| /* |
| 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/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) |
| : btActivatingCollisionAlgorithm(ci,col0,col1), |
| 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); |
| |
| resultOut->setPersistentManifold(m_manifoldPtr); |
| |
| if (dist < SIMD_EPSILON) |
| { |
| btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize(); |
| |
| /// report a contact. internally this will be kept persistent, and contact reduction is done |
| |
| resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist); |
| |
| } |
| |
| if (m_ownManifold) |
| { |
| if (m_manifoldPtr->getNumContacts()) |
| { |
| resultOut->refreshContactPoints(); |
| } |
| } |
| |
| } |
| |
| 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->getHalfExtentsWithoutMargin(); |
| bounds[1] = boxShape->getHalfExtentsWithoutMargin(); |
| |
| 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; |
| |
| // set p0 and normal to a default value to shup up GCC |
| p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); |
| normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.)); |
| |
| 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; |
| |
| } |
| |