| /* |
| Bullet Continuous Collision Detection and Physics Library |
| 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, |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| |
| #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" |
| #include "BulletCollision/CollisionShapes/btConvexShape.h" |
| |
| #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" |
| #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" |
| #include "BulletCollision/NarrowPhaseCollision/btPointCollector.h" |
| #include "LinearMath/btTransformUtil.h" |
| |
| btSubsimplexConvexCast::btSubsimplexConvexCast (const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) |
| :m_simplexSolver(simplexSolver), |
| m_convexA(convexA),m_convexB(convexB) |
| { |
| } |
| |
| ///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases. |
| ///See discussion about this here http://continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=565 |
| #ifdef BT_USE_DOUBLE_PRECISION |
| #define MAX_ITERATIONS 64 |
| #else |
| #define MAX_ITERATIONS 32 |
| #endif |
| bool btSubsimplexConvexCast::calcTimeOfImpact( |
| const btTransform& fromA, |
| const btTransform& toA, |
| const btTransform& fromB, |
| const btTransform& toB, |
| CastResult& result) |
| { |
| |
| m_simplexSolver->reset(); |
| |
| btVector3 linVelA,linVelB; |
| linVelA = toA.getOrigin()-fromA.getOrigin(); |
| linVelB = toB.getOrigin()-fromB.getOrigin(); |
| |
| btScalar lambda = btScalar(0.); |
| |
| btTransform interpolatedTransA = fromA; |
| btTransform interpolatedTransB = fromB; |
| |
| ///take relative motion |
| btVector3 r = (linVelA-linVelB); |
| btVector3 v; |
| |
| btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis())); |
| btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis())); |
| v = supVertexA-supVertexB; |
| int maxIter = MAX_ITERATIONS; |
| |
| btVector3 n; |
| n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); |
| bool hasResult = false; |
| btVector3 c; |
| |
| btScalar lastLambda = lambda; |
| |
| |
| btScalar dist2 = v.length2(); |
| #ifdef BT_USE_DOUBLE_PRECISION |
| btScalar epsilon = btScalar(0.0001); |
| #else |
| btScalar epsilon = btScalar(0.0001); |
| #endif //BT_USE_DOUBLE_PRECISION |
| btVector3 w,p; |
| btScalar VdotR; |
| |
| while ( (dist2 > epsilon) && maxIter--) |
| { |
| supVertexA = interpolatedTransA(m_convexA->localGetSupportingVertex(-v*interpolatedTransA.getBasis())); |
| supVertexB = interpolatedTransB(m_convexB->localGetSupportingVertex(v*interpolatedTransB.getBasis())); |
| w = supVertexA-supVertexB; |
| |
| btScalar VdotW = v.dot(w); |
| |
| if (lambda > btScalar(1.0)) |
| { |
| return false; |
| } |
| |
| if ( VdotW > btScalar(0.)) |
| { |
| VdotR = v.dot(r); |
| |
| if (VdotR >= -(SIMD_EPSILON*SIMD_EPSILON)) |
| return false; |
| else |
| { |
| lambda = lambda - VdotW / VdotR; |
| //interpolate to next lambda |
| // x = s + lambda * r; |
| interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); |
| interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); |
| //m_simplexSolver->reset(); |
| //check next line |
| w = supVertexA-supVertexB; |
| lastLambda = lambda; |
| n = v; |
| hasResult = true; |
| } |
| } |
| m_simplexSolver->addVertex( w, supVertexA , supVertexB); |
| if (m_simplexSolver->closest(v)) |
| { |
| dist2 = v.length2(); |
| hasResult = true; |
| //todo: check this normal for validity |
| //n=v; |
| //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 = btScalar(0.); |
| } |
| } |
| |
| //int numiter = MAX_ITERATIONS - maxIter; |
| // printf("number of iterations: %d", numiter); |
| |
| //don't report a time of impact when moving 'away' from the hitnormal |
| |
| |
| result.m_fraction = lambda; |
| if (n.length2() >= (SIMD_EPSILON*SIMD_EPSILON)) |
| result.m_normal = n.normalized(); |
| else |
| result.m_normal = btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)); |
| |
| //don't report time of impact for motion away from the contact normal (or causes minor penetration) |
| if (result.m_normal.dot(r)>=-result.m_allowedPenetration) |
| return false; |
| |
| btVector3 hitA,hitB; |
| m_simplexSolver->compute_points(hitA,hitB); |
| result.m_hitPoint=hitB; |
| return true; |
| } |
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