Bullet Collision Detection & Physics Library: btConvex2dConvex2dAlgorithm.cpp Source File

Bullet Collision Detection & Physics Library

btConvex2dConvex2dAlgorithm.cpp
Go to the documentation of this file.
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
16 #include "btConvex2dConvex2dAlgorithm.h"
17
18 //#include <stdio.h>
19 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
22 #include "BulletCollision/CollisionShapes/btConvexShape.h"
23 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
24
25
26 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
27 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
28 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
29 #include "BulletCollision/CollisionShapes/btBoxShape.h"
30 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
31
32 #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
33 #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
34 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
35 #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
36
37
38
39 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
40 #include "BulletCollision/CollisionShapes/btSphereShape.h"
41
42 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
43
44 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
45 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
46 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
47
48 btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
49 {
50 m_simplexSolver = simplexSolver;
51 m_pdSolver = pdSolver;
52 }
53
54 btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
55 {
56 }
57
58 btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
59 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
60 m_simplexSolver(simplexSolver),
61 m_pdSolver(pdSolver),
62 m_ownManifold (false),
63 m_manifoldPtr(mf),
64 m_lowLevelOfDetail(false)
65 {
66 (void)body0Wrap;
67 (void)body1Wrap;
68 }
69
70
71
72
73 btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
74 {
75 if (m_ownManifold)
76 {
77 if (m_manifoldPtr)
78 m_dispatcher->releaseManifold(m_manifoldPtr);
79 }
80 }
81
82 void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
83 {
84 m_lowLevelOfDetail = useLowLevel;
85 }
86
87
88
89 extern btScalar gContactBreakingThreshold;
90
91
92 //
93 // Convex-Convex collision algorithm
94 //
95 void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
96 {
97
98 if (!m_manifoldPtr)
99 {
100 //swapped?
101 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
102 m_ownManifold = true;
103 }
104 resultOut->setPersistentManifold(m_manifoldPtr);
105
106 //comment-out next line to test multi-contact generation
107 //resultOut->getPersistentManifold()->clearManifold();
108
109
110 const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
111 const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
112
113 btVector3 normalOnB;
114 btVector3 pointOnBWorld;
115
116 {
117
118
119 btGjkPairDetector::ClosestPointInput input;
120
121 btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
122 //TODO: if (dispatchInfo.m_useContinuous)
123 gjkPairDetector.setMinkowskiA(min0);
124 gjkPairDetector.setMinkowskiB(min1);
125
126 {
127 input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
128 input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
129 }
130
131 input.m_transformA = body0Wrap->getWorldTransform();
132 input.m_transformB = body1Wrap->getWorldTransform();
133
134 gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
135
136 btVector3 v0,v1;
137 btVector3 sepNormalWorldSpace;
138
139 }
140
141 if (m_ownManifold)
142 {
143 resultOut->refreshContactPoints();
144 }
145
146 }
147
148
149
150
151 btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
152 {
153 (void)resultOut;
154 (void)dispatchInfo;
156
159 btScalar resultFraction = btScalar(1.);
160
161
162 btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
163 btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
164
165 if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
166 squareMot1 < col1->getCcdSquareMotionThreshold())
167 return resultFraction;
168
169
170 //An adhoc way of testing the Continuous Collision Detection algorithms
171 //One object is approximated as a sphere, to simplify things
172 //Starting in penetration should report no time of impact
173 //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
174 //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
175
176
178 {
179 btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
180
181 btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
182 btConvexCast::CastResult result;
183 btVoronoiSimplexSolver voronoiSimplex;
184 //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
186 btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
187 //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
188 if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
189 col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
190 {
191
192 //store result.m_fraction in both bodies
193
194 if (col0->getHitFraction()> result.m_fraction)
195 col0->setHitFraction( result.m_fraction );
196
197 if (col1->getHitFraction() > result.m_fraction)
198 col1->setHitFraction( result.m_fraction);
199
200 if (resultFraction > result.m_fraction)
201 resultFraction = result.m_fraction;
202
203 }
204
205
206
207
208 }
209
211 {
212 btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
213
214 btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
