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Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp | 574 |
1 files changed, 574 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp new file mode 100644 index 00000000000..c1d988aedff --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -0,0 +1,574 @@ +/* +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. +*/ + +///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance +///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums +///with reproduction case +//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1 + +#include "btConvexConvexAlgorithm.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" + + + +/////////// + + + +static SIMD_FORCE_INLINE void segmentsClosestPoints( + btVector3& ptsVector, + btVector3& offsetA, + btVector3& offsetB, + btScalar& tA, btScalar& tB, + const btVector3& translation, + const btVector3& dirA, btScalar hlenA, + const btVector3& dirB, btScalar hlenB ) +{ + // compute the parameters of the closest points on each line segment + + btScalar dirA_dot_dirB = btDot(dirA,dirB); + btScalar dirA_dot_trans = btDot(dirA,translation); + btScalar dirB_dot_trans = btDot(dirB,translation); + + btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB; + + if ( denom == 0.0f ) { + tA = 0.0f; + } else { + tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom; + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } + + tB = tA * dirA_dot_dirB - dirB_dot_trans; + + if ( tB < -hlenB ) { + tB = -hlenB; + tA = tB * dirA_dot_dirB + dirA_dot_trans; + + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } else if ( tB > hlenB ) { + tB = hlenB; + tA = tB * dirA_dot_dirB + dirA_dot_trans; + + if ( tA < -hlenA ) + tA = -hlenA; + else if ( tA > hlenA ) + tA = hlenA; + } + + // compute the closest points relative to segment centers. + + offsetA = dirA * tA; + offsetB = dirB * tB; + + ptsVector = translation - offsetA + offsetB; +} + + +static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance( + btVector3& normalOnB, + btVector3& pointOnB, + btScalar capsuleLengthA, + btScalar capsuleRadiusA, + btScalar capsuleLengthB, + btScalar capsuleRadiusB, + int capsuleAxisA, + int capsuleAxisB, + const btTransform& transformA, + const btTransform& transformB, + btScalar distanceThreshold ) +{ + btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA); + btVector3 translationA = transformA.getOrigin(); + btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB); + btVector3 translationB = transformB.getOrigin(); + + // translation between centers + + btVector3 translation = translationB - translationA; + + // compute the closest points of the capsule line segments + + btVector3 ptsVector; // the vector between the closest points + + btVector3 offsetA, offsetB; // offsets from segment centers to their closest points + btScalar tA, tB; // parameters on line segment + + segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation, + directionA, capsuleLengthA, directionB, capsuleLengthB ); + + btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB; + + if ( distance > distanceThreshold ) + return distance; + + btScalar lenSqr = ptsVector.length2(); + if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON)) + { + //degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA' + btVector3 q; + btPlaneSpace1(directionA,normalOnB,q); + } else + { + // compute the contact normal + normalOnB = ptsVector*-btRecipSqrt(lenSqr); + } + pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB; + + return distance; +} + + + + + + + +////////// + + + + + +btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) +{ + m_numPerturbationIterations = 0; + m_minimumPointsPerturbationThreshold = 3; + m_simplexSolver = simplexSolver; + m_pdSolver = pdSolver; +} + +btConvexConvexAlgorithm::CreateFunc::~CreateFunc() +{ +} + +btConvexConvexAlgorithm::btConvexConvexAlgorithm(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), +#ifdef USE_SEPDISTANCE_UTIL2 +m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(), + (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()), +#endif +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) +{ + (void)body0; + (void)body1; +} + + + + +btConvexConvexAlgorithm::~btConvexConvexAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel) +{ + m_lowLevelOfDetail = useLowLevel; +} + + +struct btPerturbedContactResult : public btManifoldResult +{ + btManifoldResult* m_originalManifoldResult; + btTransform m_transformA; + btTransform m_transformB; + btTransform m_unPerturbedTransform; + bool m_perturbA; + btIDebugDraw* m_debugDrawer; + + + btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer) + :m_originalManifoldResult(originalResult), + m_transformA(transformA), + m_transformB(transformB), + m_unPerturbedTransform(unPerturbedTransform), + m_perturbA(perturbA), + m_debugDrawer(debugDrawer) + { + } + virtual ~ btPerturbedContactResult() + { + } + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth) + { + btVector3 endPt,startPt; + btScalar newDepth; + btVector3 newNormal; + + if (m_perturbA) + { + btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth; + endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg); + newDepth = (endPt - pointInWorld).dot(normalOnBInWorld); + startPt = endPt+normalOnBInWorld*newDepth; + } else + { + endPt = pointInWorld + normalOnBInWorld*orgDepth; + startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld); + newDepth = (endPt - startPt).dot(normalOnBInWorld); + + } + +//#define DEBUG_CONTACTS 1 +#ifdef DEBUG_CONTACTS + m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0)); + m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0)); + m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1)); +#endif //DEBUG_CONTACTS + + + m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth); + } + +}; + +extern btScalar gContactBreakingThreshold; + + +// +// Convex-Convex collision algorithm +// +void btConvexConvexAlgorithm ::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; +#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER + if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE)) + { + btCapsuleShape* capsuleA = (btCapsuleShape*) min0; + btCapsuleShape* capsuleB = (btCapsuleShape*) min1; + btVector3 localScalingA = capsuleA->getLocalScaling(); + btVector3 localScalingB = capsuleB->getLocalScaling(); + + btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); + + btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(), + capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(), + body0->getWorldTransform(),body1->getWorldTransform(),threshold); + + if (dist<threshold) + { + btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON)); + resultOut->addContactPoint(normalOnB,pointOnBWorld,dist); + } + resultOut->refreshContactPoints(); + return; + } +#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER + + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform()); + } + + if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f) +#endif //USE_SEPDISTANCE_UTIL2 + + { + + + btGjkPairDetector::ClosestPointInput input; + + btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); + //TODO: if (dispatchInfo.m_useContinuous) + gjkPairDetector.setMinkowskiA(min0); + gjkPairDetector.setMinkowskiB(min1); + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + input.m_maximumDistanceSquared = BT_LARGE_FLOAT; + } else +#endif //USE_SEPDISTANCE_UTIL2 + { + 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); + + + +#ifdef USE_SEPDISTANCE_UTIL2 + btScalar sepDist = 0.f; + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + sepDist = gjkPairDetector.getCachedSeparatingDistance(); + if (sepDist>SIMD_EPSILON) + { + sepDist += dispatchInfo.m_convexConservativeDistanceThreshold; + //now perturbe directions to get multiple contact points + + } + } +#endif //USE_SEPDISTANCE_UTIL2 + + //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects + + //perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points + if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold) + { + + int i; + btVector3 v0,v1; + btVector3 sepNormalWorldSpace; + + sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized(); + btPlaneSpace1(sepNormalWorldSpace,v0,v1); + + + bool perturbeA = true; + const btScalar angleLimit = 0.125f * SIMD_PI; + btScalar perturbeAngle; + btScalar radiusA = min0->getAngularMotionDisc(); + btScalar radiusB = min1->getAngularMotionDisc(); + if (radiusA < radiusB) + { + perturbeAngle = gContactBreakingThreshold /radiusA; + perturbeA = true; + } else + { + perturbeAngle = gContactBreakingThreshold / radiusB; + perturbeA = false; + } + if ( perturbeAngle > angleLimit ) + perturbeAngle = angleLimit; + + btTransform unPerturbedTransform; + if (perturbeA) + { + unPerturbedTransform = input.m_transformA; + } else + { + unPerturbedTransform = input.m_transformB; + } + + for ( i=0;i<m_numPerturbationIterations;i++) + { + if (v0.length2()>SIMD_EPSILON) + { + btQuaternion perturbeRot(v0,perturbeAngle); + btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations)); + btQuaternion rotq(sepNormalWorldSpace,iterationAngle); + + + if (perturbeA) + { + input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis()); + input.m_transformB = body1->getWorldTransform(); +#ifdef DEBUG_CONTACTS + dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0); +#endif //DEBUG_CONTACTS + } else + { + input.m_transformA = body0->getWorldTransform(); + input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis()); +#ifdef DEBUG_CONTACTS + dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0); +#endif + } + + btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw); + gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw); + } + + } + } + + + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON)) + { + m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform()); + } +#endif //USE_SEPDISTANCE_UTIL2 + + + } + + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } + +} + + + +bool disableCcd = false; +btScalar btConvexConvexAlgorithm::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; + + if (disableCcd) + return btScalar(1.); + + + //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; + +} + |