Blender  V3.3
btConvexPlaneCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
17 
23 
24 //#include <stdio.h>
25 
26 btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
28  m_ownManifold(false),
29  m_manifoldPtr(mf),
30  m_isSwapped(isSwapped),
31  m_numPerturbationIterations(numPerturbationIterations),
32  m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
33 {
34  const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
35  const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
36 
37  if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject()))
38  {
39  m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject());
40  m_ownManifold = true;
41  }
42 }
43 
45 {
46  if (m_ownManifold)
47  {
48  if (m_manifoldPtr)
49  m_dispatcher->releaseManifold(m_manifoldPtr);
50  }
51 }
52 
53 void btConvexPlaneCollisionAlgorithm::collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
54 {
55  const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
56  const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
57 
58  btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
59  btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
60 
61  bool hasCollision = false;
62  const btVector3& planeNormal = planeShape->getPlaneNormal();
63  const btScalar& planeConstant = planeShape->getPlaneConstant();
64 
65  btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
66  btTransform convexInPlaneTrans;
67  convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
68  //now perturbe the convex-world transform
69  convexWorldTransform.getBasis() *= btMatrix3x3(perturbeRot);
70  btTransform planeInConvex;
71  planeInConvex = convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
72 
73  btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
74 
75  btVector3 vtxInPlane = convexInPlaneTrans(vtx);
76  btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
77 
78  btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
79  btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
80 
81  hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
82  resultOut->setPersistentManifold(m_manifoldPtr);
83  if (hasCollision)
84  {
86  btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
87  btVector3 pOnB = vtxInPlaneWorld;
88  resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
89  }
90 }
91 
93 {
94  (void)dispatchInfo;
95  if (!m_manifoldPtr)
96  return;
97 
98  const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
99  const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
100 
101  btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
102  btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
103 
104  bool hasCollision = false;
105  const btVector3& planeNormal = planeShape->getPlaneNormal();
106  const btScalar& planeConstant = planeShape->getPlaneConstant();
107  btTransform planeInConvex;
108  planeInConvex = convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
109  btTransform convexInPlaneTrans;
110  convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
111 
112  btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
113  btVector3 vtxInPlane = convexInPlaneTrans(vtx);
114  btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
115 
116  btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
117  btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
118 
119  hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
120  resultOut->setPersistentManifold(m_manifoldPtr);
121  if (hasCollision)
122  {
124  btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
125  btVector3 pOnB = vtxInPlaneWorld;
126  resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
127  }
128 
129  //the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
130  //they keep on rolling forever because of the additional off-center contact points
131  //so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
132  if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
133  {
134  btVector3 v0, v1;
135  btPlaneSpace1(planeNormal, v0, v1);
136  //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
137 
138  const btScalar angleLimit = 0.125f * SIMD_PI;
139  btScalar perturbeAngle;
140  btScalar radius = convexShape->getAngularMotionDisc();
141  perturbeAngle = gContactBreakingThreshold / radius;
142  if (perturbeAngle > angleLimit)
143  perturbeAngle = angleLimit;
144 
145  btQuaternion perturbeRot(v0, perturbeAngle);
146  for (int i = 0; i < m_numPerturbationIterations; i++)
147  {
148  btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations));
149  btQuaternion rotq(planeNormal, iterationAngle);
150  collideSingleContact(rotq.inverse() * perturbeRot * rotq, body0Wrap, body1Wrap, dispatchInfo, resultOut);
151  }
152  }
153 
154  if (m_ownManifold)
155  {
156  if (m_manifoldPtr->getNumContacts())
157  {
158  resultOut->refreshContactPoints();
159  }
160  }
161 }
162 
164 {
165  (void)resultOut;
166  (void)dispatchInfo;
167  (void)col0;
168  (void)col1;
169 
170  //not yet
171  return btScalar(1.);
172 }
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble v1
btCollisionObject
btScalar gContactBreakingThreshold
btPersistentManifold * m_manifoldPtr
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btPersistentManifold()
#define SIMD_PI
Definition: btScalar.h:526
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define SIMD_2_PI
Definition: btScalar.h:527
btStaticPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
SIMD_FORCE_INLINE void btPlaneSpace1(const T &n, T &p, T &q)
Definition: btVector3.h:1251
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
btConvexPlaneCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
void collideSingleContact(const btQuaternion &perturbeRot, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btManifoldResult is a helper class to manage contact results.
const btPersistentManifold * getPersistentManifold() const
void setPersistentManifold(btPersistentManifold *manifoldPtr)
btScalar m_closestPointDistanceThreshold
SIMD_FORCE_INLINE void refreshContactPoints()
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:50
SyclQueue void void size_t num_bytes void
T distance(const T &a, const T &b)
SIMD_FORCE_INLINE const btCollisionShape * getCollisionShape() const
SIMD_FORCE_INLINE const btTransform & getWorldTransform() const
SIMD_FORCE_INLINE const btCollisionObject * getCollisionObject() const