215 btConvexCast::CastResult result;
216 btVoronoiSimplexSolver voronoiSimplex;
217 //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
219 btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
220 //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
221 if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
222 col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
223 {
224
225 //store result.m_fraction in both bodies
226
227 if (col0->getHitFraction() > result.m_fraction)
228 col0->setHitFraction( result.m_fraction);
229
230 if (col1->getHitFraction() > result.m_fraction)
231 col1->setHitFraction( result.m_fraction);
232
233 if (resultFraction > result.m_fraction)
234 resultFraction = result.m_fraction;
235
236 }
237 }
238
239 return resultFraction;
240
241 }
242
btMinkowskiPenetrationDepthSolver.h
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:55
btPersistentManifold::getContactBreakingThreshold
btScalar getContactBreakingThreshold() const
Definition: btPersistentManifold.cpp:240
btConvex2dConvex2dAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition: btConvex2dConvex2dAlgorithm.h:41
btCapsuleShape.h
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btManifoldResult.h
btGjkPairDetector::setMinkowskiB
void setMinkowskiB(const btConvexShape *minkB)
Definition: btGjkPairDetector.h:71
btBoxShape.h
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:72
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition: btConvex2dConvex2dAlgorithm.cpp:54
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:477
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:101
btGjkPairDetector::setMinkowskiA
void setMinkowskiA(const btConvexShape *minkA)
Definition: btGjkPairDetector.h:66
btConvex2dConvex2dAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvex2dConvex2dAlgorithm.cpp:151
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
Definition: btSphereShape.h:22
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:49
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:40
btConvex2dConvex2dAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvex2dConvex2dAlgorithm.h:40
btBroadphaseInterface.h
btConvexShape.h
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:60
btGjkPairDetector.h
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:50
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btGjkConvexCast
GjkConvexCast performs a raycast on a convex object using support mapping.
Definition: btGjkConvexCast.h:30
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
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:370
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
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:99
btCollisionObject::getCcdSquareMotionThreshold
btScalar getCcdSquareMotionThreshold() const
Definition: btCollisionObject.h:510
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39
btGjkConvexCast.h
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy.h
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition: btCollisionObject.h:403
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btContinuousConvexCollision.h
btCollisionObjectWrapper.h
btGjkEpa2.h
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btConvex2dConvex2dAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvex2dConvex2dAlgorithm.h:35
btCollisionDispatcher.h
btCollisionObject::getHitFraction
btScalar getHitFraction() const
Definition: btCollisionObject.h:472
btSubSimplexConvexCast.h
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
Definition: btConvex2dConvex2dAlgorithm.cpp:48
btConvexPenetrationDepthSolver.h
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:38
btCollisionObject.h
btGjkPairDetector
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
Definition: btGjkPairDetector.h:30
btVoronoiSimplexSolver.h
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm
btConvex2dConvex2dAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
Definition: btConvex2dConvex2dAlgorithm.cpp:58
btConvex2dConvex2dAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvex2dConvex2dAlgorithm.cpp:95
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm
virtual ~btConvex2dConvex2dAlgorithm()
Definition: btConvex2dConvex2dAlgorithm.cpp:73
btConvex2dConvex2dAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvex2dConvex2dAlgorithm.h:74
btConvex2dConvex2dAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvex2dConvex2dAlgorithm.h:73
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionObject::getCcdSweptSphereRadius
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:494
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:42
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btSphereShape.h
gContactBreakingThreshold
btScalar gContactBreakingThreshold
Definition: btPersistentManifold.cpp:21
btConvex2dConvex2dAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition: btConvex2dConvex2dAlgorithm.cpp:82
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDiscreteCollisionDetectorInterface.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:226
btConvex2dConvex2dAlgorithm.h
btConvex2dConvex2dAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvex2dConvex2dAlgorithm.h:36
btGjkPairDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btGjkPairDetector.cpp:79
btGjkEpaPenetrationDepthSolver.h
btConvex2dConvex2dAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvex2dConvex2dAlgorithm.h:39