Bullet Collision Detection & Physics Library: btConvexConvexAlgorithm.cpp Source File

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btConvexConvexAlgorithm.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
19 //define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
20 //#define ZERO_MARGIN
21
22 #include "btConvexConvexAlgorithm.h"
23
24 //#include <stdio.h>
25 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
26 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
27 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
28 #include "BulletCollision/CollisionShapes/btConvexShape.h"
29 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
30 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
31
32
33
34 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
35 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
36 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
37 #include "BulletCollision/CollisionShapes/btBoxShape.h"
38 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
39
40 #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
41 #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
42 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
43 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
44
45
46
47 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
48 #include "BulletCollision/CollisionShapes/btSphereShape.h"
49
50 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
51
52 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
53 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
54 #include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
55 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
56
58
59
60
61 static SIMD_FORCE_INLINE void segmentsClosestPoints(
62 btVector3& ptsVector,
63 btVector3& offsetA,
64 btVector3& offsetB,
65 btScalar& tA, btScalar& tB,
66 const btVector3& translation,
67 const btVector3& dirA, btScalar hlenA,
68 const btVector3& dirB, btScalar hlenB )
69 {
70 // compute the parameters of the closest points on each line segment
71
72 btScalar dirA_dot_dirB = btDot(dirA,dirB);
73 btScalar dirA_dot_trans = btDot(dirA,translation);
74 btScalar dirB_dot_trans = btDot(dirB,translation);
75
76 btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
77
78 if ( denom == 0.0f ) {
79 tA = 0.0f;
80 } else {
81 tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
82 if ( tA < -hlenA )
83 tA = -hlenA;
84 else if ( tA > hlenA )
85 tA = hlenA;
86 }
87
88 tB = tA * dirA_dot_dirB - dirB_dot_trans;
89
90 if ( tB < -hlenB ) {
91 tB = -hlenB;
92 tA = tB * dirA_dot_dirB + dirA_dot_trans;
93
94 if ( tA < -hlenA )
95 tA = -hlenA;
96 else if ( tA > hlenA )
97 tA = hlenA;
98 } else if ( tB > hlenB ) {
99 tB = hlenB;
100 tA = tB * dirA_dot_dirB + dirA_dot_trans;
101
102 if ( tA < -hlenA )
103 tA = -hlenA;
104 else if ( tA > hlenA )
105 tA = hlenA;
106 }
107
108 // compute the closest points relative to segment centers.
109
110 offsetA = dirA * tA;
111 offsetB = dirB * tB;
112
113 ptsVector = translation - offsetA + offsetB;
114 }
115
116
117 static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
118 btVector3& normalOnB,
119 btVector3& pointOnB,
120 btScalar capsuleLengthA,
121 btScalar capsuleRadiusA,
122 btScalar capsuleLengthB,
123 btScalar capsuleRadiusB,
124 int capsuleAxisA,
125 int capsuleAxisB,
126 const btTransform& transformA,
127 const btTransform& transformB,
128 btScalar distanceThreshold )
129 {
130 btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
131 btVector3 translationA = transformA.getOrigin();
132 btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
133 btVector3 translationB = transformB.getOrigin();
134
135 // translation between centers
136
137 btVector3 translation = translationB - translationA;
138
139 // compute the closest points of the capsule line segments
140
141 btVector3 ptsVector; // the vector between the closest points
142
143 btVector3 offsetA, offsetB; // offsets from segment centers to their closest points
144 btScalar tA, tB; // parameters on line segment
145
146 segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation,
147 directionA, capsuleLengthA, directionB, capsuleLengthB );
148
149 btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
150
151 if ( distance > distanceThreshold )
152 return distance;
153
154 btScalar lenSqr = ptsVector.length2();
155 if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON))
156 {
157 //degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
158 btVector3 q;
159 btPlaneSpace1(directionA,normalOnB,q);
160 } else
161 {
162 // compute the contact normal
163 normalOnB = ptsVector*-btRecipSqrt(lenSqr);
164 }
165 pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB;
