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

Bullet Collision Detection & Physics Library

btConvex2dConvex2dAlgorithm.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
26#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
27#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
28#include "BulletCollision/CollisionShapes/btBoxShape.h"
29#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
30
31#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
32#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
33#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
34#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
35
36#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
37#include "BulletCollision/CollisionShapes/btSphereShape.h"
38
39#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
40
41#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
42#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
43#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
44
45btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
46{
47 m_simplexSolver = simplexSolver;
48 m_pdSolver = pdSolver;
49}
50
51btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
52{
53}
54
55btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
56 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
57 m_simplexSolver(simplexSolver),
58 m_pdSolver(pdSolver),
59 m_ownManifold(false),
60 m_manifoldPtr(mf),
61 m_lowLevelOfDetail(false)
62{
63 (void)body0Wrap;
64 (void)body1Wrap;
65}
66
67btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
68{
69 if (m_ownManifold)
70 {
71 if (m_manifoldPtr)
72 m_dispatcher->releaseManifold(m_manifoldPtr);
73 }
74}
75
76 void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
77{
78 m_lowLevelOfDetail = useLowLevel;
79}
80
81extern btScalar gContactBreakingThreshold;
82
83//
84// Convex-Convex collision algorithm
85//
86 void btConvex2dConvex2dAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
87{
88 if (!m_manifoldPtr)
89 {
90 //swapped?
91 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
92 m_ownManifold = true;
93 }
94 resultOut->setPersistentManifold(m_manifoldPtr);
95
96 //comment-out next line to test multi-contact generation
97 //resultOut->getPersistentManifold()->clearManifold();
98
99 const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
100 const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
101
102 btVector3 normalOnB;
103 btVector3 pointOnBWorld;
104
105 {
106 btGjkPairDetector::ClosestPointInput input;
107
108 btGjkPairDetector gjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
109 //TODO: if (dispatchInfo.m_useContinuous)
110 gjkPairDetector.setMinkowskiA(min0);
111 gjkPairDetector.setMinkowskiB(min1);
112
113 {
114 input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
115 input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
116 }
117
118 input.m_transformA = body0Wrap->getWorldTransform();
119 input.m_transformB = body1Wrap->getWorldTransform();
120
121 gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
122
123 btVector3 v0, v1;
124 btVector3 sepNormalWorldSpace;
125 }
126
127 if (m_ownManifold)
128 {
129 resultOut->refreshContactPoints();
130 }
131}
132
133 btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
134{
135 (void)resultOut;
136 (void)dispatchInfo;
138
141 btScalar resultFraction = btScalar(1.);
142
143 btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
144 btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
145
146 if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
147 squareMot1 < col1->getCcdSquareMotionThreshold())
148 return resultFraction;
149
150 //An adhoc way of testing the Continuous Collision Detection algorithms
151 //One object is approximated as a sphere, to simplify things
152 //Starting in penetration should report no time of impact
153 //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
154 //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
155
157 {
158 btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
159
160 btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
161 btConvexCast::CastResult result;
162 btVoronoiSimplexSolver voronoiSimplex;
163 //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
165 btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
166 //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
167 if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
168 col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
169 {
170 //store result.m_fraction in both bodies
171
172 if (col0->getHitFraction() > result.m_fraction)
173 col0->setHitFraction(result.m_fraction);
174
175 if (col1->getHitFraction() > result.m_fraction)
176 col1->setHitFraction(result.m_fraction);
177
178 if (resultFraction > result.m_fraction)
179 resultFraction = result.m_fraction;
180 }
181 }
182
184 {
185 btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
186
187 btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
188 btConvexCast::CastResult result;
189 btVoronoiSimplexSolver voronoiSimplex;
190 //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
192 btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
193 //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
194 if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
195 col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
196 {
197 //store result.m_fraction in both bodies
198
199 if (col0->getHitFraction() > result.m_fraction)
