diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp | 1225 |
1 files changed, 637 insertions, 588 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp index 7043bde34f5..202039956e7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp @@ -24,14 +24,12 @@ subject to the following restrictions: #include <float.h> #include <string.h> -btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2) -: m_box1(box1), -m_box2(box2) +btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1, const btBoxShape* box2) + : m_box1(box1), + m_box2(box2) { - } - // given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and // generate contact points. this returns 0 if there is no contact otherwise // it returns the number of contacts generated. @@ -48,67 +46,66 @@ m_box2(box2) // collision functions. this function only fills in the position and depth // fields. struct dContactGeom; -#define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)]) +#define dDOTpq(a, b, p, q) ((a)[0] * (b)[0] + (a)[p] * (b)[q] + (a)[2 * (p)] * (b)[2 * (q)]) #define dInfinity FLT_MAX - /*PURE_INLINE btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); } PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); } PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); } PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); } */ -static btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); } -static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,4); } -static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); } -static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); } -#define dMULTIPLYOP1_331(A,op,B,C) \ -{\ - (A)[0] op dDOT41((B),(C)); \ - (A)[1] op dDOT41((B+1),(C)); \ - (A)[2] op dDOT41((B+2),(C)); \ -} +static btScalar dDOT(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 1, 1); } +static btScalar dDOT44(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 4, 4); } +static btScalar dDOT41(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 4, 1); } +static btScalar dDOT14(const btScalar* a, const btScalar* b) { return dDOTpq(a, b, 1, 4); } +#define dMULTIPLYOP1_331(A, op, B, C) \ + { \ + (A)[0] op dDOT41((B), (C)); \ + (A)[1] op dDOT41((B + 1), (C)); \ + (A)[2] op dDOT41((B + 2), (C)); \ + } -#define dMULTIPLYOP0_331(A,op,B,C) \ -{ \ - (A)[0] op dDOT((B),(C)); \ - (A)[1] op dDOT((B+4),(C)); \ - (A)[2] op dDOT((B+8),(C)); \ -} +#define dMULTIPLYOP0_331(A, op, B, C) \ + { \ + (A)[0] op dDOT((B), (C)); \ + (A)[1] op dDOT((B + 4), (C)); \ + (A)[2] op dDOT((B + 8), (C)); \ + } -#define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C) -#define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C) +#define dMULTIPLY1_331(A, B, C) dMULTIPLYOP1_331(A, =, B, C) +#define dMULTIPLY0_331(A, B, C) dMULTIPLYOP0_331(A, =, B, C) -typedef btScalar dMatrix3[4*3]; +typedef btScalar dMatrix3[4 * 3]; -void dLineClosestApproach (const btVector3& pa, const btVector3& ua, - const btVector3& pb, const btVector3& ub, - btScalar *alpha, btScalar *beta); -void dLineClosestApproach (const btVector3& pa, const btVector3& ua, - const btVector3& pb, const btVector3& ub, - btScalar *alpha, btScalar *beta) +void dLineClosestApproach(const btVector3& pa, const btVector3& ua, + const btVector3& pb, const btVector3& ub, + btScalar* alpha, btScalar* beta); +void dLineClosestApproach(const btVector3& pa, const btVector3& ua, + const btVector3& pb, const btVector3& ub, + btScalar* alpha, btScalar* beta) { - btVector3 p; - p[0] = pb[0] - pa[0]; - p[1] = pb[1] - pa[1]; - p[2] = pb[2] - pa[2]; - btScalar uaub = dDOT(ua,ub); - btScalar q1 = dDOT(ua,p); - btScalar q2 = -dDOT(ub,p); - btScalar d = 1-uaub*uaub; - if (d <= btScalar(0.0001f)) { - // @@@ this needs to be made more robust - *alpha = 0; - *beta = 0; - } - else { - d = 1.f/d; - *alpha = (q1 + uaub*q2)*d; - *beta = (uaub*q1 + q2)*d; - } + btVector3 p; + p[0] = pb[0] - pa[0]; + p[1] = pb[1] - pa[1]; + p[2] = pb[2] - pa[2]; + btScalar uaub = dDOT(ua, ub); + btScalar q1 = dDOT(ua, p); + btScalar q2 = -dDOT(ub, p); + btScalar d = 1 - uaub * uaub; + if (d <= btScalar(0.0001f)) + { + // @@@ this needs to be made more robust + *alpha = 0; + *beta = 0; + } + else + { + d = 1.f / d; + *alpha = (q1 + uaub * q2) * d; + *beta = (uaub * q1 + q2) * d; + } } - - // find all the intersection points between the 2D rectangle with vertices // at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]), // (p[2],p[3]),(p[4],p[5]),(p[6],p[7]). @@ -117,60 +114,66 @@ void dLineClosestApproach (const btVector3& pa, const btVector3& ua, // the number of intersection points is returned by the