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path: root/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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-rw-r--r--extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp348
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diff --git a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
deleted file mode 100644
index 9f7e64dd1b3..00000000000
--- a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
+++ /dev/null
@@ -1,348 +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 "SpuMinkowskiPenetrationDepthSolver.h"
-#include "SpuContactResult.h"
-#include "SpuPreferredPenetrationDirections.h"
-#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
-#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
-#include "SpuCollisionShapes.h"
-
-#define NUM_UNITSPHERE_POINTS 42
-static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
-{
-btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
-btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
-btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
-btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
-btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
-btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
-btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
-btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
-btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
-btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
-btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
-btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
-btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
-btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
-btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
-btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
-btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
-btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
-btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
-btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
-btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
-btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
-btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
-btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
-btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
-btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
-btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
-btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
-btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
-btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
-btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
-btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
-btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
-btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
-btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
-btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
-btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
-btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
-};
-
-
-bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
- const btConvexShape* convexA,const btConvexShape* convexB,
- const btTransform& transA,const btTransform& transB,
- btVector3& v, btVector3& pa, btVector3& pb,
- class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
-{
-#if 0
- (void)stackAlloc;
- (void)v;
-
-
- struct btIntermediateResult : public SpuContactResult
- {
-
- btIntermediateResult():m_hasResult(false)
- {
- }
-
- btVector3 m_normalOnBInWorld;
- btVector3 m_pointInWorld;
- btScalar m_depth;
- bool m_hasResult;
-
- virtual void setShapeIdentifiersA(int partId0,int index0)
- {
- (void)partId0;
- (void)index0;
- }
-
- virtual void setShapeIdentifiersB(int partId1,int index1)
- {
- (void)partId1;
- (void)index1;
- }
- void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
- {
- m_normalOnBInWorld = normalOnBInWorld;
- m_pointInWorld = pointInWorld;
- m_depth = depth;
- m_hasResult = true;
- }
- };
-
- //just take fixed number of orientation, and sample the penetration depth in that direction
- btScalar minProj = btScalar(BT_LARGE_FLOAT);
- btVector3 minNorm(0.f,0.f,0.f);
- btVector3 minVertex;
- btVector3 minA,minB;
- btVector3 seperatingAxisInA,seperatingAxisInB;
- btVector3 pInA,qInB,pWorld,qWorld,w;
-
-//#define USE_BATCHED_SUPPORT 1
-#ifdef USE_BATCHED_SUPPORT
-
- btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
- btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
- btVector3 seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
- btVector3 seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
- int i;
-
- int numSampleDirections = NUM_UNITSPHERE_POINTS;
-
- for (i=0;i<numSampleDirections;i++)
- {
- const btVector3& norm = sPenetrationDirections[i];
- seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
- seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
