diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-10-23 06:54:30 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2006-10-23 06:54:30 +0400 |
commit | 44d16f056215e6068f0b186a0ab766165cf3966e (patch) | |
tree | f0ad85e29c32563d1d4c1c46db4e2cd22f7f78dc /extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp | |
parent | e459764b4b056959e354edca3868a91ff9bc272f (diff) |
Added refactored Bullet 2.x library. Important: these files are not part of the Blender build yet. First, the integration will be updated to make use of the new Bullet version. Then all build systems needs to be updated.
The refactoring didn't leave a single file the same, all filenames and classes have bt prefix, methodnames start with lowercase, a single headerfile can be included, and also a single include path.
Plan is to make use of this Bullet 2.x version in extern/bullet2 within the coming weeks, then extern/bullet can be discarded/ignored/content removed.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp | 174 |
1 files changed, 174 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp new file mode 100644 index 00000000000..bf465b61857 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp @@ -0,0 +1,174 @@ +/* +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 "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" +#include "btGjkPairDetector.h" +#include "btPointCollector.h" + + +btGjkConvexCast::btGjkConvexCast(btConvexShape* convexA,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) +{ + + + btMinkowskiSumShape combi(m_convexA,m_convexB); + btMinkowskiSumShape* convex = &combi; + + btTransform rayFromLocalA; + btTransform rayToLocalA; + + rayFromLocalA = fromA.inverse()* fromB; + rayToLocalA = toA.inverse()* toB; + + + btTransform trA,trB; + trA = btTransform(fromA); + trB = btTransform(fromB); + trA.setOrigin(btPoint3(0,0,0)); + trB.setOrigin(btPoint3(0,0,0)); + + convex->setTransformA(trA); + convex->setTransformB(trB); + + + + + float radius = 0.01f; + + btScalar lambda = 0.f; + btVector3 s = rayFromLocalA.getOrigin(); + btVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin(); + btVector3 x = s; + btVector3 n; + n.setValue(0,0,0); + bool hasResult = false; + btVector3 c; + + float lastLambda = lambda; + + //first solution, using GJK + + //no penetration support for now, perhaps pass a pointer when we really want it + btConvexPenetrationDepthSolver* penSolverPtr = 0; + + btTransform identityTrans; + identityTrans.setIdentity(); + + btSphereShape raySphere(0.0f); + raySphere.setMargin(0.f); + + btTransform sphereTr; + sphereTr.setIdentity(); + sphereTr.setOrigin( rayFromLocalA.getOrigin()); + + result.drawCoordSystem(sphereTr); + { + btPointCollector pointCollector1; + btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr); + + btGjkPairDetector::ClosestPointInput input; + input.m_transformA = sphereTr; + input.m_transformB = identityTrans; + gjk.getClosestPoints(input,pointCollector1,0); + + hasResult = pointCollector1.m_hasResult; + c = pointCollector1.m_pointInWorld; + n = pointCollector1.m_normalOnBInWorld; + } + + + + if (hasResult) + { + btScalar dist; + dist = (c-x).length(); + if (dist < radius) + { + //penetration + lastLambda = 1.f; + } + + //not close enough + while (dist > radius) + { + + n = x - c; + btScalar nDotr = n.dot(r); + + if (nDotr >= -(SIMD_EPSILON*SIMD_EPSILON)) + return false; + + lambda = lambda - n.dot(n) / nDotr; + if (lambda <= lastLambda) + break; + + lastLambda = lambda; + + x = s + lambda * r; + + sphereTr.setOrigin( x ); + result.drawCoordSystem(sphereTr); + btPointCollector pointCollector; + btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr); + btGjkPairDetector::ClosestPointInput input; + input.m_transformA = sphereTr; + input.m_transformB = identityTrans; + gjk.getClosestPoints(input,pointCollector,0); + if (pointCollector.m_hasResult) + { + if (pointCollector.m_distance < 0.f) + { + //degeneracy, report a hit + result.m_fraction = lastLambda; + result.m_normal = n; + return true; + } + c = pointCollector.m_pointInWorld; + dist = (c-x).length(); + } else + { + //?? + return false; + } + + } + + if (lastLambda < 1.f) + { + + result.m_fraction = lastLambda; + result.m_normal = n; + return true; + } + } + + return false; +} + |