function (this will // be in the range 0 to 8). -static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16]) +static int intersectRectQuad2(btScalar h[2], btScalar p[8], btScalar ret[16]) { - // q (and r) contain nq (and nr) coordinate points for the current (and - // chopped) polygons - int nq=4,nr=0; - btScalar buffer[16]; - btScalar *q = p; - btScalar *r = ret; - for (int dir=0; dir <= 1; dir++) { - // direction notation: xy[0] = x axis, xy[1] = y axis - for (int sign=-1; sign <= 1; sign += 2) { - // chop q along the line xy[dir] = sign*h[dir] - btScalar *pq = q; - btScalar *pr = r; - nr = 0; - for (int i=nq; i > 0; i--) { - // go through all points in q and all lines between adjacent points - if (sign*pq[dir] < h[dir]) { - // this point is inside the chopping line - pr[0] = pq[0]; - pr[1] = pq[1]; - pr += 2; - nr++; - if (nr & 8) { - q = r; - goto done; - } - } - btScalar *nextq = (i > 1) ? pq+2 : q; - if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) { - // this line crosses the chopping line - pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) / - (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]); - pr[dir] = sign*h[dir]; - pr += 2; - nr++; - if (nr & 8) { - q = r; - goto done; - } + // q (and r) contain nq (and nr) coordinate points for the current (and + // chopped) polygons + int nq = 4, nr = 0; + btScalar buffer[16]; + btScalar* q = p; + btScalar* r = ret; + for (int dir = 0; dir <= 1; dir++) + { + // direction notation: xy[0] = x axis, xy[1] = y axis + for (int sign = -1; sign <= 1; sign += 2) + { + // chop q along the line xy[dir] = sign*h[dir] + btScalar* pq = q; + btScalar* pr = r; + nr = 0; + for (int i = nq; i > 0; i--) + { + // go through all points in q and all lines between adjacent points + if (sign * pq[dir] < h[dir]) + { + // this point is inside the chopping line + pr[0] = pq[0]; + pr[1] = pq[1]; + pr += 2; + nr++; + if (nr & 8) + { + q = r; + goto done; + } + } + btScalar* nextq = (i > 1) ? pq + 2 : q; + if ((sign * pq[dir] < h[dir]) ^ (sign * nextq[dir] < h[dir])) + { + // this line crosses the chopping line + pr[1 - dir] = pq[1 - dir] + (nextq[1 - dir] - pq[1 - dir]) / + (nextq[dir] - pq[dir]) * (sign * h[dir] - pq[dir]); + pr[dir] = sign * h[dir]; + pr += 2; + nr++; + if (nr & 8) + { + q = r; + goto done; + } + } + pq += 2; + } + q = r; + r = (q == ret) ? buffer : ret; + nq = nr; + } } - pq += 2; - } - q = r; - r = (q==ret) ? buffer : ret; - nq = nr; - } - } - done: - if (q != ret) memcpy (ret,q,nr*2*sizeof(btScalar)); - return nr; +done: + if (q != ret) memcpy(ret, q, nr * 2 * sizeof(btScalar)); + return nr; } - #define M__PI 3.14159265f // given n points in the plane (array p, of size 2*n), generate m points that @@ -181,538 +184,584 @@ static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16]) // n must be in the range [1..8]. m must be in the range [1..n]. i0 must be // in the range [0..n-1]. -void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]); -void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]) +void cullPoints2(int n, btScalar p[], int m, int i0, int iret[]); +void cullPoints2(int n, btScalar p[], int m, int i0, int iret[]) { - // compute the centroid of the polygon in cx,cy - int i,j; - btScalar a,cx,cy,q; - if (n==1) { - cx = p[0]; - cy = p[1]; - } - else if (n==2) { - cx = btScalar(0.5)*(p[0] + p[2]); - cy = btScalar(0.5)*(p[1] + p[3]); - } - else { - a = 0; - cx = 0; - cy = 0; - for (i=0; i<(n-1); i++) { - q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1]; - a += q; - cx += q*(p[i*2]+p[i*2+2]); - cy += q*(p[i*2+1]+p[i*2+3]); - } - q = p[n*2-2]*p[1] - p[0]*p[n*2-1]; - if (btFabs(a+q) > SIMD_EPSILON) + // compute the centroid of the polygon in cx,cy + int i, j; + btScalar a, cx, cy, q; + if (n == 1) { - a = 1.f/(btScalar(3.0)*(a+q)); - } else + cx = p[0]; + cy = p[1]; + } + else if (n == 2) { - a=BT_LARGE_FLOAT; + cx = btScalar(0.5) * (p[0] + p[2]); + cy = btScalar(0.5) * (p[1] + p[3]); } - cx = a*(cx + q*(p[n*2-2]+p[0])); - cy = a*(cy + q*(p[n*2-1]+p[1])); - } - - // compute the angle of each point w.r.t. the centroid - btScalar A[8]; - for (i=0; i<n; i++) A[i] = btAtan2(p[i*2+1]-cy,p[i*2]-cx); - - // search for points that have angles closest to A[i0] + i*(2*pi/m). - int avail[8]; - for (i=0; i<n; i++) avail[i] = 1; - avail[i0] = 0; - iret[0] = i0; - iret++; - for (j=1; j<m; j++) { - a = btScalar(j)*(2*M__PI/m) + A[i0]; - if (a > M__PI) a -= 2*M__PI; - btScalar maxdiff=1e9,diff; - - *iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0 - - for (i=0; i<n; i++) { - if (avail[i]) { - diff = btFabs (A[i]-a); - if (diff > M__PI) diff = 2*M__PI - diff; - if (diff < maxdiff) { - maxdiff = diff; - *iret = i; + else + { + a = 0; + cx = 0; + cy = 0; + for (i = 0; i < (n - 1); i++) + { + q = p[i * 2] * p[i * 2 + 3] - p[i * 2 + 2] * p[i * 2 + 1]; + a += q; + cx += q * (p[i * 2] + p[i * 2 + 2]); + cy += q * (p[i * 2 + 1] + p[i * 2 + 3]); + } + q = p[n * 2 - 2] * p[1] - p[0] * p[n * 2 - 1]; + if (btFabs(a + q) > SIMD_EPSILON) + { + a = 1.f / (btScalar(3.0) * (a + q)); + } + else + { + a = BT_LARGE_FLOAT; + } + cx = a * (cx + q * (p[n * 2 - 2] + p[0])); + cy = a * (cy + q * (p[n * 2 - 1] + p[1])); } - } - } -#if defined(DEBUG) || defined (_DEBUG) - btAssert (*iret != i0); // ensure iret got set + + // compute the angle of each point w.r.t. the centroid + btScalar A[8]; + for (i = 0; i < n; i++) A[i] = btAtan2(p[i * 2 + 1] - cy, p[i * 2] - cx); + + // search for points that have angles closest to A[i0] + i*(2*pi/m). + int avail[8]; + for (i = 0; i < n; i++) avail[i] = 1; + avail[i0] = 0; + iret[0] = i0; + iret++; + for (j = 1; j < m; j++) + { + a = btScalar(j) * (2 * M__PI / m) + A[i0]; + if (a > M__PI) a -= 2 * M__PI; + btScalar maxdiff = 1e9, diff; + + *iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0 + + for (i = 0; i < n; i++) + { + if (avail[i]) + { + diff = btFabs(A[i] - a); + if (diff > M__PI) diff = 2 * M__PI - diff; + if (diff < maxdiff) + { + maxdiff = diff; + *iret = i; + } + } + } +#if defined(DEBUG) || defined(_DEBUG) + btAssert(*iret != i0); // ensure iret got set #endif - avail[*iret] = 0; - iret++; - } + avail[*iret] = 0; + iret++; + } } +int dBoxBox2(const btVector3& p1, const dMatrix3 R1, + const btVector3& side1, const btVector3& p2, + const dMatrix3 R2, const btVector3& side2, + btVector3& normal, btScalar* depth, int* return_code, + int maxc, dContactGeom* /*contact*/, int /*skip*/, btDiscreteCollisionDetectorInterface::Result& output); +int dBoxBox2(const btVector3& p1, const dMatrix3 R1, + const btVector3& side1, const btVector3& p2, + const dMatrix3 R2, const btVector3& side2, + btVector3& normal, btScalar* depth, int* return_code, + int maxc, dContactGeom* /*contact*/, int /*skip*/, btDiscreteCollisionDetectorInterface::Result& output) +{ + const btScalar fudge_factor = btScalar(1.05); + btVector3 p, pp, normalC(0.f, 0.f, 0.f); + const btScalar* normalR = 0; + btScalar A[3], B[3], R11, R12, R13, R21, R22, R23, R31, R32, R33, + Q11, Q12, Q13, Q21, Q22, Q23, Q31, Q32, Q33, s, s2, l; + int i, j, invert_normal, code; + + // get vector from centers of box 1 to box 2, relative to box 1 + p = p2 - p1; + dMULTIPLY1_331(pp, R1, p); // get pp = p relative to body 1 + + // get side lengths / 2 + A[0] = side1[0] * btScalar(0.5); + A[1] = side1[1] * btScalar(0.5); + A[2] = side1[2] * btScalar(0.5); + B[0] = side2[0] * btScalar(0.5); + B[1] = side2[1] * btScalar(0.5); + B[2] = side2[2] * btScalar(0.5); + + // Rij is R1'*R2, i.e. the relative rotation between R1 and R2 + R11 = dDOT44(R1 + 0, R2 + 0); + R12 = dDOT44(R1 + 0, R2 + 1); + R13 = dDOT44(R1 + 0, R2 + 2); + R21 = dDOT44(R1 + 1, R2 + 0); + R22 = dDOT44(R1 + 1, R2 + 1); + R23 = dDOT44(R1 + 1, R2 + 2); + R31 = dDOT44(R1 + 2, R2 + 0); + R32 = dDOT44(R1 + 2, R2 + 1); + R33 = dDOT44(R1 + 2, R2 + 2); + + Q11 = btFabs(R11); + Q12 = btFabs(R12); + Q13 = btFabs(R13); + Q21 = btFabs(R21); + Q22 = btFabs(R22); + Q23 = btFabs(R23); + Q31 = btFabs(R31); + Q32 = btFabs(R32); + Q33 = btFabs(R33); + + // for all 15 possible separating axes: + // * see if the axis separates the boxes. if so, return 0. + // * find the depth of the penetration along the separating axis (s2) + // * if this is the largest depth so far, record it. + // the normal vector will be set to the separating axis with the smallest + // depth. note: normalR is set to point to a column of R1 or R2 if that is + // the smallest depth normal so far. otherwise normalR is 0 and normalC is + // set to a vector relative to body 1. invert_normal is 1 if the sign of + // the normal should be flipped. + +#define TST(expr1, expr2, norm, cc) \ + s2 = btFabs(expr1) - (expr2); \ + if (s2 > 0) return 0; \ + if (s2 > s) \ + { \ + s = s2; \ + normalR = norm; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } + s = -dInfinity; + invert_normal = 0; + code = 0; -int dBoxBox2 (const btVector3& p1, const dMatrix3 R1, - const btVector3& side1, const btVector3& p2, - const dMatrix3 R2, const btVector3& side2, - btVector3& normal, btScalar *depth, int *return_code, - int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output); -int dBoxBox2 (const btVector3& p1, const dMatrix3 R1, - const btVector3& side1, const