diff options
author | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
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committer | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
commit | ed59822857de7e7b41b33b79c306f5e9b8755c62 (patch) | |
tree | aa15011ba1df16a98d023acf2a276b265bd3ceda /extern/bullet2/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | |
parent | 22bca493b23904c4dee7130f5737005f8558a26d (diff) |
== SoC Bullet - Bullet Upgrade to 2.76 ==
Updated Blender's Bullet to 2.76 in this branch only.
This update was done by:
1) deleting the contents of the existing extern/bullet2/src directory (leaving the .svn folder in place),
2) copy/pasting the contents of the bullet/src directory (from unzipped Bullet archive) into this newly cleared folder.
Hopefully there aren't any patches that are still needed from the Bullet we had in source.
---
Note: I didn't use Moguri's patch, since that was giving me compile errors with headers not being able to be found.
[[Split portion of a mixed commit.]]
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | 155 |
1 files changed, 155 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp new file mode 100644 index 00000000000..dda85dc693f --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -0,0 +1,155 @@ +/* +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 <stdio.h> + +btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold) +: btCollisionAlgorithm(ci), +m_ownManifold(false), +m_manifoldPtr(mf), +m_isSwapped(isSwapped), +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) +{ + btCollisionObject* convexObj = m_isSwapped? col1 : col0; + btCollisionObject* planeObj = m_isSwapped? col0 : col1; + + if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj)) + { + m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj); + m_ownManifold = true; + } +} + + +btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* planeObj = m_isSwapped? body0: body1; + + btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + btTransform convexWorldTransform = convexObj->getWorldTransform(); + btTransform convexInPlaneTrans; + convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform; + //now perturbe the convex-world transform + convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot); + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * planeObj->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 = planeObj->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 = planeObj->getWorldTransform().getBasis() * planeNormal; + btVector3 pOnB = vtxInPlaneWorld; + resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); + } +} + + +void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + if (!m_manifoldPtr) + return; + + btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* planeObj = m_isSwapped? body0: body1; + + btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + + + const btVector3& planeNormal = planeShape->getPlaneNormal(); + //const btScalar& planeConstant = planeShape->getPlaneConstant(); + + //first perform a collision query with the non-perturbated collision objects + { + btQuaternion rotq(0,0,0,1); + collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut); + } + + if (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,body0,body1,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.); +} |