diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | 85 |
1 files changed, 66 insertions, 19 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp index 391cf6c7bc4..a7b3b163d66 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -4,8 +4,8 @@ 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, +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. @@ -22,15 +22,17 @@ subject to the following restrictions: //#include <stdio.h> -btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped) +btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold) : btCollisionAlgorithm(ci), m_ownManifold(false), m_manifoldPtr(mf), -m_isSwapped(isSwapped) +m_isSwapped(isSwapped), +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) { btCollisionObject* convexObj = m_isSwapped? col1 : col0; btCollisionObject* planeObj = m_isSwapped? col0 : col1; - + if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj)) { m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj); @@ -48,30 +50,28 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() } } - - -void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { - (void)dispatchInfo; - (void)resultOut; - if (!m_manifoldPtr) - return; - - btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* convexObj = m_isSwapped? body1 : body0; btCollisionObject* planeObj = m_isSwapped? body0: body1; btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); - bool hasCollision = false; + bool hasCollision = false; const btVector3& planeNormal = planeShape->getPlaneNormal(); const btScalar& planeConstant = planeShape->getPlaneConstant(); - btTransform planeInConvex; - planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform(); + + btTransform convexWorldTransform = convexObj->getWorldTransform(); btTransform convexInPlaneTrans; - convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform(); - + convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform; + //now perturbe the convex-world transform + convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot); + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform(); + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + btVector3 vtxInPlane = convexInPlaneTrans(vtx); btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); @@ -87,6 +87,53 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0 btVector3 pOnB = vtxInPlaneWorld; resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); } +} + + +void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + if (!m_manifoldPtr) + return; + + btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* planeObj = m_isSwapped? body0: body1; + + btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + //first perform a collision query with the non-perturbated collision objects + { + btQuaternion rotq(0,0,0,1); + collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut); + } + + if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold) + { + btVector3 v0,v1; + btPlaneSpace1(planeNormal,v0,v1); + //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects + + const btScalar angleLimit = 0.125f * SIMD_PI; + btScalar perturbeAngle; + btScalar radius = convexShape->getAngularMotionDisc(); + perturbeAngle = gContactBreakingThreshold / radius; + if ( perturbeAngle > angleLimit ) + perturbeAngle = angleLimit; + + btQuaternion perturbeRot(v0,perturbeAngle); + for (int i=0;i<m_numPerturbationIterations;i++) + { + btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations)); + btQuaternion rotq(planeNormal,iterationAngle); + collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut); + } + } + if (m_ownManifold) { if (m_manifoldPtr->getNumContacts()) |