btVector3& p2, - const dMatrix3 R2, const btVector3& side2, - btVector3& normal, btScalar *depth, int *return_code, - int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output) -{ - const btScalar fudge_factor = btScalar(1.05); - btVector3 p,pp,normalC(0.f,0.f,0.f); - const btScalar *normalR = 0; - btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33, - Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l; - int i,j,invert_normal,code; - - // get vector from centers of box 1 to box 2, relative to box 1 - p = p2 - p1; - dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1 - - // get side lengths / 2 - A[0] = side1[0]*btScalar(0.5); - A[1] = side1[1]*btScalar(0.5); - A[2] = side1[2]*btScalar(0.5); - B[0] = side2[0]*btScalar(0.5); - B[1] = side2[1]*btScalar(0.5); - B[2] = side2[2]*btScalar(0.5); - - // Rij is R1'*R2, i.e. the relative rotation between R1 and R2 - R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2); - R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2); - R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2); - - Q11 = btFabs(R11); Q12 = btFabs(R12); Q13 = btFabs(R13); - Q21 = btFabs(R21); Q22 = btFabs(R22); Q23 = btFabs(R23); - Q31 = btFabs(R31); Q32 = btFabs(R32); Q33 = btFabs(R33); - - // for all 15 possible separating axes: - // * see if the axis separates the boxes. if so, return 0. - // * find the depth of the penetration along the separating axis (s2) - // * if this is the largest depth so far, record it. - // the normal vector will be set to the separating axis with the smallest - // depth. note: normalR is set to point to a column of R1 or R2 if that is - // the smallest depth normal so far. otherwise normalR is 0 and normalC is - // set to a vector relative to body 1. invert_normal is 1 if the sign of - // the normal should be flipped. - -#define TST(expr1,expr2,norm,cc) \ - s2 = btFabs(expr1) - (expr2); \ - if (s2 > 0) return 0; \ - if (s2 > s) { \ - s = s2; \ - normalR = norm; \ - invert_normal = ((expr1) < 0); \ - code = (cc); \ - } - - s = -dInfinity; - invert_normal = 0; - code = 0; - - // separating axis = u1,u2,u3 - TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1); - TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2); - TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3); - - // separating axis = v1,v2,v3 - TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4); - TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5); - TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6); - - // note: cross product axes need to be scaled when s is computed. - // normal (n1,n2,n3) is relative to box 1. + // separating axis = u1,u2,u3 + TST(pp[0], (A[0] + B[0] * Q11 + B[1] * Q12 + B[2] * Q13), R1 + 0, 1); + TST(pp[1], (A[1] + B[0] * Q21 + B[1] * Q22 + B[2] * Q23), R1 + 1, 2); + TST(pp[2], (A[2] + B[0] * Q31 + B[1] * Q32 + B[2] * Q33), R1 + 2, 3); + + // separating axis = v1,v2,v3 + TST(dDOT41(R2 + 0, p), (A[0] * Q11 + A[1] * Q21 + A[2] * Q31 + B[0]), R2 + 0, 4); + TST(dDOT41(R2 + 1, p), (A[0] * Q12 + A[1] * Q22 + A[2] * Q32 + B[1]), R2 + 1, 5); + TST(dDOT41(R2 + 2, p), (A[0] * Q13 + A[1] * Q23 + A[2] * Q33 + B[2]), R2 + 2, 6); + + // note: cross product axes need to be scaled when s is computed. + // normal (n1,n2,n3) is relative to box 1. #undef TST -#define TST(expr1,expr2,n1,n2,n3,cc) \ - s2 = btFabs(expr1) - (expr2); \ - if (s2 > SIMD_EPSILON) return 0; \ - l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \ - if (l > SIMD_EPSILON) { \ - s2 /= l; \ - if (s2*fudge_factor > s) { \ - s = s2; \ - normalR = 0; \ - normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \ - invert_normal = ((expr1) < 0); \ - code = (cc); \ - } \ - } - - btScalar fudge2 (1.0e-5f); - - Q11 += fudge2; - Q12 += fudge2; - Q13 += fudge2; - - Q21 += fudge2; - Q22 += fudge2; - Q23 += fudge2; - - Q31 += fudge2; - Q32 += fudge2; - Q33 += fudge2; - - // separating axis = u1 x (v1,v2,v3) - TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7); - TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8); - TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9); - - // separating axis = u2 x (v1,v2,v3) - TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10); - TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11); - TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12); - - // separating axis = u3 x (v1,v2,v3) - TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13); - TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14); - TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15); +#define TST(expr1, expr2, n1, n2, n3, cc) \ + s2 = btFabs(expr1) - (expr2); \ + if (s2 > SIMD_EPSILON) return 0; \ + l = btSqrt((n1) * (n1) + (n2) * (n2) + (n3) * (n3)); \ + if (l > SIMD_EPSILON) \ + { \ + s2 /= l; \ + if (s2 * fudge_factor > s) \ + { \ + s = s2; \ + normalR = 0; \ + normalC[0] = (n1) / l; \ + normalC[1] = (n2) / l; \ + normalC[2] = (n3) / l; \ + invert_normal = ((expr1) < 0); \ + code = (cc); \ + } \ + } + + btScalar fudge2(1.0e-5f); + + Q11 += fudge2; + Q12 += fudge2; + Q13 += fudge2; + + Q21 += fudge2; + Q22 += fudge2; + Q23 += fudge2; + + Q31 += fudge2; + Q32 += fudge2; + Q33 += fudge2; + + // separating axis = u1 x (v1,v2,v3) + TST(pp[2] * R21 - pp[1] * R31, (A[1] * Q31 + A[2] * Q21 + B[1] * Q13 + B[2] * Q12), 0, -R31, R21, 7); + TST(pp[2] * R22 - pp[1] * R32, (A[1] * Q32 + A[2] * Q22 + B[0] * Q13 + B[2] * Q11), 0, -R32, R22, 8); + TST(pp[2] * R23 - pp[1] * R33, (A[1] * Q33 + A[2] * Q23 + B[0] * Q12 + B[1] * Q11), 0, -R33, R23, 9); + + // separating axis = u2 x (v1,v2,v3) + TST(pp[0] * R31 - pp[2] * R11, (A[0] * Q31 + A[2] * Q11 + B[1] * Q23 + B[2] * Q22), R31, 0, -R11, 10); + TST(pp[0] * R32 - pp[2] * R12, (A[0] * Q32 + A[2] * Q12 + B[0] * Q23 + B[2] * Q21), R32, 0, -R12, 11); + TST(pp[0] * R33 - pp[2] * R13, (A[0] * Q33 + A[2] * Q13 + B[0] * Q22 + B[1] * Q21), R33, 0, -R13, 12); + + // separating axis = u3 x (v1,v2,v3) + TST(pp[1] * R11 - pp[0] * R21, (A[0] * Q21 + A[1] * Q11 + B[1] * Q33 + B[2] * Q32), -R21, R11, 0, 13); + TST(pp[1] * R12 - pp[0] * R22, (A[0] * Q22 + A[1] * Q12 + B[0] * Q33 + B[2] * Q31), -R22, R12, 0, 14); + TST(pp[1] * R13 - pp[0] * R23, (A[0] * Q23 + A[1] * Q13 + B[0] * Q32 + B[1] * Q31), -R23, R13, 0, 15); #undef TST - if (!code) return 0; - - // if we get to this point, the boxes interpenetrate. compute the normal - // in global coordinates. - if (normalR) { - normal[0] = normalR[0]; - normal[1] = normalR[4]; - normal[2] = normalR[8]; - } - else { - dMULTIPLY0_331 (normal,R1,normalC); - } - if (invert_normal) { - normal[0] = -normal[0]; - normal[1] = -normal[1]; - normal[2] = -normal[2]; - } - *depth = -s; - - // compute contact point(s) - - if (code > 6) { - // an edge from box 1 touches an edge from box 2. - // find a point pa on the intersecting edge of box 1 - btVector3 pa; - btScalar sign; - for (i=0; i<3; i++) pa[i] = p1[i]; - for (j=0; j<3; j++) { - sign = (dDOT14(normal,R1+j) > 0) ? btScalar(1.0) : btScalar(-1.0); - for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j]; - } - - // find a point pb on the intersecting edge of box 2 - btVector3 pb; - for (i=0; i<3; i++) pb[i] = p2[i]; - for (j=0; j<3; j++) { - sign = (dDOT14(normal,R2+j) > 0) ? btScalar(-1.0) : btScalar(1.0); - for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j]; - } - - btScalar alpha,beta; - btVector3 ua,ub; - for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4]; - for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4]; - - dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta); - for (i=0; i<3; i++) pa[i] += ua[i]*alpha; - for (i=0; i<3; i++) pb[i] += ub[i]*beta; + if (!code) return 0; + // if we get to this point, the boxes interpenetrate. compute the normal + // in global coordinates. + if (normalR) + { + normal[0] = normalR[0]; + normal[1] = normalR[4]; + normal[2] = normalR[8]; + } + else { - - //contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]); - //contact[0].depth = *depth; - btVector3 pointInWorld; + dMULTIPLY0_331(normal, R1, normalC); + } + if (invert_normal) + { + normal[0] = -normal[0]; + normal[1] = -normal[1]; + normal[2] = -normal[2]; + } + *depth = -s; + + // compute contact point(s) + + if (code > 6) + { + // an edge from box 1 touches an edge from box 2. + // find a point pa on the intersecting edge of box 1 + btVector3 pa; + btScalar sign; + for (i = 0; i < 3; i++) pa[i] = p1[i]; + for (j = 0; j < 3; j++) + { + sign = (dDOT14(normal, R1 + j) > 0) ? btScalar(1.0) : btScalar(-1.0); + for (i = 0; i < 3; i++) pa[i] += sign * A[j] * R1[i * 4 + j]; + } + + // find a point pb on the intersecting edge of box 2 + btVector3 pb; + for (i = 0; i < 3; i++) pb[i] = p2[i]; + for (j = 0; j < 3; j++) + { + sign = (dDOT14(normal, R2 + j) > 0) ? btScalar(-1.0) : btScalar(1.0); + for (i = 0; i < 3; i++) pb[i] += sign * B[j] * R2[i * 4 + j]; + } + + btScalar alpha, beta; + btVector3 ua, ub; + for (i = 0; i < 3; i++) ua[i] = R1[((code)-7) / 3 + i * 4]; + for (i = 0; i < 3; i++) ub[i] = R2[((code)-7) % 3 + i * 4]; + + dLineClosestApproach(pa, ua, pb, ub, &alpha, &beta); + for (i = 0; i < 3; i++) pa[i] += ua[i] * alpha; + for (i = 0; i < 