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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp | 242 |
1 files changed, 0 insertions, 242 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp deleted file mode 100644 index 940282f576..0000000000 --- a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ /dev/null @@ -1,242 +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 "btContinuousConvexCollision.h" -#include "BulletCollision/CollisionShapes/btConvexShape.h" -#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" -#include "LinearMath/btTransformUtil.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" - -#include "btGjkPairDetector.h" -#include "btPointCollector.h" -#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" - - - -btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) -:m_simplexSolver(simplexSolver), -m_penetrationDepthSolver(penetrationDepthSolver), -m_convexA(convexA),m_convexB1(convexB),m_planeShape(0) -{ -} - - -btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape* convexA,const btStaticPlaneShape* plane) -:m_simplexSolver(0), -m_penetrationDepthSolver(0), -m_convexA(convexA),m_convexB1(0),m_planeShape(plane) -{ -} - - -/// This maximum should not be necessary. It allows for untested/degenerate cases in production code. -/// You don't want your game ever to lock-up. -#define MAX_ITERATIONS 64 - -void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector) -{ - if (m_convexB1) - { - m_simplexSolver->reset(); - btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver); - btGjkPairDetector::ClosestPointInput input; - input.m_transformA = transA; - input.m_transformB = transB; - gjk.getClosestPoints(input,pointCollector,0); - } else - { - //convex versus plane - const btConvexShape* convexShape = m_convexA; - const btStaticPlaneShape* planeShape = m_planeShape; - - const btVector3& planeNormal = planeShape->getPlaneNormal(); - const btScalar& planeConstant = planeShape->getPlaneConstant(); - - btTransform convexWorldTransform = transA; - btTransform convexInPlaneTrans; - convexInPlaneTrans= transB.inverse() * convexWorldTransform; - btTransform planeInConvex; - planeInConvex= convexWorldTransform.inverse() * transB; - - btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); - - btVector3 vtxInPlane = convexInPlaneTrans(vtx); - btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); - - btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; - btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected; - btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal; - - pointCollector.addContactPoint( - normalOnSurfaceB, - vtxInPlaneWorld, - distance); - } -} - -bool btContinuousConvexCollision::calcTimeOfImpact( - const btTransform& fromA, - const btTransform& toA, - const btTransform& fromB, - const btTransform& toB, - CastResult& result) -{ - - - /// compute linear and angular velocity for this interval, to interpolate - btVector3 linVelA,angVelA,linVelB,angVelB; - btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA); - btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB); - - - btScalar boundingRadiusA = m_convexA->getAngularMotionDisc(); - btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f; - - btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB; - btVector3 relLinVel = (linVelB-linVelA); - - btScalar relLinVelocLength = (linVelB-linVelA).length(); - - if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) - return false; - - - - btScalar lambda = btScalar(0.); - btVector3 v(1,0,0); - - int maxIter = MAX_ITERATIONS; - - btVector3 n; - n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); - bool hasResult = false; - btVector3 c; - - btScalar lastLambda = lambda; - //btScalar epsilon = btScalar(0.001); - - int numIter = 0; - //first solution, using GJK - - - btScalar radius = 0.001f; -// result.drawCoordSystem(sphereTr); - - btPointCollector pointCollector1; - - { - - computeClosestPoints(fromA,fromB,pointCollector1); - - hasResult = pointCollector1.m_hasResult; - c = pointCollector1.m_pointInWorld; - } - - if (hasResult) - { - btScalar dist; - dist = pointCollector1.m_distance + result.m_allowedPenetration; - n = pointCollector1.m_normalOnBInWorld; - btScalar projectedLinearVelocity = relLinVel.dot(n); - if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) - return false; - - //not close enough - while (dist > radius) - { - if (result.m_debugDrawer) - { - result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1)); - } - btScalar dLambda = btScalar(0.); - - projectedLinearVelocity = relLinVel.dot(n); - - - //don't report time of impact for motion away from the contact normal (or causes minor penetration) - if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) - return false; - - dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); - - - - lambda = lambda + dLambda; - - if (lambda > btScalar(1.)) - return false; - - if (lambda < btScalar(0.)) - return false; - - - //todo: next check with relative epsilon - if (lambda <= lastLambda) - { - return false; - //n.setValue(0,0,0); - break; - } - lastLambda = lambda; - - - - //interpolate to next lambda - btTransform interpolatedTransA,interpolatedTransB,relativeTrans; - - btTransformUtil::integrateTransform(fromA,linVelA,angVelA,lambda,interpolatedTransA); - btTransformUtil::integrateTransform(fromB,linVelB,angVelB,lambda,interpolatedTransB); - relativeTrans = interpolatedTransB.inverseTimes(interpolatedTransA); - - if (result.m_debugDrawer) - { - result.m_debugDrawer->drawSphere(interpolatedTransA.getOrigin(),0.2f,btVector3(1,0,0)); - } - - result.DebugDraw( lambda ); - - btPointCollector pointCollector; - computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector); - - if (pointCollector.m_hasResult) - { - dist = pointCollector.m_distance+result.m_allowedPenetration; - c = pointCollector.m_pointInWorld; - n = pointCollector.m_normalOnBInWorld; - } else - { - result.reportFailure(-1, numIter); - return false; - } - - numIter++; - if (numIter > maxIter) - { - result.reportFailure(-2, numIter); - return false; - } - } - - result.m_fraction = lambda; - result.m_normal = n; - result.m_hitPoint = c; - return true; - } - - return false; - -} - |