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-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp336
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diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
deleted file mode 100644
index c042c24208..0000000000
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ /dev/null
@@ -1,336 +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 "btMinkowskiPenetrationDepthSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-
-#define NUM_UNITSPHERE_POINTS 42
-
-bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
- const btConvexShape* convexA, const btConvexShape* convexB,
- const btTransform& transA, const btTransform& transB,
- btVector3& v, btVector3& pa, btVector3& pb,
- class btIDebugDraw* debugDraw)
-{
- (void)v;
-
- bool check2d = convexA->isConvex2d() && convexB->isConvex2d();
-
- struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
- {
- btIntermediateResult() : m_hasResult(false)
- {
- }
-
- btVector3 m_normalOnBInWorld;
- btVector3 m_pointInWorld;
- btScalar m_depth;
- bool m_hasResult;
-
- virtual void setShapeIdentifiersA(int partId0, int index0)
- {
- (void)partId0;
- (void)index0;
- }
- virtual void setShapeIdentifiersB(int partId1, int index1)
- {
- (void)partId1;
- (void)index1;
- }
- void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
- {
- m_normalOnBInWorld = normalOnBInWorld;
- m_pointInWorld = pointInWorld;
- m_depth = depth;
- m_hasResult = true;
- }
- };
-
- //just take fixed number of orientation, and sample the penetration depth in that direction
- btScalar minProj = btScalar(BT_LARGE_FLOAT);
- btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
- btVector3 minA, minB;
- btVector3 separatingAxisInA, separatingAxisInB;
- btVector3 pInA, qInB, pWorld, qWorld, w;
-
-#ifndef __SPU__
-#define USE_BATCHED_SUPPORT 1
-#endif
-#ifdef USE_BATCHED_SUPPORT
-
- btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
- btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
- btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
- btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
- int i;
-
- int numSampleDirections = NUM_UNITSPHERE_POINTS;
-
- for (i = 0; i < numSampleDirections; i++)
- {
- btVector3 norm = getPenetrationDirections()[i];
- separatingAxisInABatch[i] = (-norm) * transA.getBasis();
- separatingAxisInBBatch[i] = norm * transB.getBasis();
- }
-
- {
- int numPDA = convexA->getNumPreferredPenetrationDirections();
- if (numPDA)
- {
- for (int i = 0; i < numPDA; i++)
- {
- btVector3 norm;
- convexA->getPreferredPenetrationDirection(i, norm);
- norm = transA.getBasis() * norm;
- getPenetrationDirections()[numSampleDirections] = norm;
- separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
- separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
- numSampleDirections++;
- }
- }
- }
-
- {
- int numPDB = convexB->getNumPreferredPenetrationDirections();
- if (numPDB)
- {
- for (int i = 0; i < numPDB; i++)
- {
- btVector3 norm;
- convexB->getPreferredPenetrationDirection(i, norm);
- norm = transB.getBasis() * norm;
- getPenetrationDirections()[numSampleDirections] = norm;
- separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
- separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
- numSampleDirections++;
- }
- }
- }
-
- convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections);
- convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections);
-
- for (i = 0; i < numSampleDirections; i++)
- {
- btVector3 norm = getPenetrationDirections()[i];
- if (check2d)
- {
- norm[2] = 0.f;
- }
- if (norm.length2() > 0.01)
- {
- separatingAxisInA = separatingAxisInABatch[i];
- separatingAxisInB = separatingAxisInBBatch[i];
-
- pInA = supportVerticesABatch[i];
- qInB = supportVerticesBBatch[i];
-
- pWorld = transA(pInA);
- qWorld = transB(qInB);
- if (check2d)
- {
- pWorld[2] = 0.f;
- qWorld[2] = 0.f;
- }
-
- w = qWorld - pWorld;
- btScalar delta = norm.dot(w);
- //find smallest delta
- if (delta < minProj)
- {
- minProj = delta;
- minNorm = norm;
- minA = pWorld;
- minB = qWorld;
- }
- }
- }
-#else
-
- int numSampleDirections = NUM_UNITSPHERE_POINTS;
-
-#ifndef __SPU__
- {
- int numPDA = convexA->getNumPreferredPenetrationDirections();
- if (numPDA)
- {
- for (int i = 0; i < numPDA; i++)
- {
- btVector3 norm;
- convexA->getPreferredPenetrationDirection(i, norm);
- norm = transA.getBasis() * norm;
- getPenetrationDirections()[numSampleDirections] = norm;
- numSampleDirections++;
- }
- }
- }
-
- {
- int numPDB = convexB->getNumPreferredPenetrationDirections();
- if (numPDB)
- {
- for (int i = 0; i < numPDB; i++)
- {
- btVector3 norm;
- convexB->getPreferredPenetrationDirection(i, norm);
- norm = transB.getBasis() * norm;
- getPenetrationDirections()[numSampleDirections] = norm;
- numSampleDirections++;
- }
- }
- }
-#endif // __SPU__
-
- for (int i = 0; i < numSampleDirections; i++)
- {
