diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | 172 |
1 files changed, 0 insertions, 172 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp deleted file mode 100644 index ba1bc06b69..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp +++ /dev/null @@ -1,172 +0,0 @@ -/* -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 "btConvexPlaneCollisionAlgorithm.h" - -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/CollisionShapes/btConvexShape.h" -#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" -#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" - -//#include <stdio.h> - -btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold) - : btCollisionAlgorithm(ci), - m_ownManifold(false), - m_manifoldPtr(mf), - m_isSwapped(isSwapped), - m_numPerturbationIterations(numPerturbationIterations), - m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) -{ - const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? col1Wrap : col0Wrap; - const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? col0Wrap : col1Wrap; - - if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject())) - { - m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject()); - m_ownManifold = true; - } -} - -btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() -{ - if (m_ownManifold) - { - if (m_manifoldPtr) - m_dispatcher->releaseManifold(m_manifoldPtr); - } -} - -void btConvexPlaneCollisionAlgorithm::collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) -{ - const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap; - const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap; - - btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape(); - btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape(); - - bool hasCollision = false; - const btVector3& planeNormal = planeShape->getPlaneNormal(); - const btScalar& planeConstant = planeShape->getPlaneConstant(); - - btTransform convexWorldTransform = convexObjWrap->getWorldTransform(); - btTransform convexInPlaneTrans; - convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexWorldTransform; - //now perturbe the convex-world transform - convexWorldTransform.getBasis() *= btMatrix3x3(perturbeRot); - btTransform planeInConvex; - planeInConvex = convexWorldTransform.inverse() * planeObjWrap->getWorldTransform(); - - btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal); - - btVector3 vtxInPlane = convexInPlaneTrans(vtx); - btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); - - btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal; - btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected; - - hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold(); - resultOut->setPersistentManifold(m_manifoldPtr); - if (hasCollision) - { - /// report a contact. internally this will be kept persistent, and contact reduction is done - btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal; - btVector3 pOnB = vtxInPlaneWorld; - resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance); - } -} - -void btConvexPlaneCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) -{ - (void)dispatchInfo; - if (!m_manifoldPtr) - return; - - const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap; - const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap; - - btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape(); - btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape(); - - bool hasCollision = false; - const btVector3& planeNormal = planeShape->getPlaneNormal(); - const btScalar& planeConstant = planeShape->getPlaneConstant(); - btTransform planeInConvex; - planeInConvex = convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform(); - btTransform convexInPlaneTrans; - convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform(); - - btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal); - btVector3 vtxInPlane = convexInPlaneTrans(vtx); - btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); - - btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal; - btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected; - - hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold; - resultOut->setPersistentManifold(m_manifoldPtr); - if (hasCollision) - { - /// report a contact. internally this will be kept persistent, and contact reduction is done - btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal; - btVector3 pOnB = vtxInPlaneWorld; - resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance); - } - - //the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones: - //they keep on rolling forever because of the additional off-center contact points - //so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc) - if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold) - { - btVector3 v0, v1; - btPlaneSpace1(planeNormal, v0, v1); - //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects - - const btScalar angleLimit = 0.125f * SIMD_PI; - btScalar perturbeAngle; - btScalar radius = convexShape->getAngularMotionDisc(); - perturbeAngle = gContactBreakingThreshold / radius; - if (perturbeAngle > angleLimit) - perturbeAngle = angleLimit; - - btQuaternion perturbeRot(v0, perturbeAngle); - for (int i = 0; i < m_numPerturbationIterations; i++) - { - btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations)); - btQuaternion rotq(planeNormal, iterationAngle); - collideSingleContact(rotq.inverse() * perturbeRot * rotq, body0Wrap, body1Wrap, dispatchInfo, resultOut); - } - } - - if (m_ownManifold) - { - if (m_manifoldPtr->getNumContacts()) - { - resultOut->refreshContactPoints(); - } - } -} - -btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) -{ - (void)resultOut; - (void)dispatchInfo; - (void)col0; - (void)col1; - - //not yet - return btScalar(1.); -} |