- }
-
- {
- int numPDA = convexA->getNumPreferredPenetrationDirections();
- if (numPDA)
- {
- for (int i=0;i<numPDA;i++)
- {
- btVector3 norm;
- convexA->getPreferredPenetrationDirection(i,norm);
- norm = transA.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
- seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
- seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
- numSampleDirections++;
- }
- }
- }
-
- {
- int numPDB = convexB->getNumPreferredPenetrationDirections();
- if (numPDB)
- {
- for (int i=0;i<numPDB;i++)
- {
- btVector3 norm;
- convexB->getPreferredPenetrationDirection(i,norm);
- norm = transB.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
- seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
- seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
- numSampleDirections++;
- }
- }
- }
-
-
-
- convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
- convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
-
- for (i=0;i<numSampleDirections;i++)
- {
- const btVector3& norm = sPenetrationDirections[i];
- seperatingAxisInA = seperatingAxisInABatch[i];
- seperatingAxisInB = seperatingAxisInBBatch[i];
-
- pInA = supportVerticesABatch[i];
- qInB = supportVerticesBBatch[i];
-
- pWorld = transA(pInA);
- qWorld = transB(qInB);
- w = qWorld - pWorld;
- btScalar delta = norm.dot(w);
- //find smallest delta
- if (delta < minProj)
- {
- minProj = delta;
- minNorm = norm;
- minA = pWorld;
- minB = qWorld;
- }
- }
-#else
-
- int numSampleDirections = NUM_UNITSPHERE_POINTS;
-
-///this is necessary, otherwise the normal is not correct, and sphere will rotate forever on a sloped triangle mesh
-#define DO_PREFERRED_DIRECTIONS 1
-#ifdef DO_PREFERRED_DIRECTIONS
- {
- int numPDA = spuGetNumPreferredPenetrationDirections(shapeTypeA,convexA);
- if (numPDA)
- {
- for (int i=0;i<numPDA;i++)
- {
- btVector3 norm;
- spuGetPreferredPenetrationDirection(shapeTypeA,convexA,i,norm);
- norm = transA.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
- numSampleDirections++;
- }
- }
- }
-
- {
- int numPDB = spuGetNumPreferredPenetrationDirections(shapeTypeB,convexB);
- if (numPDB)
- {
- for (int i=0;i<numPDB;i++)
- {
- btVector3 norm;
- spuGetPreferredPenetrationDirection(shapeTypeB,convexB,i,norm);
- norm = transB.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
- numSampleDirections++;
- }
- }
- }
-#endif //DO_PREFERRED_DIRECTIONS
-
- for (int i=0;i<numSampleDirections;i++)
- {
- const btVector3& norm = sPenetrationDirections[i];
- seperatingAxisInA = (-norm)* transA.getBasis();
- seperatingAxisInB = norm* transB.getBasis();
-
- pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual( seperatingAxisInA);//, NULL);
- qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);//, NULL);
-
- // pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
- // qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
-
- pWorld = transA(pInA);
- qWorld = transB(qInB);
- w = qWorld - pWorld;
- btScalar delta = norm.dot(w);
- //find smallest delta
- if (delta < minProj)
- {
- minProj = delta;
- minNorm = norm;
- minA = pWorld;
- minB = qWorld;
- }
- }
-#endif //USE_BATCHED_SUPPORT
-
- //add the margins
-
- minA += minNorm*marginA;
- minB -= minNorm*marginB;
- //no penetration
- if (minProj < btScalar(0.))
- return false;
-
- minProj += (marginA + marginB) + btScalar(1.00);
-
-
-
-
-
-//#define DEBUG_DRAW 1
-#ifdef DEBUG_DRAW
- if (debugDraw)
- {
- btVector3 color(0,1,0);
- debugDraw->drawLine(minA,minB,color);
- color = btVector3 (1,1,1);
- btVector3 vec = minB-minA;
- btScalar prj2 = minNorm.dot(vec);
- debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
-
- }
-#endif //DEBUG_DRAW
-
-
- btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
-
- btScalar offsetDist = minProj;
- btVector3 offset = minNorm * offsetDist;
-
-
- SpuClosestPointInput input;
- input.m_convexVertexData[0] = convexVertexDataA;
- input.m_convexVertexData[1] = convexVertexDataB;
- btVector3 newOrg = transA.getOrigin() + offset;
-
- btTransform displacedTrans = transA;
- displacedTrans.setOrigin(newOrg);
-
- input.m_transformA = displacedTrans;
- input.m_transformB = transB;
- input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
-
- btIntermediateResult res;
- gjkdet.getClosestPoints(input,res,0);
-
- btScalar correctedMinNorm = minProj - res.m_depth;
-
-
- //the penetration depth is over-estimated, relax it
- btScalar penetration_relaxation= btScalar(1.);
- minNorm*=penetration_relaxation;
-
- if (res.m_hasResult)
- {
-
- pa = res.m_pointInWorld - minNorm * correctedMinNorm;
- pb = res.m_pointInWorld;
-
-#ifdef DEBUG_DRAW
- if (debugDraw)
- {
- btVector3 color(1,0,0);
- debugDraw->drawLine(pa,pb,color);
- }
-#endif//DEBUG_DRAW
-
-
- } else {
- // could not seperate shapes
- //btAssert (false);
- }
- return res.m_hasResult;
-#endif
- return false;
-}
-
-
-
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