3; i++) pb[i] += ub[i] * beta; + + { + //contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]); + //contact[0].depth = *depth; + btVector3 pointInWorld; #ifdef USE_CENTER_POINT - for (i=0; i<3; i++) - pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5); - output.addContactPoint(-normal,pointInWorld,-*depth); + for (i = 0; i < 3; i++) + pointInWorld[i] = (pa[i] + pb[i]) * btScalar(0.5); + output.addContactPoint(-normal, pointInWorld, -*depth); #else - output.addContactPoint(-normal,pb,-*depth); + output.addContactPoint(-normal, pb, -*depth); -#endif // - *return_code = code; +#endif // + *return_code = code; + } + return 1; + } + + // okay, we have a face-something intersection (because the separating + // axis is perpendicular to a face). define face 'a' to be the reference + // face (i.e. the normal vector is perpendicular to this) and face 'b' to be + // the incident face (the closest face of the other box). + + const btScalar *Ra, *Rb, *pa, *pb, *Sa, *Sb; + if (code <= 3) + { + Ra = R1; + Rb = R2; + pa = p1; + pb = p2; + Sa = A; + Sb = B; + } + else + { + Ra = R2; + Rb = R1; + pa = p2; + pb = p1; + Sa = B; + Sb = A; + } + + // nr = normal vector of reference face dotted with axes of incident box. + // anr = absolute values of nr. + btVector3 normal2, nr, anr; + if (code <= 3) + { + normal2[0] = normal[0]; + normal2[1] = normal[1]; + normal2[2] = normal[2]; + } + else + { + normal2[0] = -normal[0]; + normal2[1] = -normal[1]; + normal2[2] = -normal[2]; } - return 1; - } - - // okay, we have a face-something intersection (because the separating - // axis is perpendicular to a face). define face 'a' to be the reference - // face (i.e. the normal vector is perpendicular to this) and face 'b' to be - // the incident face (the closest face of the other box). - - const btScalar *Ra,*Rb,*pa,*pb,*Sa,*Sb; - if (code <= 3) { - Ra = R1; - Rb = R2; - pa = p1; - pb = p2; - Sa = A; - Sb = B; - } - else { - Ra = R2; - Rb = R1; - pa = p2; - pb = p1; - Sa = B; - Sb = A; - } - - // nr = normal vector of reference face dotted with axes of incident box. - // anr = absolute values of nr. - btVector3 normal2,nr,anr; - if (code <= 3) { - normal2[0] = normal[0]; - normal2[1] = normal[1]; - normal2[2] = normal[2]; - } - else { - normal2[0] = -normal[0]; - normal2[1] = -normal[1]; - normal2[2] = -normal[2]; - } - dMULTIPLY1_331 (nr,Rb,normal2); - anr[0] = btFabs (nr[0]); - anr[1] = btFabs (nr[1]); - anr[2] = btFabs (nr[2]); - - // find the largest compontent of anr: this corresponds to the normal - // for the indident face. the other axis numbers of the indicent face - // are stored in a1,a2. - int lanr,a1,a2; - if (anr[1] > anr[0]) { - if (anr[1] > anr[2]) { - a1 = 0; - lanr = 1; - a2 = 2; - } - else { - a1 = 0; - a2 = 1; - lanr = 2; - } - } - else { - if (anr[0] > anr[2]) { - lanr = 0; - a1 = 1; - a2 = 2; - } - else { - a1 = 0; - a2 = 1; - lanr = 2; - } - } - - // compute center point of incident face, in reference-face coordinates - btVector3 center; - if (nr[lanr] < 0) { - for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr]; - } - else { - for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr]; - } - - // find the normal and non-normal axis numbers of the reference box - int codeN,code1,code2; - if (code <= 3) codeN = code-1; else codeN = code-4; - if (codeN==0) { - code1 = 1; - code2 = 2; - } - else if (codeN==1) { - code1 = 0; - code2 = 2; - } - else { - code1 = 0; - code2 = 1; - } - - // find the four corners of the incident face, in reference-face coordinates - btScalar quad[8]; // 2D coordinate of incident face (x,y pairs) - btScalar c1,c2,m11,m12,m21,m22; - c1 = dDOT14 (center,Ra+code1); - c2 = dDOT14 (center,Ra+code2); - // optimize this? - we have already computed this data above, but it is not - // stored in an easy-to-index format. for now it's quicker just to recompute - // the four dot products. - m11 = dDOT44 (Ra+code1,Rb+a1); - m12 = dDOT44 (Ra+code1,Rb+a2); - m21 = dDOT44 (Ra+code2,Rb+a1); - m22 = dDOT44 (Ra+code2,Rb+a2); - { - btScalar k1 = m11*Sb[a1]; - btScalar k2 = m21*Sb[a1]; - btScalar k3 = m12*Sb[a2]; - btScalar k4 = m22*Sb[a2]; - quad[0] = c1 - k1 - k3; - quad[1] = c2 - k2 - k4; - quad[2] = c1 - k1 + k3; - quad[3] = c2 - k2 + k4; - quad[4] = c1 + k1 + k3; - quad[5] = c2 + k2 + k4; - quad[6] = c1 + k1 - k3; - quad[7] = c2 + k2 - k4; - } - - // find the size of the reference face - btScalar rect[2]; - rect[0] = Sa[code1]; - rect[1] = Sa[code2]; - - // intersect the incident and reference faces - btScalar ret[16]; - int n = intersectRectQuad2 (rect,quad,ret); - if (n < 1) return 0; // this should never happen - - // convert