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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp | 247 |
1 files changed, 0 insertions, 247 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp deleted file mode 100644 index db7f884ac82..00000000000 --- a/extern/bullet2/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp +++ /dev/null @@ -1,247 +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 "btConvex2dConvex2dAlgorithm.h" - -//#include <stdio.h> -#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/CollisionShapes/btConvexShape.h" -#include "BulletCollision/CollisionShapes/btCapsuleShape.h" - - -#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/CollisionShapes/btBoxShape.h" -#include "BulletCollision/CollisionDispatch/btManifoldResult.h" - -#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" -#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" - - - -#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" - -#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" - -#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" - - -btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) -{ - m_numPerturbationIterations = 0; - m_minimumPointsPerturbationThreshold = 3; - m_simplexSolver = simplexSolver; - m_pdSolver = pdSolver; -} - -btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc() -{ -} - -btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) -: btActivatingCollisionAlgorithm(ci,body0,body1), -m_simplexSolver(simplexSolver), -m_pdSolver(pdSolver), -m_ownManifold (false), -m_manifoldPtr(mf), -m_lowLevelOfDetail(false), - m_numPerturbationIterations(numPerturbationIterations), -m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) -{ - (void)body0; - (void)body1; -} - - - - -btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm() -{ - if (m_ownManifold) - { - if (m_manifoldPtr) - m_dispatcher->releaseManifold(m_manifoldPtr); - } -} - -void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel) -{ - m_lowLevelOfDetail = useLowLevel; -} - - - -extern btScalar gContactBreakingThreshold; - - -// -// Convex-Convex collision algorithm -// -void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) -{ - - if (!m_manifoldPtr) - { - //swapped? - m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); - m_ownManifold = true; - } - resultOut->setPersistentManifold(m_manifoldPtr); - - //comment-out next line to test multi-contact generation - //resultOut->getPersistentManifold()->clearManifold(); - - - btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape()); - btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape()); - - btVector3 normalOnB; - btVector3 pointOnBWorld; - - { - - - btGjkPairDetector::ClosestPointInput input; - - btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); - //TODO: if (dispatchInfo.m_useContinuous) - gjkPairDetector.setMinkowskiA(min0); - gjkPairDetector.setMinkowskiB(min1); - - { - input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold(); - input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; - } - - input.m_stackAlloc = dispatchInfo.m_stackAllocator; - input.m_transformA = body0->getWorldTransform(); - input.m_transformB = body1->getWorldTransform(); - - gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); - - btVector3 v0,v1; - btVector3 sepNormalWorldSpace; - - } - - if (m_ownManifold) - { - resultOut->refreshContactPoints(); - } - -} - - - - -btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) -{ - (void)resultOut; - (void)dispatchInfo; - ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold - - ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold - ///col0->m_worldTransform, - btScalar resultFraction = btScalar(1.); - - - btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2(); - btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2(); - - if (squareMot0 < col0->getCcdSquareMotionThreshold() && - squareMot1 < col1->getCcdSquareMotionThreshold()) - return resultFraction; - - - //An adhoc way of testing the Continuous Collision Detection algorithms - //One object is approximated as a sphere, to simplify things - //Starting in penetration should report no time of impact - //For proper CCD, better accuracy and handling of 'allowed' penetration should be added - //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies) - - - /// Convex0 against sphere for Convex1 - { - btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape()); - - btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation - btConvexCast::CastResult result; - btVoronoiSimplexSolver voronoiSimplex; - //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); - ///Simplification, one object is simplified as a sphere - btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex); - //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); - if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(), - col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result)) - { - - //store result.m_fraction in both bodies - - if (col0->getHitFraction()> result.m_fraction) - col0->setHitFraction( result.m_fraction ); - - if (col1->getHitFraction() > result.m_fraction) - col1->setHitFraction( result.m_fraction); - - if (resultFraction > result.m_fraction) - resultFraction = result.m_fraction; - - } - - - - - } - - /// Sphere (for convex0) against Convex1 - { - btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape()); - - btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation - btConvexCast::CastResult result; - btVoronoiSimplexSolver voronoiSimplex; - //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex); - ///Simplification, one object is simplified as a sphere - btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex); - //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0); - if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(), - col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result)) - { - - //store result.m_fraction in both bodies - - if (col0->getHitFraction() > result.m_fraction) - col0->setHitFraction( result.m_fraction); - - if (col1->getHitFraction() > result.m_fraction) - col1->setHitFraction( result.m_fraction); - - if (resultFraction > result.m_fraction) - resultFraction = result.m_fraction; - - } - } - - return resultFraction; - -} - |