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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#include "GjkConvexCast.h"
#include "CollisionShapes/SphereShape.h"
#include "CollisionShapes/MinkowskiSumShape.h"
#include "GjkPairDetector.h"
#include "PointCollector.h"
GjkConvexCast::GjkConvexCast(ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),
m_convexB(convexB)
{
}
bool GjkConvexCast::calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
CastResult& result)
{
MinkowskiSumShape combi(m_convexA,m_convexB);
MinkowskiSumShape* convex = &combi;
SimdTransform rayFromLocalA;
SimdTransform rayToLocalA;
rayFromLocalA = fromA.inverse()* fromB;
rayToLocalA = toA.inverse()* toB;
SimdTransform trA,trB;
trA = SimdTransform(fromA);
trB = SimdTransform(fromB);
trA.setOrigin(SimdPoint3(0,0,0));
trB.setOrigin(SimdPoint3(0,0,0));
convex->SetTransformA(trA);
convex->SetTransformB(trB);
float radius = 0.01f;
SimdScalar lambda = 0.f;
SimdVector3 s = rayFromLocalA.getOrigin();
SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
SimdVector3 x = s;
SimdVector3 n;
n.setValue(0,0,0);
bool hasResult = false;
SimdVector3 c;
float lastLambda = lambda;
//first solution, using GJK
//no penetration support for now, perhaps pass a pointer when we really want it
ConvexPenetrationDepthSolver* penSolverPtr = 0;
SimdTransform identityTrans;
identityTrans.setIdentity();
SphereShape raySphere(0.0f);
raySphere.SetMargin(0.f);
SimdTransform sphereTr;
sphereTr.setIdentity();
sphereTr.setOrigin( rayFromLocalA.getOrigin());
result.DrawCoordSystem(sphereTr);
{
PointCollector pointCollector1;
GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
GjkPairDetector::ClosestPointInput input;
input.m_transformA = sphereTr;
input.m_transformB = identityTrans;
gjk.GetClosestPoints(input,pointCollector1);
hasResult = pointCollector1.m_hasResult;
c = pointCollector1.m_pointInWorld;
n = pointCollector1.m_normalOnBInWorld;
}
if (hasResult)
{
SimdScalar dist;
dist = (c-x).length();
//not close enough
while (dist > radius)
{
n = x - c;
SimdScalar nDotr = n.dot(r);
if (nDotr >= 0.f)
return false;
lambda = lambda - n.dot(n) / nDotr;
if (lambda <= lastLambda)
break;
lastLambda = lambda;
x = s + lambda * r;
sphereTr.setOrigin( x );
result.DrawCoordSystem(sphereTr);
PointCollector pointCollector;
GjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr);
GjkPairDetector::ClosestPointInput input;
input.m_transformA = sphereTr;
input.m_transformB = identityTrans;
gjk.GetClosestPoints(input,pointCollector);
if (pointCollector.m_hasResult)
{
if (pointCollector.m_distance < 0.f)
{
//degeneracy, report a hit
result.m_fraction = lastLambda;
result.m_normal = n;
return true;
}
c = pointCollector.m_pointInWorld;
dist = (c-x).length();
} else
{
//??
return false;
}
}
result.m_fraction = lambda;
result.m_normal = n;
return true;
}
return false;
}
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