the intersection points into reference-face coordinates, - // and compute the contact position and depth for each point. only keep - // those points that have a positive (penetrating) depth. delete points in - // the 'ret' array as necessary so that 'point' and 'ret' correspond. - btScalar point[3*8]; // penetrating contact points - btScalar dep[8]; // depths for those points - btScalar det1 = 1.f/(m11*m22 - m12*m21); - m11 *= det1; - m12 *= det1; - m21 *= det1; - m22 *= det1; - int cnum = 0; // number of penetrating contact points found - for (j=0; j < n; j++) { - btScalar k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2); - btScalar k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2); - for (i=0; i<3; i++) point[cnum*3+i] = - center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2]; - dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3); - if (dep[cnum] >= 0) { - ret[cnum*2] = ret[j*2]; - ret[cnum*2+1] = ret[j*2+1]; - cnum++; - } - } - if (cnum < 1) return 0; // this should never happen - - // we can't generate more contacts than we actually have - if (maxc > cnum) maxc = cnum; - if (maxc < 1) maxc = 1; - - if (cnum <= maxc) { - - if (code<4) - { - // we have less contacts than we need, so we use them all - for (j=0; j < cnum; j++) + dMULTIPLY1_331(nr, Rb, normal2); + anr[0] = btFabs(nr[0]); + anr[1] = btFabs(nr[1]); + anr[2] = btFabs(nr[2]); + + // find the largest compontent of anr: this corresponds to the normal + // for the indident face. the other axis numbers of the indicent face + // are stored in a1,a2. + int lanr, a1, a2; + if (anr[1] > anr[0]) { - btVector3 pointInWorld; - for (i=0; i<3; i++) - pointInWorld[i] = point[j*3+i] + pa[i]; - output.addContactPoint(-normal,pointInWorld,-dep[j]); - - } - } else - { - // we have less contacts than we need, so we use them all - for (j=0; j < cnum; j++) + if (anr[1] > anr[2]) { - btVector3 pointInWorld; - for (i=0; i<3; i++) - pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j]; + a1 = 0; + lanr = 1; + a2 = 2; + } + else + { + a1 = 0; + a2 = 1; + lanr = 2; + } + } + else + { + if (anr[0] > anr[2]) + { + lanr = 0; + a1 = 1; + a2 = 2; + } + else + { + a1 = 0; + a2 = 1; + lanr = 2; + } + } + + // compute center point of incident face, in reference-face coordinates + btVector3 center; + if (nr[lanr] < 0) + { + for (i = 0; i < 3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i * 4 + lanr]; + } + else + { + for (i = 0; i < 3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i * 4 + lanr]; + } + + // find the normal and non-normal axis numbers of the reference box + int codeN, code1, code2; + if (code <= 3) + codeN = code - 1; + else + codeN = code - 4; + if (codeN == 0) + { + code1 = 1; + code2 = 2; + } + else if (codeN == 1) + { + code1 = 0; + code2 = 2; + } + else + { + code1 = 0; + code2 = 1; + } + + // find the four corners of the incident face, in reference-face coordinates + btScalar quad[8]; // 2D coordinate of incident face (x,y pairs) + btScalar c1, c2, m11, m12, m21, m22; + c1 = dDOT14(center, Ra + code1); + c2 = dDOT14(center, Ra + code2); + // optimize this? - we have already computed this data above, but it is not + // stored in an easy-to-index format. for now it's quicker just to recompute + // the four dot products. + m11 = dDOT44(Ra + code1, Rb + a1); + m12 = dDOT44(Ra + code1, Rb + a2); + m21 = dDOT44(Ra + code2, Rb + a1); + m22 = dDOT44(Ra + code2, Rb + a2); + { + btScalar k1 = m11 * Sb[a1]; + btScalar k2 = m21 * Sb[a1]; + btScalar k3 = m12 * Sb[a2]; + btScalar k4 = m22 * Sb[a2]; + quad[0] = c1 - k1 - k3; + quad[1] = c2 - k2 - k4; + quad[2] = c1 - k1 + k3; + quad[3] = c2 - k2 + k4; + quad[4] = c1 + k1 + k3; + quad[5] = c2 + k2 + k4; + quad[6] = c1 + k1 - k3; + quad[7] = c2 + k2 - k4; + } + + // find the size of the reference face + btScalar rect[2]; + rect[0] = Sa[code1]; + rect[1] = Sa[code2]; + + // intersect the incident and reference faces + btScalar ret[16]; + int n = intersectRectQuad2(rect, quad, ret); + if (n < 1) return 0; // this should never happen + + // convert the intersection points into reference-face coordinates, + // and compute the contact position and depth for each point. only keep + // those points that have a positive (penetrating) depth. delete points in + // the 'ret' array as necessary so that 'point' and 'ret' correspond. + btScalar point[3 * 8]; // penetrating contact points + btScalar dep[8]; // depths for those points + btScalar det1 = 1.f / (m11 * m22 - m12 * m21); + m11 *= det1; + m12 *= det1; + m21 *= det1; + m22 *= det1; + int cnum = 0; // number of penetrating