166
167 return distance;
168 }
169
170
171
172
173
174
175
177
178
179
180
181
182 btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
183 {
184 m_numPerturbationIterations = 0;
185 m_minimumPointsPerturbationThreshold = 3;
186 m_simplexSolver = simplexSolver;
187 m_pdSolver = pdSolver;
188 }
189
190 btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
191 {
192 }
193
194 btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
195 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
196 m_simplexSolver(simplexSolver),
197 m_pdSolver(pdSolver),
198 m_ownManifold (false),
199 m_manifoldPtr(mf),
200 m_lowLevelOfDetail(false),
201 #ifdef USE_SEPDISTANCE_UTIL2
202 m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
203 (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
204 #endif
205 m_numPerturbationIterations(numPerturbationIterations),
206 m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
207 {
208 (void)body0Wrap;
209 (void)body1Wrap;
210 }
211
212
213
214
215 btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
216 {
217 if (m_ownManifold)
218 {
219 if (m_manifoldPtr)
220 m_dispatcher->releaseManifold(m_manifoldPtr);
221 }
222 }
223
224 void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
225 {
226 m_lowLevelOfDetail = useLowLevel;
227 }
228
229
230 struct btPerturbedContactResult : public btManifoldResult
231 {
232 btManifoldResult* m_originalManifoldResult;
233 btTransform m_transformA;
234 btTransform m_transformB;
235 btTransform m_unPerturbedTransform;
236 bool m_perturbA;
237 btIDebugDraw* m_debugDrawer;
238
239
240 btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
241 :m_originalManifoldResult(originalResult),
242 m_transformA(transformA),
243 m_transformB(transformB),
244 m_unPerturbedTransform(unPerturbedTransform),
245 m_perturbA(perturbA),
246 m_debugDrawer(debugDrawer)
247 {
248 }
249 virtual ~ btPerturbedContactResult()
250 {
251 }
252
253 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
254 {
255 btVector3 endPt,startPt;
256 btScalar newDepth;
257 btVector3 newNormal;
258
259 if (m_perturbA)
260 {
261 btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
262 endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
263 newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
264 startPt = endPt+normalOnBInWorld*newDepth;
265 } else
266 {
267 endPt = pointInWorld + normalOnBInWorld*orgDepth;
268 startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
269 newDepth = (endPt - startPt).dot(normalOnBInWorld);
270
271 }
272
273 //#define DEBUG_CONTACTS 1
274 #ifdef DEBUG_CONTACTS
275 m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
276 m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
277 m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
278 #endif //DEBUG_CONTACTS
279
280
281 m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
282 }
283
284 };
285
286 extern btScalar gContactBreakingThreshold;
287
288
289 //
290 // Convex-Convex collision algorithm
291 //
292 void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
293 {
294
295 if (!m_manifoldPtr)
296 {
297 //swapped?
298 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
299 m_ownManifold = true;
300 }
301 resultOut->setPersistentManifold(m_manifoldPtr);
302
303 //comment-out next line to test multi-contact generation
304 //resultOut->getPersistentManifold()->clearManifold();
305
306
307 const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
308 const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
309
310 btVector3 normalOnB;
311 btVector3 pointOnBWorld;
312 #ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
313 if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
314 {
315 btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
316 btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
317 // btVector3 localScalingA = capsuleA->getLocalScaling();
318 // btVector3 localScalingB = capsuleB->getLocalScaling();
319
320 btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
321
322 btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
323 capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
324 body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
325
326 if (dist<threshold)
327 {
328 btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
329 resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
330 }
331 resultOut->refreshContactPoints();
332 return;
333 }
334 #endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
335
336
337
338
339 #ifdef USE_SEPDISTANCE_UTIL2
340 if (dispatchInfo.m_useConvexConservativeDistanceUtil)
341 {
342 m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
343 }
344
345 if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
