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path: root/extern/bullet2/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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-/*
-Bullet Continuous Collision Detection and Physics Library
-* The b2CollidePolygons routines are Copyright (c) 2006-2007 Erin Catto http://www.gphysics.com
-
-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.
-*/
-
-///btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library.
-///The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross
-
-#include "btBox2dBox2dCollisionAlgorithm.h"
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionShapes/btBoxShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
-#include "BulletCollision/CollisionShapes/btBox2dShape.h"
-
-#define USE_PERSISTENT_CONTACTS 1
-
-btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
-: btActivatingCollisionAlgorithm(ci,obj0,obj1),
-m_ownManifold(false),
-m_manifoldPtr(mf)
-{
- if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
- {
- m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
- m_ownManifold = true;
- }
-}
-
-btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
-{
-
- if (m_ownManifold)
- {
- if (m_manifoldPtr)
- m_dispatcher->releaseManifold(m_manifoldPtr);
- }
-
-}
-
-
-void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
-
-//#include <stdio.h>
-void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
- if (!m_manifoldPtr)
- return;
-
- btCollisionObject* col0 = body0;
- btCollisionObject* col1 = body1;
- btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
- btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
-
- resultOut->setPersistentManifold(m_manifoldPtr);
-
- b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
-
- // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
- if (m_ownManifold)
- {
- resultOut->refreshContactPoints();
- }
-
-}
-
-btScalar btBox2dBox2dCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
-{
- //not yet
- return 1.f;
-}
-
-
-struct ClipVertex
-{
- btVector3 v;
- int id;
- //b2ContactID id;
- //b2ContactID id;
-};
-
-#define b2Dot(a,b) (a).dot(b)
-#define b2Mul(a,b) (a)*(b)
-#define b2MulT(a,b) (a).transpose()*(b)
-#define b2Cross(a,b) (a).cross(b)
-#define btCrossS(a,s) btVector3(s * a.getY(), -s * a.getX(),0.f)
-
-int b2_maxManifoldPoints =2;
-
-static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
- const btVector3& normal, btScalar offset)
-{
- // Start with no output points
- int numOut = 0;
-
- // Calculate the distance of end points to the line
- btScalar distance0 = b2Dot(normal, vIn[0].v) - offset;
- btScalar distance1 = b2Dot(normal, vIn[1].v) - offset;
-
- // If the points are behind the plane
- if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
- if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
-
- // If the points are on different sides of the plane
- if (distance0 * distance1 < 0.0f)
- {
- // Find intersection point of edge and plane
- btScalar interp = distance0 / (distance0 - distance1);
- vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
- if (distance0 > 0.0f)
- {
- vOut[numOut].id = vIn[0].id;
- }
- else
- {
- vOut[numOut].id = vIn[1].id;
- }
- ++numOut;
- }
-
- return numOut;
-}
-
-// Find the separation between poly1 and poly2 for a give edge normal on poly1.
-static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
- const btBox2dShape* poly2, const btTransform& xf2)
-{
- const btVector3* vertices1 = poly1->getVertices();
- const btVector3* normals1 = poly1->getNormals();
-
- int count2 = poly2->getVertexCount();
- const btVector3* vertices2 = poly2->getVertices();
-
- btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
-
- // Convert normal from poly1's frame into poly2's frame.
- btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
- btVector3 normal1 = b2MulT(xf2.getBasis(), normal1World);
-
- // Find support vertex on poly2 for -normal.
- int index = 0;
- btScalar minDot = BT_LARGE_FLOAT;
-
- for (int i = 0; i < count2; ++i)
- {
- btScalar dot = b2Dot(vertices2[i], normal1);
- if (dot < minDot)
- {
- minDot = dot;
- index = i;
- }
- }
-
- btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
- btVector3 v2 = b2Mul(xf2, vertices2[index]);
- btScalar separation = b2Dot(v2 - v1, normal1World);
- return separation;
-}
-
-// Find the max separation between poly1 and poly2 using edge normals from poly1.
