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gremlin/libs/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp

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add bullet
2011-01-18 20:02:48 +00:00
#include "btInternalEdgeUtility.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
//#define DEBUG_INTERNAL_EDGE
#ifdef DEBUG_INTERNAL_EDGE
#include <stdio.h>
#endif //DEBUG_INTERNAL_EDGE
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
static btIDebugDraw* gDebugDrawer = 0;
void btSetDebugDrawer(btIDebugDraw* debugDrawer)
{
gDebugDrawer = debugDrawer;
}
static void btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
{
if (gDebugDrawer)
gDebugDrawer->drawLine(from,to,color);
}
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
static int btGetHash(int partId, int triangleIndex)
{
int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
return hash;
}
static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
{
const btVector3 refAxis0 = edgeA;
const btVector3 refAxis1 = normalA;
const btVector3 swingAxis = normalB;
btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
return angle;
}
struct btConnectivityProcessor : public btTriangleCallback
{
int m_partIdA;
int m_triangleIndexA;
btVector3* m_triangleVerticesA;
btTriangleInfoMap* m_triangleInfoMap;
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
//skip self-collisions
if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
return;
//skip duplicates (disabled for now)
//if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
// return;
//search for shared vertices and edges
int numshared = 0;
int sharedVertsA[3]={-1,-1,-1};
int sharedVertsB[3]={-1,-1,-1};
///skip degenerate triangles
btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
return;
btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
///skip degenerate triangles
if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
return;
#if 0
printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n",
m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
printf("triangle B[0] = (%f,%f,%f)\ntriangle B[1] = (%f,%f,%f)\ntriangle B[2] = (%f,%f,%f)\n",
triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
#endif
for (int i=0;i<3;i++)
{
for (int j=0;j<3;j++)
{
if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
{
sharedVertsA[numshared] = i;
sharedVertsB[numshared] = j;
numshared++;
///degenerate case
if(numshared >= 3)
return;
}
}
///degenerate case
if(numshared >= 3)
return;
}
switch (numshared)
{
case 0:
{
break;
}
case 1:
{
//shared vertex
break;
}
case 2:
{
//shared edge
//we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
{
sharedVertsA[0] = 2;
sharedVertsA[1] = 0;
int tmp = sharedVertsB[1];
sharedVertsB[1] = sharedVertsB[0];
sharedVertsB[0] = tmp;
}
int hash = btGetHash(m_partIdA,m_triangleIndexA);
btTriangleInfo* info = m_triangleInfoMap->find(hash);
if (!info)
{
btTriangleInfo tmp;
m_triangleInfoMap->insert(hash,tmp);
info = m_triangleInfoMap->find(hash);
}
int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
int otherIndexA = 3-sumvertsA;
btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
//btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
btVector3 normalA;
btVector3 normalB;
tA.calcNormal(normalA);
tB.calcNormal(normalB);
edge.normalize();
btVector3 edgeCrossA = edge.cross(normalA).normalize();
{
btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
if (edgeCrossA.dot(tmp) < 0)
{
edgeCrossA*=-1;
}
}
btVector3 edgeCrossB = edge.cross(normalB).normalize();
{
btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
if (edgeCrossB.dot(tmp) < 0)
{
edgeCrossB*=-1;
}
}
btScalar angle2 = 0;
btScalar ang4 = 0.f;
btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
btScalar len2 = calculatedEdge.length2();
btScalar correctedAngle(0);
btVector3 calculatedNormalB = normalA;
bool isConvex = false;
if (len2<m_triangleInfoMap->m_planarEpsilon)
{
angle2 = 0.f;
ang4 = 0.f;
} else
{
calculatedEdge.normalize();
btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
calculatedNormalA.normalize();
angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
ang4 = SIMD_PI-angle2;
btScalar dotA = normalA.dot(edgeCrossB);
///@todo: check if we need some epsilon, due to floating point imprecision
isConvex = (dotA<0.);
correctedAngle = isConvex ? ang4 : -ang4;
btQuaternion orn2(calculatedEdge,-correctedAngle);
calculatedNormalB = btMatrix3x3(orn2)*normalA;
}
//alternatively use
//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
switch (sumvertsA)
{
case 1:
{
btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
btScalar bla = computedNormalB.dot(normalB);
if (bla<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif//DEBUG_INTERNAL_EDGE
info->m_edgeV0V1Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V0V1_CONVEX;
break;
}
case 2:
{
btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(normalB)<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV2V0Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V2V0_CONVEX;
break;
}
case 3:
{
btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(normalB)<0)
{
info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
computedNormalB*=-1;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV1V2Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V1V2_CONVEX;
break;
}
}
break;
}
default:
{
// printf("warning: duplicate triangle\n");
}
}
}
};
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
{
//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
if (trimeshShape->getTriangleInfoMap())
return;
trimeshShape->setTriangleInfoMap(triangleInfoMap);
btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
const btVector3& meshScaling = meshInterface->getScaling();
for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
{
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
}
}
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
aabbMax.setMax(triangleVerts[1]);
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
btConnectivityProcessor connectivityProcessor;
connectivityProcessor.m_partIdA = partId;
connectivityProcessor.m_triangleIndexA = triangleIndex;
connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
}
}
}
// Given a point and a line segment (defined by two points), compute the closest point
// in the line. Cap the point at the endpoints of the line segment.
void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
{
btVector3 lineDelta = line1 - line0;
// Handle degenerate lines
if ( lineDelta.fuzzyZero())
{
nearestPoint = line0;
}
else
{
btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
// Clamp the point to conform to the segment's endpoints
if ( delta < 0 )
delta = 0;
else if ( delta > 1 )
delta = 1;
nearestPoint = line0 + lineDelta*delta;
}
}
bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
{
btVector3 tri_normal = tri_normal_org;
//we only have a local triangle normal, not a local contact normal -> only normal in world space...
//either compute the current angle all in local space, or all in world space
btVector3 edgeCross = edge.cross(tri_normal).normalize();
btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
if (correctedEdgeAngle<0)
{
if (curAngle < correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
if (correctedEdgeAngle>=0)
{
if (curAngle > correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
return false;
}
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
int hash = btGetHash(partId0,index0);
btTriangleInfo* info = triangleInfoMapPtr->find(hash);
if (!info)
return;
btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
btVector3 v0,v1,v2;
tri_shape->getVertex(0,v0);
tri_shape->getVertex(1,v1);
tri_shape->getVertex(2,v2);
btVector3 center = (v0+v1+v2)*btScalar(1./3.);
btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
btVector3 tri_normal;
tri_shape->calcNormal(tri_normal);
//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
btVector3 nearest;
btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
btVector3 contact = cp.m_localPointB;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
const btTransform& tr = colObj0->getWorldTransform();
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
bool isNearEdge = false;
int numConcaveEdgeHits = 0;
int numConvexEdgeHits = 0;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
btVector3 edge(v0-v1);
isNearEdge = true;
if (info->m_edgeV0V1Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV0V1Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal. (what about cp.m_distance1?)
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
btNearestPointInLineSegment(contact,v1,v2,nearest);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
if ((info->m_edgeV1V2Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 edge(v1-v2);
isNearEdge = true;
if (info->m_edgeV1V2Angle == btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV1V2Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
btNearestPointInLineSegment(contact,v2,v0,nearest);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
if ((info->m_edgeV2V0Angle)< SIMD_2_PI)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 edge(v2-v0);
if (info->m_edgeV2V0Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV2V0Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
// printf("hitting convex edge\n");
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
#ifdef DEBUG_INTERNAL_EDGE
{
btVector3 color(0,1,1);
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
}
#endif //DEBUG_INTERNAL_EDGE
if (isNearEdge)
{
if (numConcaveEdgeHits>0)
{
if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
{
//fix tri_normal so it pointing the same direction as the current local contact normal
if (tri_normal.dot(localContactNormalOnB) < 0)
{
tri_normal *= -1;
}
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
} else
{
//modify the normal to be the triangle normal (or backfacing normal)
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing);
}
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
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