contact points found + for (j = 0; j < n; j++) + { + btScalar k1 = m22 * (ret[j * 2] - c1) - m12 * (ret[j * 2 + 1] - c2); + btScalar k2 = -m21 * (ret[j * 2] - c1) + m11 * (ret[j * 2 + 1] - c2); + for (i = 0; i < 3; i++) point[cnum * 3 + i] = + center[i] + k1 * Rb[i * 4 + a1] + k2 * Rb[i * 4 + a2]; + dep[cnum] = Sa[codeN] - dDOT(normal2, point + cnum * 3); + if (dep[cnum] >= 0) + { + ret[cnum * 2] = ret[j * 2]; + ret[cnum * 2 + 1] = ret[j * 2 + 1]; + cnum++; + } + } + if (cnum < 1) return 0; // this should never happen + + // we can't generate more contacts than we actually have + if (maxc > cnum) maxc = cnum; + if (maxc < 1) maxc = 1; + + if (cnum <= maxc) + { + if (code < 4) + { + // we have less contacts than we need, so we use them all + for (j = 0; j < cnum; j++) + { + btVector3 pointInWorld; + for (i = 0; i < 3; i++) + pointInWorld[i] = point[j * 3 + i] + pa[i]; + output.addContactPoint(-normal, pointInWorld, -dep[j]); + } + } + else + { + // we have less contacts than we need, so we use them all + for (j = 0; j < cnum; j++) + { + btVector3 pointInWorld; + for (i = 0; i < 3; i++) + pointInWorld[i] = point[j * 3 + i] + pa[i] - normal[i] * dep[j]; //pointInWorld[i] = point[j*3+i] + pa[i]; - output.addContactPoint(-normal,pointInWorld,-dep[j]); + output.addContactPoint(-normal, pointInWorld, -dep[j]); + } } - } - } - else { - // we have more contacts than are wanted, some of them must be culled. - // find the deepest point, it is always the first contact. - int i1 = 0; - btScalar maxdepth = dep[0]; - for (i=1; i<cnum; i++) { - if (dep[i] > maxdepth) { - maxdepth = dep[i]; - i1 = i; - } - } - - int iret[8]; - cullPoints2 (cnum,ret,maxc,i1,iret); - - for (j=0; j < maxc; j++) { -// dContactGeom *con = CONTACT(contact,skip*j); - // for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i]; - // con->depth = dep[iret[j]]; - - btVector3 posInWorld; - for (i=0; i<3; i++) - posInWorld[i] = point[iret[j]*3+i] + pa[i]; - if (code<4) - { - output.addContactPoint(-normal,posInWorld,-dep[iret[j]]); - } else + } + else + { + // we have more contacts than are wanted, some of them must be culled. + // find the deepest point, it is always the first contact. + int i1 = 0; + btScalar maxdepth = dep[0]; + for (i = 1; i < cnum; i++) { - output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]); + if (dep[i] > maxdepth) + { + maxdepth = dep[i]; + i1 = i; + } } - } - cnum = maxc; - } - *return_code = code; - return cnum; + int iret[8]; + cullPoints2(cnum, ret, maxc, i1, iret); + + for (j = 0; j < maxc; j++) + { + // dContactGeom *con = CONTACT(contact,skip*j); + // for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i]; + // con->depth = dep[iret[j]]; + + btVector3 posInWorld; + for (i = 0; i < 3; i++) + posInWorld[i] = point[iret[j] * 3 + i] + pa[i]; + if (code < 4) + { + output.addContactPoint(-normal, posInWorld, -dep[iret[j]]); + } + else + { + output.addContactPoint(-normal, posInWorld - normal * dep[iret[j]], -dep[iret[j]]); + } + } + cnum = maxc; + } + + *return_code = code; + return cnum; } -void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/,bool /*swapResults*/) +void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* /*debugDraw*/, bool /*swapResults*/) { - const btTransform& transformA = input.m_transformA; const btTransform& transformB = input.m_transformB; - + int skip = 0; - dContactGeom *contact = 0; + dContactGeom* contact = 0; dMatrix3 R1; dMatrix3 R2; - for (int j=0;j<3;j++) + for (int j = 0; j < 3; j++) { - R1[0+4*j] = transformA.getBasis()[j].x(); - R2[0+4*j] = transformB.getBasis()[j].x(); - - R1[1+4*j] = transformA.getBasis()[j].y(); - R2[1+4*j] = transformB.getBasis()[j].y(); - + R1[0 + 4 * j] = transformA.getBasis()[j].x(); + R2[0 + 4 * j] = transformB.getBasis()[j].x(); - R1[2+4*j] = transformA.getBasis()[j].z(); - R2[2+4*j] = transformB.getBasis()[j].z(); + R1[1 + 4 * j] = transformA.getBasis()[j].y(); + R2[1 + 4 * j] = transformB.getBasis()[j].y(); + R1[2 + 4 * j] = transformA.getBasis()[j].z(); + R2[2 + 4 * j] = transformB.getBasis()[j].z(); } - - btVector3 normal; btScalar depth; int return_code; int maxc = 4; - - dBoxBox2 (transformA.getOrigin(), - R1, - 2.f*m_box1->getHalfExtentsWithMargin(), - transformB.getOrigin(), - R2, - 2.f*m_box2->getHalfExtentsWithMargin(), - normal, &depth, &return_code, - maxc, contact, skip, - output - ); - + dBoxBox2(transformA.getOrigin(), + R1, + 2.f * m_box1->getHalfExtentsWithMargin(), + transformB.getOrigin(), + R2, + 2.f * m_box2->getHalfExtentsWithMargin(), + normal, &depth, &return_code, + maxc, contact, skip, + output); } |