-static btScalar FindMaxSeparation(int* edgeIndex,
- const btBox2dShape* poly1, const btTransform& xf1,
- const btBox2dShape* poly2, const btTransform& xf2)
-{
- int count1 = poly1->getVertexCount();
- const btVector3* normals1 = poly1->getNormals();
-
- // Vector pointing from the centroid of poly1 to the centroid of poly2.
- btVector3 d = b2Mul(xf2, poly2->getCentroid()) - b2Mul(xf1, poly1->getCentroid());
- btVector3 dLocal1 = b2MulT(xf1.getBasis(), d);
-
- // Find edge normal on poly1 that has the largest projection onto d.
- int edge = 0;
- btScalar maxDot = -BT_LARGE_FLOAT;
- for (int i = 0; i < count1; ++i)
- {
- btScalar dot = b2Dot(normals1[i], dLocal1);
- if (dot > maxDot)
- {
- maxDot = dot;
- edge = i;
- }
- }
-
- // Get the separation for the edge normal.
- btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
- if (s > 0.0f)
- {
- return s;
- }
-
- // Check the separation for the previous edge normal.
- int prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
- btScalar sPrev = EdgeSeparation(poly1, xf1, prevEdge, poly2, xf2);
- if (sPrev > 0.0f)
- {
- return sPrev;
- }
-
- // Check the separation for the next edge normal.
- int nextEdge = edge + 1 < count1 ? edge + 1 : 0;
- btScalar sNext = EdgeSeparation(poly1, xf1, nextEdge, poly2, xf2);
- if (sNext > 0.0f)
- {
- return sNext;
- }
-
- // Find the best edge and the search direction.
- int bestEdge;
- btScalar bestSeparation;
- int increment;
- if (sPrev > s && sPrev > sNext)
- {
- increment = -1;
- bestEdge = prevEdge;
- bestSeparation = sPrev;
- }
- else if (sNext > s)
- {
- increment = 1;
- bestEdge = nextEdge;
- bestSeparation = sNext;
- }
- else
- {
- *edgeIndex = edge;
- return s;
- }
-
- // Perform a local search for the best edge normal.
- for ( ; ; )
- {
- if (increment == -1)
- edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
- else
- edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
-
- s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
- if (s > 0.0f)
- {
- return s;
- }
-
- if (s > bestSeparation)
- {
- bestEdge = edge;
- bestSeparation = s;
- }
- else
- {
- break;
- }
- }
-
- *edgeIndex = bestEdge;
- return bestSeparation;
-}
-
-static void FindIncidentEdge(ClipVertex c[2],
- const btBox2dShape* poly1, const btTransform& xf1, int edge1,
- const btBox2dShape* poly2, const btTransform& xf2)
-{
- const btVector3* normals1 = poly1->getNormals();
-
- int count2 = poly2->getVertexCount();
- const btVector3* vertices2 = poly2->getVertices();
- const btVector3* normals2 = poly2->getNormals();
-
- btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
-
- // Get the normal of the reference edge in poly2's frame.
- btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
-
- // Find the incident edge on poly2.
- int index = 0;
- btScalar minDot = BT_LARGE_FLOAT;
- for (int i = 0; i < count2; ++i)
- {
- btScalar dot = b2Dot(normal1, normals2[i]);
- if (dot < minDot)
- {
- minDot = dot;
- index = i;
- }
- }
-
- // Build the clip vertices for the incident edge.
