Blender  V3.3
btGjkEpaPenetrationDepthSolver.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 EPA Copyright (c) Ricardo Padrela 2006
6 
7 This software is provided 'as-is', without any express or implied warranty.
8 In no event will the authors be held liable for any damages arising from the use of this software.
9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it freely,
11 subject to the following restrictions:
12 
13 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.
14 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
15 3. This notice may not be removed or altered from any source distribution.
16 */
17 
20 
22 
24  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
25  const btTransform& transformA, const btTransform& transformB,
26  btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
27  class btIDebugDraw* debugDraw)
28 {
29  (void)debugDraw;
30  (void)v;
31  (void)simplexSolver;
32 
33  btVector3 guessVectors[] = {
34  btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
35  btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
36  btVector3(0, 0, 1),
37  btVector3(0, 1, 0),
38  btVector3(1, 0, 0),
39  btVector3(1, 1, 0),
40  btVector3(1, 1, 1),
41  btVector3(0, 1, 1),
42  btVector3(1, 0, 1),
43  };
44 
45  int numVectors = sizeof(guessVectors) / sizeof(btVector3);
46 
47  for (int i = 0; i < numVectors; i++)
48  {
49  simplexSolver.reset();
50  btVector3 guessVector = guessVectors[i];
51 
53 
54  if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
55  pConvexB, transformB,
56  guessVector, results))
57 
58  {
59  wWitnessOnA = results.witnesses[0];
60  wWitnessOnB = results.witnesses[1];
61  v = results.normal;
62  return true;
63  }
64  else
65  {
66  if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
67  {
68  wWitnessOnA = results.witnesses[0];
69  wWitnessOnB = results.witnesses[1];
70  v = results.normal;
71  return false;
72  }
73  }
74  }
75 
76  //failed to find a distance/penetration
77  wWitnessOnA.setValue(0, 0, 0);
78  wWitnessOnB.setValue(0, 0, 0);
79  v.setValue(0, 0, 0);
80  return false;
81 }
ATTR_WARN_UNUSED_RESULT const BMVert * v
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
void debugDraw(btIDebugDraw *debugDrawer)
btActionInterface interface
#define btSimplexSolverInterface
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
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
bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)
SyclQueue void void size_t num_bytes void
btVector3 witnesses[2]
Definition: btGjkEpa2.h:42
static bool Penetration(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results, bool usemargins=true)
Definition: btGjkEpa2.cpp:973
static bool Distance(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results)
Definition: btGjkEpa2.cpp:937