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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp | 361 |
1 files changed, 361 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp new file mode 100644 index 0000000000..fa45f49037 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -0,0 +1,361 @@ +/* +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 seperatingAxisInA,seperatingAxisInB; + 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 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 seperatingAxisInBBatch[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]; + seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ; + seperatingAxisInBBatch[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; + seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + seperatingAxisInBBatch[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; + seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis(); + seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis(); + numSampleDirections++; + } + } + } + + + + + convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections); + convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections); + + for (i=0;i<numSampleDirections;i++) + { + btVector3 norm = getPenetrationDirections()[i]; + if (check2d) + { + norm[2] = 0.f; + } + if (norm.length2()>0.01) + { + + seperatingAxisInA = seperatingAxisInABatch[i]; + seperatingAxisInB = seperatingAxisInBBatch[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]; + seperatingAxisInA = (-norm)* transA.getBasis(); + seperatingAxisInB = norm* transB.getBasis(); + pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + 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.setCachedSeperatingAxis(-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; +} + + |