| /* |
| 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/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h" |
| |
| #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
| #include "BulletCollision/CollisionShapes/btConvexShape.h" |
| #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" |
| |
| //#include <stdio.h> |
| |
| 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_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); |
| m_ownManifold = true; |
| } |
| } |
| |
| |
| btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() |
| { |
| if (m_ownManifold) |
| { |
| if (m_manifoldPtr) |
| m_dispatcher->releaseManifold(m_manifoldPtr); |
| } |
| } |
| |
| void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| 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(); |
| |
| btTransform convexWorldTransform = convexObj->getWorldTransform(); |
| btTransform convexInPlaneTrans; |
| 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); |
| |
| btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; |
| btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected; |
| |
| hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold(); |
| resultOut->setPersistentManifold(m_manifoldPtr); |
| if (hasCollision) |
| { |
| /// report a contact. internally this will be kept persistent, and contact reduction is done |
| btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal; |
| 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(); |
| |
| |
| 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()) |
| { |
| resultOut->refreshContactPoints(); |
| } |
| } |
| } |
| |
| btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| (void)resultOut; |
| (void)dispatchInfo; |
| (void)col0; |
| (void)col1; |
| |
| //not yet |
| return btScalar(1.); |
| } |