250 lines
7.5 KiB
C++
250 lines
7.5 KiB
C++
/*
|
|
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 "btSphereBoxCollisionAlgorithm.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
|
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
|
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
//#include <stdio.h>
|
|
|
|
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
|
|
: btCollisionAlgorithm(ci),
|
|
m_ownManifold(false),
|
|
m_manifoldPtr(mf),
|
|
m_isSwapped(isSwapped)
|
|
{
|
|
btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
|
|
btCollisionObject* boxObj = m_isSwapped? col0 : col1;
|
|
|
|
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
|
|
{
|
|
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
|
|
m_ownManifold = true;
|
|
}
|
|
}
|
|
|
|
|
|
btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
|
|
{
|
|
if (m_ownManifold)
|
|
{
|
|
if (m_manifoldPtr)
|
|
m_dispatcher->releaseManifold(m_manifoldPtr);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
|
{
|
|
(void)dispatchInfo;
|
|
(void)resultOut;
|
|
if (!m_manifoldPtr)
|
|
return;
|
|
|
|
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
|
|
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
|
|
|
|
|
|
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
|
|
|
|
btVector3 normalOnSurfaceB;
|
|
btVector3 pOnBox,pOnSphere;
|
|
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
|
|
btScalar radius = sphere0->getRadius();
|
|
|
|
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
|
|
|
|
if (dist < SIMD_EPSILON)
|
|
{
|
|
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
|
|
|
|
/// report a contact. internally this will be kept persistent, and contact reduction is done
|
|
|
|
resultOut->setPersistentManifold(m_manifoldPtr);
|
|
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
|
|
|
|
}
|
|
|
|
|
|
|
|
}
|
|
|
|
btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
|
{
|
|
(void)resultOut;
|
|
(void)dispatchInfo;
|
|
(void)col0;
|
|
(void)col1;
|
|
|
|
//not yet
|
|
return btScalar(1.);
|
|
}
|
|
|
|
|
|
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
|
|
{
|
|
|
|
btScalar margins;
|
|
btVector3 bounds[2];
|
|
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
|
|
|
|
bounds[0] = -boxShape->getHalfExtents();
|
|
bounds[1] = boxShape->getHalfExtents();
|
|
|
|
margins = boxShape->getMargin();//also add sphereShape margin?
|
|
|
|
const btTransform& m44T = boxObj->getWorldTransform();
|
|
|
|
btVector3 boundsVec[2];
|
|
btScalar fPenetration;
|
|
|
|
boundsVec[0] = bounds[0];
|
|
boundsVec[1] = bounds[1];
|
|
|
|
btVector3 marginsVec( margins, margins, margins );
|
|
|
|
// add margins
|
|
bounds[0] += marginsVec;
|
|
bounds[1] -= marginsVec;
|
|
|
|
/////////////////////////////////////////////////
|
|
|
|
btVector3 tmp, prel, n[6], normal, v3P;
|
|
btScalar fSep = btScalar(10000000.0), fSepThis;
|
|
|
|
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
|
|
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
|
|
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
|
|
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
|
|
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
|
|
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
|
|
|
|
// convert point in local space
|
|
prel = m44T.invXform( sphereCenter);
|
|
|
|
bool bFound = false;
|
|
|
|
v3P = prel;
|
|
|
|
for (int i=0;i<6;i++)
|
|
{
|
|
int j = i<3? 0:1;
|
|
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
|
|
{
|
|
v3P = v3P - n[i]*fSepThis;
|
|
bFound = true;
|
|
}
|
|
}
|
|
|
|
//
|
|
|
|
if ( bFound )
|
|
{
|
|
bounds[0] = boundsVec[0];
|
|
bounds[1] = boundsVec[1];
|
|
|
|
normal = (prel - v3P).normalize();
|
|
pointOnBox = v3P + normal*margins;
|
|
v3PointOnSphere = prel - normal*fRadius;
|
|
|
|
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
|
|
{
|
|
return btScalar(1.0);
|
|
}
|
|
|
|
// transform back in world space
|
|
tmp = m44T( pointOnBox);
|
|
pointOnBox = tmp;
|
|
tmp = m44T( v3PointOnSphere);
|
|
v3PointOnSphere = tmp;
|
|
btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
|
|
|
|
//if this fails, fallback into deeper penetration case, below
|
|
if (fSeps2 > SIMD_EPSILON)
|
|
{
|
|
fSep = - btSqrt(fSeps2);
|
|
normal = (pointOnBox-v3PointOnSphere);
|
|
normal *= btScalar(1.)/fSep;
|
|
}
|
|
|
|
return fSep;
|
|
}
|
|
|
|
//////////////////////////////////////////////////
|
|
// Deep penetration case
|
|
|
|
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
|
|
|
|
bounds[0] = boundsVec[0];
|
|
bounds[1] = boundsVec[1];
|
|
|
|
if ( fPenetration <= btScalar(0.0) )
|
|
return (fPenetration-margins);
|
|
else
|
|
return btScalar(1.0);
|
|
}
|
|
|
|
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
|
|
{
|
|
|
|
btVector3 bounds[2];
|
|
|
|
bounds[0] = aabbMin;
|
|
bounds[1] = aabbMax;
|
|
|
|
btVector3 p0, tmp, prel, n[6], normal;
|
|
btScalar fSep = btScalar(-10000000.0), fSepThis;
|
|
|
|
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
|
|
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
|
|
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
|
|
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
|
|
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
|
|
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
|
|
|
|
const btTransform& m44T = boxObj->getWorldTransform();
|
|
|
|
// convert point in local space
|
|
prel = m44T.invXform( sphereCenter);
|
|
|
|
///////////
|
|
|
|
for (int i=0;i<6;i++)
|
|
{
|
|
int j = i<3 ? 0:1;
|
|
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0);
|
|
if ( fSepThis > fSep )
|
|
{
|
|
p0 = bounds[j]; normal = (btVector3&)n[i];
|
|
fSep = fSepThis;
|
|
}
|
|
}
|
|
|
|
pointOnBox = prel - normal*(normal.dot((prel-p0)));
|
|
v3PointOnSphere = pointOnBox + normal*fSep;
|
|
|
|
// transform back in world space
|
|
tmp = m44T( pointOnBox);
|
|
pointOnBox = tmp;
|
|
tmp = m44T( v3PointOnSphere); v3PointOnSphere = tmp;
|
|
normal = (pointOnBox-v3PointOnSphere).normalize();
|
|
|
|
return fSep;
|
|
|
|
}
|
|
|