- int i1 = index;
- int i2 = i1 + 1 < count2 ? i1 + 1 : 0;
-
- c[0].v = b2Mul(xf2, vertices2[i1]);
-// c[0].id.features.referenceEdge = (unsigned char)edge1;
-// c[0].id.features.incidentEdge = (unsigned char)i1;
-// c[0].id.features.incidentVertex = 0;
-
- c[1].v = b2Mul(xf2, vertices2[i2]);
-// c[1].id.features.referenceEdge = (unsigned char)edge1;
-// c[1].id.features.incidentEdge = (unsigned char)i2;
-// c[1].id.features.incidentVertex = 1;
-}
-
-// Find edge normal of max separation on A - return if separating axis is found
-// Find edge normal of max separation on B - return if separation axis is found
-// Choose reference edge as min(minA, minB)
-// Find incident edge
-// Clip
-
-// The normal points from 1 to 2
-void b2CollidePolygons(btManifoldResult* manifold,
- const btBox2dShape* polyA, const btTransform& xfA,
- const btBox2dShape* polyB, const btTransform& xfB)
-{
-
- int edgeA = 0;
- btScalar separationA = FindMaxSeparation(&edgeA, polyA, xfA, polyB, xfB);
- if (separationA > 0.0f)
- return;
-
- int edgeB = 0;
- btScalar separationB = FindMaxSeparation(&edgeB, polyB, xfB, polyA, xfA);
- if (separationB > 0.0f)
- return;
-
- const btBox2dShape* poly1; // reference poly
- const btBox2dShape* poly2; // incident poly
- btTransform xf1, xf2;
- int edge1; // reference edge
- unsigned char flip;
- const btScalar k_relativeTol = 0.98f;
- const btScalar k_absoluteTol = 0.001f;
-
- // TODO_ERIN use "radius" of poly for absolute tolerance.
- if (separationB > k_relativeTol * separationA + k_absoluteTol)
- {
- poly1 = polyB;
- poly2 = polyA;
- xf1 = xfB;
- xf2 = xfA;
- edge1 = edgeB;
- flip = 1;
- }
- else
- {
- poly1 = polyA;
- poly2 = polyB;
- xf1 = xfA;
- xf2 = xfB;
- edge1 = edgeA;
- flip = 0;
- }
-
- ClipVertex incidentEdge[2];
- FindIncidentEdge(incidentEdge, poly1, xf1, edge1, poly2, xf2);
-
- int count1 = poly1->getVertexCount();
- const btVector3* vertices1 = poly1->getVertices();
-
- btVector3 v11 = vertices1[edge1];
- btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
-
- btVector3 dv = v12 - v11;
- btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
- sideNormal.normalize();
- btVector3 frontNormal = btCrossS(sideNormal, 1.0f);
-
-
- v11 = b2Mul(xf1, v11);
- v12 = b2Mul(xf1, v12);
-
- btScalar frontOffset = b2Dot(frontNormal, v11);
- btScalar sideOffset1 = -b2Dot(sideNormal, v11);
- btScalar sideOffset2 = b2Dot(sideNormal, v12);
-
- // Clip incident edge against extruded edge1 side edges.
- ClipVertex clipPoints1[2];
- clipPoints1[0].v.setValue(0,0,0);
- clipPoints1[1].v.setValue(0,0,0);
-
- ClipVertex clipPoints2[2];
- clipPoints2[0].v.setValue(0,0,0);
- clipPoints2[1].v.setValue(0,0,0);
-
-
- int np;
-
- // Clip to box side 1
- np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, sideOffset1);
-
- if (np < 2)
- return;
-
- // Clip to negative box side 1
- np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, sideOffset2);
-
- if (np < 2)
- {
- return;
- }
-
- // Now clipPoints2 contains the clipped points.
- btVector3 manifoldNormal = flip ? -frontNormal : frontNormal;
-
- int pointCount = 0;
- for (int i = 0; i < b2_maxManifoldPoints; ++i)
- {
- btScalar separation = b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
-
- if (separation <= 0.0f)
- {
-
- //b2ManifoldPoint* cp = manifold->points + pointCount;
- //btScalar separation = separation;
- //cp->localPoint1 = b2MulT(xfA, clipPoints2[i].v);
- //cp->localPoint2 = b2MulT(xfB, clipPoints2[i].v);
-
- manifold->addContactPoint(-manifoldNormal,clipPoints2[i].v,separation);
-
-// cp->id = clipPoints2[i].id;
-// cp->id.features.flip = flip;
- ++pointCount;
- }
- }
-
-// manifold->pointCount = pointCount;}
-}
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