diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp | 135 |
1 files changed, 71 insertions, 64 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 9ee83e7d561..91fcea57a3c 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -22,20 +22,72 @@ subject to the following restrictions: #include "btGjkPairDetector.h" #include "btPointCollector.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) :m_simplexSolver(simplexSolver), m_penetrationDepthSolver(penetrationDepthSolver), -m_convexA(convexA),m_convexB(convexB) +m_convexA(convexA),m_convexB1(convexB),m_planeShape(0) { } + +btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape* convexA,const btStaticPlaneShape* plane) +:m_simplexSolver(0), +m_penetrationDepthSolver(0), +m_convexA(convexA),m_convexB1(0),m_planeShape(plane) +{ +} + + /// This maximum should not be necessary. It allows for untested/degenerate cases in production code. /// You don't want your game ever to lock-up. #define MAX_ITERATIONS 64 +void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector) +{ + if (m_convexB1) + { + m_simplexSolver->reset(); + btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver); + btGjkPairDetector::ClosestPointInput input; + input.m_transformA = transA; + input.m_transformB = transB; + gjk.getClosestPoints(input,pointCollector,0); + } else + { + //convex versus plane + const btConvexShape* convexShape = m_convexA; + const btStaticPlaneShape* planeShape = m_planeShape; + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + btTransform convexWorldTransform = transA; + btTransform convexInPlaneTrans; + convexInPlaneTrans= transB.inverse() * convexWorldTransform; + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * transB; + + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + + btVector3 vtxInPlane = convexInPlaneTrans(vtx); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + + btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; + btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected; + btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal; + + pointCollector.addContactPoint( + normalOnSurfaceB, + vtxInPlaneWorld, + distance); + } +} + bool btContinuousConvexCollision::calcTimeOfImpact( const btTransform& fromA, const btTransform& toA, @@ -44,7 +96,6 @@ bool btContinuousConvexCollision::calcTimeOfImpact( CastResult& result) { - m_simplexSolver->reset(); /// compute linear and angular velocity for this interval, to interpolate btVector3 linVelA,angVelA,linVelB,angVelB; @@ -53,7 +104,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btScalar boundingRadiusA = m_convexA->getAngularMotionDisc(); - btScalar boundingRadiusB = m_convexB->getAngularMotionDisc(); + btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f; btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB; btVector3 relLinVel = (linVelB-linVelA); @@ -64,7 +115,6 @@ bool btContinuousConvexCollision::calcTimeOfImpact( return false; - btScalar radius = btScalar(0.001); btScalar lambda = btScalar(0.); btVector3 v(1,0,0); @@ -83,28 +133,14 @@ bool btContinuousConvexCollision::calcTimeOfImpact( //first solution, using GJK - btTransform identityTrans; - identityTrans.setIdentity(); - - btSphereShape raySphere(btScalar(0.0)); - raySphere.setMargin(btScalar(0.)); - - + btScalar radius = 0.001f; // result.drawCoordSystem(sphereTr); btPointCollector pointCollector1; { - - btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver); - btGjkPairDetector::ClosestPointInput input; - //we don't use margins during CCD - // gjk.setIgnoreMargin(true); - - input.m_transformA = fromA; - input.m_transformB = fromB; - gjk.getClosestPoints(input,pointCollector1,0); + computeClosestPoints(fromA,fromB,pointCollector1); hasResult = pointCollector1.m_hasResult; c = pointCollector1.m_pointInWorld; @@ -113,11 +149,12 @@ bool btContinuousConvexCollision::calcTimeOfImpact( if (hasResult) { btScalar dist; - dist = pointCollector1.m_distance; + dist = pointCollector1.m_distance + result.m_allowedPenetration; n = pointCollector1.m_normalOnBInWorld; - btScalar projectedLinearVelocity = relLinVel.dot(n); - + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) + return false; + //not close enough while (dist > radius) { @@ -125,19 +162,10 @@ bool btContinuousConvexCollision::calcTimeOfImpact( { result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1)); } - numIter++; - if (numIter > maxIter) - { - return false; //todo: report a failure - } btScalar dLambda = btScalar(0.); projectedLinearVelocity = relLinVel.dot(n); - //calculate safe moving fraction from distance / (linear+rotational velocity) - - //btScalar clippedDist = GEN_min(angularConservativeRadius,dist); - //btScalar clippedDist = dist; //don't report time of impact for motion away from the contact normal (or causes minor penetration) if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON) @@ -182,37 +210,27 @@ bool btContinuousConvexCollision::calcTimeOfImpact( result.DebugDraw( lambda ); btPointCollector pointCollector; - btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver); - btGjkPairDetector::ClosestPointInput input; - input.m_transformA = interpolatedTransA; - input.m_transformB = interpolatedTransB; - gjk.getClosestPoints(input,pointCollector,0); + computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector); + if (pointCollector.m_hasResult) { - if (pointCollector.m_distance < btScalar(0.)) - { - //degenerate ?! - result.m_fraction = lastLambda; - n = pointCollector.m_normalOnBInWorld; - result.m_normal=n;//.setValue(1,1,1);// = n; - result.m_hitPoint = pointCollector.m_pointInWorld; - return true; - } + dist = pointCollector.m_distance+result.m_allowedPenetration; c = pointCollector.m_pointInWorld; n = pointCollector.m_normalOnBInWorld; - dist = pointCollector.m_distance; } else { - //?? + result.reportFailure(-1, numIter); return false; } - + numIter++; + if (numIter > maxIter) + { + result.reportFailure(-2, numIter); + return false; + } } - if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON) - return false; - result.m_fraction = lambda; result.m_normal = n; result.m_hitPoint = c; @@ -221,16 +239,5 @@ bool btContinuousConvexCollision::calcTimeOfImpact( return false; -/* -//todo: - //if movement away from normal, discard result - btVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin(); - if (result.m_fraction < btScalar(1.)) - { - if (move.dot(result.m_normal) <= btScalar(0.)) - { - } - } -*/ - } + |