346 #endif //USE_SEPDISTANCE_UTIL2
347
348 {
349
350
351 btGjkPairDetector::ClosestPointInput input;
352
353 btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
354 //TODO: if (dispatchInfo.m_useContinuous)
355 gjkPairDetector.setMinkowskiA(min0);
356 gjkPairDetector.setMinkowskiB(min1);
357
358 #ifdef USE_SEPDISTANCE_UTIL2
359 if (dispatchInfo.m_useConvexConservativeDistanceUtil)
360 {
361 input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
362 } else
363 #endif //USE_SEPDISTANCE_UTIL2
364 {
365 //if (dispatchInfo.m_convexMaxDistanceUseCPT)
366 //{
367 // input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
368 //} else
369 //{
370 input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
371 // }
372
373 input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
374 }
375
376 input.m_transformA = body0Wrap->getWorldTransform();
377 input.m_transformB = body1Wrap->getWorldTransform();
378
379
380
381
382
383 #ifdef USE_SEPDISTANCE_UTIL2
384 btScalar sepDist = 0.f;
385 if (dispatchInfo.m_useConvexConservativeDistanceUtil)
386 {
387 sepDist = gjkPairDetector.getCachedSeparatingDistance();
388 if (sepDist>SIMD_EPSILON)
389 {
390 sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
391 //now perturbe directions to get multiple contact points
392
393 }
394 }
395 #endif //USE_SEPDISTANCE_UTIL2
396
397 if (min0->isPolyhedral() && min1->isPolyhedral())
398 {
399
400
401 struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
402 {
403 virtual void setShapeIdentifiersA(int partId0,int index0){}
404 virtual void setShapeIdentifiersB(int partId1,int index1){}
405 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
406 {
407 }
408 };
409
410
411 struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
412 {
413 btDiscreteCollisionDetectorInterface::Result* m_originalResult;
414 btVector3 m_reportedNormalOnWorld;
415 btScalar m_marginOnA;
416 btScalar m_marginOnB;
417 btScalar m_reportedDistance;
418
419 bool m_foundResult;
420 btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
421 :m_originalResult(result),
422 m_marginOnA(marginOnA),
423 m_marginOnB(marginOnB),
424 m_foundResult(false)
425 {
426 }
427
428 virtual void setShapeIdentifiersA(int partId0,int index0){}
429 virtual void setShapeIdentifiersB(int partId1,int index1){}
430 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg)
431 {
432 m_reportedDistance = depthOrg;
433 m_reportedNormalOnWorld = normalOnBInWorld;
434
435 btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
436 m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
437 if (m_reportedDistance<0.f)
438 {
439 m_foundResult = true;
440 }
441 m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
442 }
443 };
444
445
446 btDummyResult dummy;
447
449
450 btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
451 btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
452
453 btWithoutMarginResult withoutMargin(resultOut, min0Margin,min1Margin);
454
455 btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
456 btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
457 if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
458 {
459
460
461
462
463 btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
464
465 btScalar minDist = -1e30f;
466 btVector3 sepNormalWorldSpace;
467 bool foundSepAxis = true;
468
469 if (dispatchInfo.m_enableSatConvex)
470 {
471 foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
472 *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
473 body0Wrap->getWorldTransform(),
474 body1Wrap->getWorldTransform(),
475 sepNormalWorldSpace,*resultOut);
476 } else
477 {
478 #ifdef ZERO_MARGIN
479 gjkPairDetector.setIgnoreMargin(true);
480 gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
481 #else
482
483
484 gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
485 //gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
486 #endif //ZERO_MARGIN
487 //btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
488 //if (l2>SIMD_EPSILON)
489 {
490 sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
491 //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
492 minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
493
494 #ifdef ZERO_MARGIN
495 foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
496 #else
497 foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
498 #endif
499 }
500 }
501 if (foundSepAxis)
502 {
503
504 // printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
505
506 btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
507 body0Wrap->getWorldTransform(),
508 body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
509
510 }
511 if (m_ownManifold)
512 {
513 resultOut->refreshContactPoints();
514 }
515 return;
