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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 "SubSimplexConvexCast.h"
#include "CollisionShapes/ConvexShape.h"
#include "CollisionShapes/MinkowskiSumShape.h"
#include "NarrowPhaseCollision/SimplexSolverInterface.h"
SubsimplexConvexCast::SubsimplexConvexCast (ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),m_convexB(convexB)
{
}
#define MAX_ITERATIONS 1000
bool SubsimplexConvexCast::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;
m_simplexSolver->reset();
convex->SetTransformB(SimdTransform(rayFromLocalA.getBasis()));
float radius = 0.01f;
SimdScalar lambda = 0.f;
SimdVector3 s = rayFromLocalA.getOrigin();
SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
SimdVector3 x = s;
SimdVector3 v;
SimdVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
v = x - arbitraryPoint;
int maxIter = MAX_ITERATIONS;
SimdVector3 n;
n.setValue(0.f,0.f,0.f);
bool hasResult = false;
SimdVector3 c;
float lastLambda = lambda;
float dist2 = v.length2();
float epsilon = 0.0001f;
SimdVector3 w,p;
float VdotR;
while ( (dist2 > epsilon) && maxIter--)
{
p = convex->LocalGetSupportingVertex( v);
w = x - p;
float VdotW = v.dot(w);
if ( VdotW > 0.f)
{
VdotR = v.dot(r);
if (VdotR >= 0.f)
return false;
else
{
lambda = lambda - VdotW / VdotR;
x = s + lambda * r;
m_simplexSolver->reset();
//check next line
w = x-p;
lastLambda = lambda;
n = v;
hasResult = true;
}
}
m_simplexSolver->addVertex( w, x , p);
if (m_simplexSolver->closest(v))
{
dist2 = v.length2();
hasResult = true;
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
//printf("DIST2=%f\n",dist2);
//printf("numverts = %i\n",m_simplexSolver->numVertices());
} else
{
dist2 = 0.f;
}
}
int numiter = MAX_ITERATIONS - maxIter;
// printf("number of iterations: %d", numiter);
result.m_fraction = lambda;
result.m_normal = n;
return true;
}
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