200 col0->setHitFraction(result.m_fraction);
201
202 if (col1->getHitFraction() > result.m_fraction)
203 col1->setHitFraction(result.m_fraction);
204
205 if (resultFraction > result.m_fraction)
206 resultFraction = result.m_fraction;
207 }
208 }
209
210 return resultFraction;
211}
btBoxShape.h
btBroadphaseInterface.h
btBroadphaseProxy.h
btCapsuleShape.h
btCollisionDispatcher.h
btCollisionObjectWrapper.h
btCollisionObject.h
btContinuousConvexCollision.h
gContactBreakingThreshold
btScalar gContactBreakingThreshold
Definition btPersistentManifold.cpp:26
btConvex2dConvex2dAlgorithm.h
btConvexPenetrationDepthSolver.h
btConvexShape.h
btDiscreteCollisionDetectorInterface.h
btGjkConvexCast.h
btGjkEpa2.h
btGjkEpaPenetrationDepthSolver.h
btGjkPairDetector.h
btManifoldResult.h
btMinkowskiPenetrationDepthSolver.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition btSimplexSolverInterface.h:24
btSphereShape.h
btSubSimplexConvexCast.h
btVoronoiSimplexSolver.h
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm
btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition btActivatingCollisionAlgorithm.cpp:20
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition btCollisionAlgorithm.h:56
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btCollisionObject::getHitFraction
btScalar getHitFraction() const
Definition btCollisionObject.h:479
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition btCollisionObject.h:379
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition btCollisionObject.h:410
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition btCollisionObject.h:228
btCollisionObject::setHitFraction
void setHitFraction(btScalar hitFraction)
Definition btCollisionObject.h:484
btCollisionObject::getCcdSweptSphereRadius
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition btCollisionObject.h:500
btConvex2dConvex2dAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition btConvex2dConvex2dAlgorithm.h:35
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm
virtual ~btConvex2dConvex2dAlgorithm()
Definition btConvex2dConvex2dAlgorithm.cpp:67
btConvex2dConvex2dAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvex2dConvex2dAlgorithm.cpp:133
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:55
btConvex2dConvex2dAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btConvex2dConvex2dAlgorithm.h:38
btConvex2dConvex2dAlgorithm::m_ownManifold
bool m_ownManifold
Definition btConvex2dConvex2dAlgorithm.h:37
btConvex2dConvex2dAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition btConvex2dConvex2dAlgorithm.h:39
btConvex2dConvex2dAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition btConvex2dConvex2dAlgorithm.h:34
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition btConvexPenetrationDepthSolver.h:26
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition btConvexShape.h:33
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btGjkConvexCast
GjkConvexCast performs a raycast on a convex object using support mapping.
Definition btGjkConvexCast.h:29
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:35
btGjkPairDetector
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
Definition btGjkPairDetector.h:28
btGjkPairDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition btGjkPairDetector.cpp:73
btGjkPairDetector::setMinkowskiA
void setMinkowskiA(const btConvexShape *minkA)
Definition btGjkPairDetector.h:58
btGjkPairDetector::setMinkowskiB
void setMinkowskiB(const btConvexShape *minkB)
Definition btGjkPairDetector.h:63
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition btManifoldResult.h:48
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition btManifoldResult.h:77
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition btManifoldResult.h:105
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition btSphereShape.h:25
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition btTransform.h:114
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVoronoiSimplexSolver
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
Definition btVoronoiSimplexSolver.h:99
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition btCollisionObjectWrapper.h:46
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition btCollisionObjectWrapper.h:45
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition btCollisionObjectWrapper.h:44
btConvex2dConvex2dAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition btConvex2dConvex2dAlgorithm.h:66
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
Definition btConvex2dConvex2dAlgorithm.cpp:45
btConvex2dConvex2dAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition btConvex2dConvex2dAlgorithm.h:67
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition btConvex2dConvex2dAlgorithm.cpp:51
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition btConvexCast.h:47
btConvexCast::CastResult::m_fraction
btScalar m_fraction
Definition btConvexCast.h:72
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition btDiscreteCollisionDetectorInterface.h:40
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition btDiscreteCollisionDetectorInterface.h:47
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition btDiscreteCollisionDetectorInterface.h:46
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition btDiscreteCollisionDetectorInterface.h:48
btDispatcherInfo
Definition btDispatcher.h:31
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition btDispatcher.h:58