516
517 } else
518 {
519 //we can also deal with convex versus triangle (without connectivity data)
520 if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
521 {
522
523 btVertexArray vertices;
524 btTriangleShape* tri = (btTriangleShape*)polyhedronB;
525 vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
526 vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
527 vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
528
529 //tri->initializePolyhedralFeatures();
530
531 btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
532
533 btVector3 sepNormalWorldSpace;
534 btScalar minDist =-1e30f;
535 btScalar maxDist = threshold;
536
537 bool foundSepAxis = false;
538 if (0)
539 {
540 polyhedronB->initializePolyhedralFeatures();
541 foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
542 *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
543 body0Wrap->getWorldTransform(),
544 body1Wrap->getWorldTransform(),
545 sepNormalWorldSpace,*resultOut);
546 // printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
547
548 } else
549 {
550 #ifdef ZERO_MARGIN
551 gjkPairDetector.setIgnoreMargin(true);
552 gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
553 #else
554 gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
555 #endif//ZERO_MARGIN
556
557 btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
558 if (l2>SIMD_EPSILON)
559 {
560 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
561 //minDist = gjkPairDetector.getCachedSeparatingDistance();
562 //maxDist = threshold;
563 minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
564 foundSepAxis = true;
565 }
566 }
567
568
569 if (foundSepAxis)
570 {
571 btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
572 body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
573 }
574
575
576 if (m_ownManifold)
577 {
578 resultOut->refreshContactPoints();
579 }
580
581 return;
582 }
583
584 }
585
586
587 }
588
589 gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
590
591 //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
592
593 //perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
594 if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
595 {
596
597 int i;
598 btVector3 v0,v1;
599 btVector3 sepNormalWorldSpace;
600 btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
601
602 if (l2>SIMD_EPSILON)
603 {
604 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
605
606 btPlaneSpace1(sepNormalWorldSpace,v0,v1);
607
608
609 bool perturbeA = true;
610 const btScalar angleLimit = 0.125f * SIMD_PI;
611 btScalar perturbeAngle;
612 btScalar radiusA = min0->getAngularMotionDisc();
613 btScalar radiusB = min1->getAngularMotionDisc();
614 if (radiusA < radiusB)
615 {
616 perturbeAngle = gContactBreakingThreshold /radiusA;
617 perturbeA = true;
618 } else
619 {
620 perturbeAngle = gContactBreakingThreshold / radiusB;
621 perturbeA = false;
622 }
623 if ( perturbeAngle > angleLimit )
624 perturbeAngle = angleLimit;
625
626 btTransform unPerturbedTransform;
627 if (perturbeA)
628 {
629 unPerturbedTransform = input.m_transformA;
630 } else
631 {
632 unPerturbedTransform = input.m_transformB;
633 }
634
635 for ( i=0;i<m_numPerturbationIterations;i++)
636 {
637 if (v0.length2()>SIMD_EPSILON)
638 {
639 btQuaternion perturbeRot(v0,perturbeAngle);
640 btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
641 btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
642
643
644 if (perturbeA)
645 {
646 input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
647 input.m_transformB = body1Wrap->getWorldTransform();
648 #ifdef DEBUG_CONTACTS
649 dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
650 #endif //DEBUG_CONTACTS
651 } else
652 {
653 input.m_transformA = body0Wrap->getWorldTransform();
654 input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
655 #ifdef DEBUG_CONTACTS
656 dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
657 #endif
658 }
659
660 btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
661 gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
662 }
663 }
664 }
665 }
666
667
668
669 #ifdef USE_SEPDISTANCE_UTIL2
670 if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
671 {
672 m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
673 }
674 #endif //USE_SEPDISTANCE_UTIL2
675
676
677 }
678
679 if (m_ownManifold)
680 {
681 resultOut->refreshContactPoints();
682 }
683
684 }
685
686
687
688 bool disableCcd = false;
689 btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
690 {
691 (void)resultOut;
692 (void)dispatchInfo;
694
697 btScalar resultFraction = btScalar(1.);
698
699
700 btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
701 btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
