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
+ m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -106,49 +96,41 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
//comment-out next line to test multi-contact generation
//resultOut->getPersistentManifold()->clearManifold();
-
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
- btVector3 normalOnB;
- btVector3 pointOnBWorld;
+ btVector3 normalOnB;
+ btVector3 pointOnBWorld;
{
-
-
btGjkPairDetector::ClosestPointInput input;
- btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
+ btGjkPairDetector gjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
- input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
+ input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
- gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+ gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
- btVector3 v0,v1;
+ btVector3 v0, v1;
btVector3 sepNormalWorldSpace;
-
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
-
}
-
-
-
-btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
@@ -158,7 +140,6 @@ btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* c
///col0->m_worldTransform,
btScalar resultFraction = btScalar(1.);
-
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
@@ -166,77 +147,65 @@ btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* c
squareMot1 < col1->getCcdSquareMotionThreshold())
return resultFraction;
-
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
-
/// Convex0 against sphere for Convex1
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
- btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+ btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
- btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
+ btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
- if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
- col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+ if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
+ col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
{
-
//store result.m_fraction in both bodies
- if (col0->getHitFraction()> result.m_fraction)
- col0->setHitFraction( result.m_fraction );
+ if (col0->getHitFraction() > result.m_fraction)
+ col0->setHitFraction(result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
- col1->setHitFraction( result.m_fraction);
+ col1->setHitFraction(result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
-
}
-
-
-
-
}
/// Sphere (for convex0) against Convex1
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
- btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
+ btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
- btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
+ btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
- if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
- col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
+ if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
+ col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
{
-
//store result.m_fraction in both bodies
- if (col0->getHitFraction() > result.m_fraction)
- col0->setHitFraction( result.m_fraction);
+ if (col0->getHitFraction() > result.m_fraction)
+ col0->setHitFraction(result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
- col1->setHitFraction( result.m_fraction);
+ col1->setHitFraction(result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
-
}
}
return resultFraction;
-
}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-21 14:50:05 +0000