- const btVector3& norm = getPenetrationDirections()[i];
- separatingAxisInA = (-norm) * transA.getBasis();
- separatingAxisInB = norm * transB.getBasis();
- pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
- qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
- pWorld = transA(pInA);
- qWorld = transB(qInB);
- w = qWorld - pWorld;
- btScalar delta = norm.dot(w);
- //find smallest delta
- if (delta < minProj)
- {
- minProj = delta;
- minNorm = norm;
- minA = pWorld;
- minB = qWorld;
- }
- }
-#endif //USE_BATCHED_SUPPORT
-
- //add the margins
-
- minA += minNorm * convexA->getMarginNonVirtual();
- minB -= minNorm * convexB->getMarginNonVirtual();
- //no penetration
- if (minProj < btScalar(0.))
- return false;
-
- btScalar extraSeparation = 0.5f; ///scale dependent
- minProj += extraSeparation + (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
-
-//#define DEBUG_DRAW 1
-#ifdef DEBUG_DRAW
- if (debugDraw)
- {
- btVector3 color(0, 1, 0);
- debugDraw->drawLine(minA, minB, color);
- color = btVector3(1, 1, 1);
- btVector3 vec = minB - minA;
- btScalar prj2 = minNorm.dot(vec);
- debugDraw->drawLine(minA, minA + (minNorm * minProj), color);
- }
-#endif //DEBUG_DRAW
-
- btGjkPairDetector gjkdet(convexA, convexB, &simplexSolver, 0);
-
- btScalar offsetDist = minProj;
- btVector3 offset = minNorm * offsetDist;
-
- btGjkPairDetector::ClosestPointInput input;
-
- btVector3 newOrg = transA.getOrigin() + offset;
-
- btTransform displacedTrans = transA;
- displacedTrans.setOrigin(newOrg);
-
- input.m_transformA = displacedTrans;
- input.m_transformB = transB;
- input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj;
-
- btIntermediateResult res;
- gjkdet.setCachedSeparatingAxis(-minNorm);
- gjkdet.getClosestPoints(input, res, debugDraw);
-
- btScalar correctedMinNorm = minProj - res.m_depth;
-
- //the penetration depth is over-estimated, relax it
- btScalar penetration_relaxation = btScalar(1.);
- minNorm *= penetration_relaxation;
-
- if (res.m_hasResult)
- {
- pa = res.m_pointInWorld - minNorm * correctedMinNorm;
- pb = res.m_pointInWorld;
- v = minNorm;
-
-#ifdef DEBUG_DRAW
- if (debugDraw)
- {
- btVector3 color(1, 0, 0);
- debugDraw->drawLine(pa, pb, color);
- }
-#endif //DEBUG_DRAW
- }
- return res.m_hasResult;
-}
-
-btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
-{
- static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
- {
- btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
- btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
- btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
- btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
- btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
- btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
- btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
- btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
- btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
- btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
- btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
- btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
- btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
- btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
- btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
- btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
- btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
- btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
- btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
- btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
- btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
- btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
- btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
- btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
- btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
- btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
- btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
- btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
- btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
- btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
- btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
- btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
- btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
- btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
- btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
- btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
- btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
- btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
- btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
- btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
- btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
- btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
-
- return sPenetrationDirections;
-}
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-30 10:30:48 +0000