702
703 if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
704 squareMot1 < col1->getCcdSquareMotionThreshold())
705 return resultFraction;
706
707 if (disableCcd)
708 return btScalar(1.);
709
710
711 //An adhoc way of testing the Continuous Collision Detection algorithms
712 //One object is approximated as a sphere, to simplify things
713 //Starting in penetration should report no time of impact
714 //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
715 //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
716
717
719 {
720 btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
721
722 btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
723 btConvexCast::CastResult result;
724 btVoronoiSimplexSolver voronoiSimplex;
725 //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
727 btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
728 //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
729 if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
730 col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
731 {
732
733 //store result.m_fraction in both bodies
734
735 if (col0->getHitFraction()> result.m_fraction)
736 col0->setHitFraction( result.m_fraction );
737
738 if (col1->getHitFraction() > result.m_fraction)
739 col1->setHitFraction( result.m_fraction);
740
741 if (resultFraction > result.m_fraction)
742 resultFraction = result.m_fraction;
743
744 }
745
746
747
748
749 }
750
752 {
753 btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
754
755 btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
756 btConvexCast::CastResult result;
757 btVoronoiSimplexSolver voronoiSimplex;
758 //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
760 btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
761 //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
762 if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
763 col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
764 {
765
766 //store result.m_fraction in both bodies
767
768 if (col0->getHitFraction() > result.m_fraction)
769 col0->setHitFraction( result.m_fraction);
770
771 if (col1->getHitFraction() > result.m_fraction)
772 col1->setHitFraction( result.m_fraction);
773
774 if (resultFraction > result.m_fraction)
775 resultFraction = result.m_fraction;
776
777 }
778 }
779
780 return resultFraction;
781
782 }
783
btMinkowskiPenetrationDepthSolver.h
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:494
btManifoldResult::getPersistentManifold
const btPersistentManifold * getPersistentManifold() const
Definition: btManifoldResult.h:75
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:274
btCollisionShape::getShapeType
int getShapeType() const
Definition: btCollisionShape.h:112
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:280
btCollisionObject::getCcdSweptSphereRadius
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:440
btPerturbedContactResult
Definition: btConvexConvexAlgorithm.cpp:230
btCapsuleShape.h
btAlignedObjectArray< btVector3 >
btPersistentManifold::getContactBreakingThreshold
btScalar getContactBreakingThreshold() const
Definition: btPersistentManifold.cpp:240
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:31
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btConvexConvexAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConvexAlgorithm.cpp:292
btConvexConvexAlgorithm::CreateFunc::CreateFunc
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
Definition: btConvexConvexAlgorithm.cpp:182
btManifoldResult.h
btGjkPairDetector::getCachedSeparatingDistance
btScalar getCachedSeparatingDistance() const
Definition: btGjkPairDetector.h:84
btGjkPairDetector::setMinkowskiB
void setMinkowskiB(const btConvexShape *minkB)
Definition: btGjkPairDetector.h:71
btBoxShape.h
btPerturbedContactResult::m_transformB
btTransform m_transformB
Definition: btConvexConvexAlgorithm.cpp:234
btDispatcherInfo::m_convexConservativeDistanceThreshold
btScalar m_convexConservativeDistanceThreshold
Definition: btDispatcher.h:64
btTransform::setBasis
void setBasis(const btMatrix3x3 &basis)
Set the rotational element by btMatrix3x3.
Definition: btTransform.h:159
btConvexConvexAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:54
btIDebugDraw::drawLine
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:70
btCapsuleShape
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
Definition: btCapsuleShape.h:26
segmentsClosestPoints
static void segmentsClosestPoints(btVector3 &ptsVector, btVector3 &offsetA, btVector3 &offsetB, btScalar &tA, btScalar &tB, const btVector3 &translation, const btVector3 &dirA, btScalar hlenA, const btVector3 &dirB, btScalar hlenB)
Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ra...
