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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp | 176 |
1 files changed, 0 insertions, 176 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp deleted file mode 100644 index bef697a0a1..0000000000 --- a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp +++ /dev/null @@ -1,176 +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 "btGjkConvexCast.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" -#include "btGjkPairDetector.h" -#include "btPointCollector.h" -#include "LinearMath/btTransformUtil.h" - -#ifdef BT_USE_DOUBLE_PRECISION -#define MAX_ITERATIONS 64 -#else -#define MAX_ITERATIONS 32 -#endif - -btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) -:m_simplexSolver(simplexSolver), -m_convexA(convexA), -m_convexB(convexB) -{ -} - -bool btGjkConvexCast::calcTimeOfImpact( - const btTransform& fromA, - const btTransform& toA, - const btTransform& fromB, - const btTransform& toB, - CastResult& result) -{ - - - m_simplexSolver->reset(); - - /// compute linear velocity for this interval, to interpolate - //assume no rotation/angular velocity, assert here? - btVector3 linVelA,linVelB; - linVelA = toA.getOrigin()-fromA.getOrigin(); - linVelB = toB.getOrigin()-fromB.getOrigin(); - - btScalar radius = btScalar(0.001); - 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; - btVector3 r = (linVelA-linVelB); - - btScalar lastLambda = lambda; - //btScalar epsilon = btScalar(0.001); - - int numIter = 0; - //first solution, using GJK - - - btTransform identityTrans; - identityTrans.setIdentity(); - - -// result.drawCoordSystem(sphereTr); - - btPointCollector pointCollector; - - - btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,0);//m_penetrationDepthSolver); - btGjkPairDetector::ClosestPointInput input; - - //we don't use margins during CCD - // gjk.setIgnoreMargin(true); - - input.m_transformA = fromA; - input.m_transformB = fromB; - gjk.getClosestPoints(input,pointCollector,0); - - hasResult = pointCollector.m_hasResult; - c = pointCollector.m_pointInWorld; - - if (hasResult) - { - btScalar dist; - dist = pointCollector.m_distance; - n = pointCollector.m_normalOnBInWorld; - - - - //not close enough - while (dist > radius) - { - numIter++; - if (numIter > maxIter) - { - return false; //todo: report a failure - } - btScalar dLambda = btScalar(0.); - - btScalar projectedLinearVelocity = r.dot(n); - - dLambda = dist / (projectedLinearVelocity); - - 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 - result.DebugDraw( lambda ); - input.m_transformA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); - input.m_transformB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); - - gjk.getClosestPoints(input,pointCollector,0); - if (pointCollector.m_hasResult) - { - if (pointCollector.m_distance < btScalar(0.)) - { - result.m_fraction = lastLambda; - n = pointCollector.m_normalOnBInWorld; - result.m_normal=n; - result.m_hitPoint = pointCollector.m_pointInWorld; - return true; - } - c = pointCollector.m_pointInWorld; - n = pointCollector.m_normalOnBInWorld; - dist = pointCollector.m_distance; - } else - { - //?? - return false; - } - - } - - //is n normalized? - //don't report time of impact for motion away from the contact normal (or causes minor penetration) - if (n.dot(r)>=-result.m_allowedPenetration) - return false; - - result.m_fraction = lambda; - result.m_normal = n; - result.m_hitPoint = c; - return true; - } - - return false; - - -} - |