Definition: btConvexConvexAlgorithm.cpp:61
btPlaneSpace1
void btPlaneSpace1(const T &n, T &p, T &q)
Definition: btVector3.h:1272
btAssert
#define btAssert(x)
Definition: btScalar.h:113
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btCollisionObject::setHitFraction
void setHitFraction(btScalar hitFraction)
Definition: btCollisionObject.h:423
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:99
btGjkPairDetector::setMinkowskiA
void setMinkowskiA(const btConvexShape *minkA)
Definition: btGjkPairDetector.h:66
capsuleCapsuleDistance
static btScalar capsuleCapsuleDistance(btVector3 &normalOnB, btVector3 &pointOnB, btScalar capsuleLengthA, btScalar capsuleRadiusA, btScalar capsuleLengthB, btScalar capsuleRadiusB, int capsuleAxisA, int capsuleAxisB, const btTransform &transformA, const btTransform &transformB, btScalar distanceThreshold)
Definition: btConvexConvexAlgorithm.cpp:117
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
Definition: btSphereShape.h:22
btTriangleShape.h
btConvexConvexAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexConvexAlgorithm.h:50
btCapsuleShape::getRadius
btScalar getRadius() const
Definition: btCapsuleShape.h:84
btDispatcherInfo::m_useConvexConservativeDistanceUtil
bool m_useConvexConservativeDistanceUtil
Definition: btDispatcher.h:63
btTriangleShape
Definition: btTriangleShape.h:22
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btMatrix3x3::getColumn
btVector3 getColumn(int i) const
Get a column of the matrix as a vector.
Definition: btMatrix3x3.h:134
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:49
BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:31
btConvexConvexAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvexConvexAlgorithm.h:90
btCapsuleShape::getUpAxis
int getUpAxis() const
Definition: btCapsuleShape.h:79
btBroadphaseInterface.h
btConvexShape.h
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:60
btGjkPairDetector.h
btConvexConvexAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvexConvexAlgorithm.h:45
btPerturbedContactResult::m_unPerturbedTransform
btTransform m_unPerturbedTransform
Definition: btConvexConvexAlgorithm.cpp:235
btPerturbedContactResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar orgDepth)
Definition: btConvexConvexAlgorithm.cpp:253
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:50
btCollisionObject::getCcdSquareMotionThreshold
btScalar getCcdSquareMotionThreshold() const
Definition: btCollisionObject.h:456
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition: btCollisionObject.h:360
btGjkConvexCast
GjkConvexCast performs a raycast on a convex object using support mapping.
Definition: btGjkConvexCast.h:30
btGjkPairDetector::getCachedSeparatingAxis
const btVector3 & getCachedSeparatingAxis() const
Definition: btGjkPairDetector.h:80
btConvexConvexAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition: btConvexConvexAlgorithm.cpp:224
btManifoldResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btManifoldResult.cpp:77
btGjkConvexCast::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
Definition: btGjkConvexCast.cpp:37
SIMD_PI
#define SIMD_PI
Definition: btScalar.h:476
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:327
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:51
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:36
SIMD_2_PI
#define SIMD_2_PI
Definition: btScalar.h:477
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btVoronoiSimplexSolver
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
Definition: btVoronoiSimplexSolver.h:95
TRIANGLE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
btPolyhedralConvexShape::getConvexPolyhedron
const btConvexPolyhedron * getConvexPolyhedron() const
Definition: btPolyhedralConvexShape.h:46
btPolyhedralConvexShape::initializePolyhedralFeatures
virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0)
optional method mainly used to generate multiple contact points by clipping polyhedral features (face...
Definition: btPolyhedralConvexShape.cpp:43
btGjkConvexCast.h
btConvexConvexAlgorithm::~btConvexConvexAlgorithm
virtual ~btConvexConvexAlgorithm()
Definition: btConvexConvexAlgorithm.cpp:215
gContactBreakingThreshold
btScalar gContactBreakingThreshold
Definition: btPersistentManifold.cpp:21
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:38
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btConvexConvexAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition: btConvexConvexAlgorithm.h:51
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:25
btRecipSqrt
#define btRecipSqrt(x)
Definition: btScalar.h:483
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btBroadphaseProxy.h
btVector3::length
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:263
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btTransform::inverse
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:188
btContinuousConvexCollision.h
btCollisionObjectWrapper.h
btGjkEpa2.h
btPerturbedContactResult::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btConvexConvexAlgorithm.cpp:237
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btPerturbedContactResult::btPerturbedContactResult
btPerturbedContactResult(btManifoldResult *originalResult, const btTransform &transformA, const btTransform &transformB, const btTransform &unPerturbedTransform, bool perturbA, btIDebugDraw *debugDrawer)
Definition: btConvexConvexAlgorithm.cpp:240
btPolyhedralContactClipping::clipHullAgainstHull
static void clipHullAgainstHull(const btVector3 &separatingNormal, const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result &resultOut)
Definition: btPolyhedralContactClipping.cpp:530
btPolyhedralContactClipping::clipFaceAgainstHull
static void clipFaceAgainstHull(const btVector3 &separatingNormal, const btConvexPolyhedron &hullA, const btTransform &transA, btVertexArray &worldVertsB1, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result &resultOut)
Definition: btPolyhedralContactClipping.cpp:414
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:40
btCollisionShape::getAngularMotionDisc
virtual btScalar getAngularMotionDisc() const
getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of...
Definition: btCollisionShape.cpp:50
btCollisionObject::getHitFraction
btScalar getHitFraction() const
Definition: btCollisionObject.h:418
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:257
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btPolyhedralContactClipping.h
btDiscreteCollisionDetectorInterface::Result::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)=0
btCollisionDispatcher.h
btCollisionShape::isPolyhedral
bool isPolyhedral() const
Definition: btCollisionShape.h:63
btConvexConvexAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConvexAlgorithm.cpp:689
btSubSimplexConvexCast.h
btIDebugDraw::drawTransform
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition: btIDebugDraw.h:166
btPerturbedContactResult::m_perturbA
bool m_perturbA
Definition: btConvexConvexAlgorithm.cpp:236
btPersistentManifold::getNumContacts
int getNumContacts() const
Definition: btPersistentManifold.h:109
btConvexPenetrationDepthSolver.h
btPolyhedralContactClipping::findSeparatingAxis
static bool findSeparatingAxis(const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, btVector3 &sep, btDiscreteCollisionDetectorInterface::Result &resultOut)
Definition: btPolyhedralContactClipping.cpp:240
btConvexConvexAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:91
btCollisionObject.h
btGjkPairDetector
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
Definition: btGjkPairDetector.h:30
btPerturbedContactResult::m_transformA
btTransform m_transformA
Definition: btConvexConvexAlgorithm.cpp:233
btVoronoiSimplexSolver.h
btConvexConvexAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvexConvexAlgorithm.h:49
btConvexConvexAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvexConvexAlgorithm.h:89
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
dot
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
Definition: btQuaternion.h:845
disableCcd
bool disableCcd
Definition: btConvexConvexAlgorithm.cpp:688
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:55
btDot
btScalar btDot(const btVector3 &v1, const btVector3 &v2)
Return the dot product between two vectors.
Definition: btVector3.h:889
btPerturbedContactResult::m_originalManifoldResult
btManifoldResult * m_originalManifoldResult
Definition: btConvexConvexAlgorithm.cpp:232
btDispatcherInfo
Definition: btDispatcher.h:30
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:42
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btSphereShape.h
btCapsuleShape::getHalfHeight
btScalar getHalfHeight() const
Definition: btCapsuleShape.h:90
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:215
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btIDebugDraw::drawSphere
virtual void drawSphere(btScalar radius, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:93
btTriangleShape::m_vertices1
btVector3 m_vertices1[3]
Definition: btTriangleShape.h:30
btDiscreteCollisionDetectorInterface.h
btConvexConvexAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition: btConvexConvexAlgorithm.cpp:190
btConvexConvexAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:92
btDispatcherInfo::m_enableSatConvex
bool m_enableSatConvex
Definition: btDispatcher.h:59
btConvexConvexAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvexConvexAlgorithm.h:46
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btConvexConvexAlgorithm::btConvexConvexAlgorithm
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
Definition: btConvexConvexAlgorithm.cpp:194
btGjkPairDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btGjkPairDetector.cpp:73
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39
btGjkEpaPenetrationDepthSolver.h
btGjkPairDetector::setIgnoreMargin
void setIgnoreMargin(bool ignoreMargin)
don&#39;t use setIgnoreMargin, it&#39;s for Bullet&#39;s internal use
Definition: btGjkPairDetector.h:95
btConvexConvexAlgorithm.h
btConvexConvexAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:53