bullet3/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
 */


/*
	Continuous Convex Collision Demo demonstrates an efficient continuous collision detection algorithm.
	Both linear and angular velocities are supported. Convex Objects are sampled using Supporting Vertex.
	Motion using Exponential Map.
	Future ideas: Comparison with Screwing Motion. 
	Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
*/


///This low level demo need internal access, and intentionally doesn't include the btBulletCollisionCommon.h headerfile
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdTransform.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"

#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"

#include "LinearMath/SimdTransformUtil.h"
#include "DebugCastResult.h"

#include "BulletCollision/CollisionShapes/btSphereShape.h"

#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"

#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"

#include "GL_ShapeDrawer.h"
#include "ContinuousConvexCollision.h"
#include "GlutStuff.h"


float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;

SimdVector3 angVels[numObjects];
SimdVector3 linVels[numObjects];

PolyhedralConvexShape*	shapePtr[maxNumObjects];


SimdTransform	fromTrans[maxNumObjects];
SimdTransform	toTrans[maxNumObjects];


int screenWidth = 640;
int screenHeight = 480;


int main(int argc,char** argv)
{
	ContinuousConvexCollisionDemo* ccdDemo = new ContinuousConvexCollisionDemo();

	ccdDemo->setCameraDistance(40.f);

	ccdDemo->initPhysics();
	
	return glutmain(argc, argv,screenWidth,screenHeight,"Continuous Convex Collision Demo",ccdDemo);
}

void	ContinuousConvexCollisionDemo::initPhysics()
{
	fromTrans[0].setOrigin(SimdVector3(0,10,20));
	  toTrans[0].setOrigin(SimdVector3(0,10,-20));
	fromTrans[1].setOrigin(SimdVector3(-2,7,0));
	  toTrans[1].setOrigin(SimdVector3(-2,10,0));

	  SimdMatrix3x3 identBasis;
	identBasis.setIdentity();

	SimdMatrix3x3 basisA;
	basisA.setIdentity();
	basisA.setEulerZYX(0.f,-SIMD_HALF_PI,0.f);

	fromTrans[0].setBasis(identBasis);
	  toTrans[0].setBasis(basisA);

	fromTrans[1].setBasis(identBasis);
	  toTrans[1].setBasis(identBasis);

	toTrans[1].setBasis(identBasis);
	SimdVector3 boxHalfExtentsA(10,1,1);
	SimdVector3 boxHalfExtentsB(1.1f,1.1f,1.1f);
	BoxShape*	boxA = new BoxShape(boxHalfExtentsA);
//	BU_Simplex1to4* boxA = new BU_Simplex1to4(SimdPoint3(-2,0,-2),SimdPoint3(2,0,-2),SimdPoint3(0,0,2),SimdPoint3(0,2,0));
//	BU_Simplex1to4* boxA = new BU_Simplex1to4(SimdPoint3(-12,0,0),SimdPoint3(12,0,0));
	

	BoxShape*	boxB = new BoxShape(boxHalfExtentsB);
//	BU_Simplex1to4 boxB(SimdPoint3(0,10,0),SimdPoint3(0,-10,0));


	shapePtr[0] = boxA;
	shapePtr[1] = boxB;

	shapePtr[0]->SetMargin(0.01f);
	shapePtr[1]->SetMargin(0.01f);

	for (int i=0;i<numObjects;i++)
	{
		SimdTransformUtil::CalculateVelocity(fromTrans[i],toTrans[i],1.f,linVels[i],angVels[i]);
	}

}

//to be implemented by the demo

void ContinuousConvexCollisionDemo::clientMoveAndDisplay()
{
	displayCallback();
}


static VoronoiSimplexSolver sVoronoiSimplexSolver;

SimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;

bool drawLine= false;

int minlines = 0;

int maxlines = 512;


void ContinuousConvexCollisionDemo::displayCallback(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
	glDisable(GL_LIGHTING);

	//GL_ShapeDrawer::DrawCoordSystem();

	float m[16];
	int i;

	/*for (i=0;i<numObjects;i++)
	{
		fromTrans[i].getOpenGLMatrix( m );
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i]);
	}
*/

	if (getDebugMode()==IDebugDraw::DBG_DrawAabb)
	{
		i=0;//for (i=1;i<numObjects;i++)
		{
			//for each object, subdivide the from/to transform in 10 equal steps

			int numSubSteps = 10;
			for (int s=0;s<10;s++)
			{
				SimdScalar subStep = s * 1.f/(float)numSubSteps;
				SimdTransform interpolatedTrans;
				
				SimdTransformUtil::IntegrateTransform(fromTrans[i],linVels[i],angVels[i],subStep,interpolatedTrans);

				//fromTrans[i].getOpenGLMatrix(m);
				//GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i]);

				//toTrans[i].getOpenGLMatrix(m);
				//GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i]);

				interpolatedTrans.getOpenGLMatrix( m );
				GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,0,1),getDebugMode());
			}
		}
	}

	
	SimdMatrix3x3 mat;
	mat.setEulerZYX(yaw,pitch,roll);
	SimdQuaternion orn;
	mat.getRotation(orn);
	orn.setEuler(yaw,pitch,roll);
	fromTrans[1].setRotation(orn);
	toTrans[1].setRotation(orn);
	

	if (m_stepping || m_singleStep)
	{
		m_singleStep = false;
		pitch += 0.005f;
//		yaw += 0.01f;
	}
//	SimdVector3 fromA(-25,11,0);
//	SimdVector3 toA(-15,11,0);

//	SimdQuaternion ornFromA(0.f,0.f,0.f,1.f);
//	SimdQuaternion ornToA(0.f,0.f,0.f,1.f);

//	SimdTransform	rayFromWorld(ornFromA,fromA);
//	SimdTransform	rayToWorld(ornToA,toA);

	SimdTransform	rayFromWorld = fromTrans[0];
	SimdTransform	rayToWorld = toTrans[0];
	

	if (drawLine)
	{
		glBegin(GL_LINES);
		glColor3f(0, 0, 1);
		glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
		glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
		glEnd();
	}

	//now perform a raycast on the shapes, in local (shape) space
	gGjkSimplexSolver.reset();
	
	//choose one of the following lines


	for (i=0;i<numObjects;i++)
	{	
		fromTrans[i].getOpenGLMatrix(m);
		GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
	}

	DebugCastResult	rayResult1(fromTrans[0],shapePtr[0],linVels[0],angVels[0]);
	

	for (i=1;i<numObjects;i++)
	{
		ConvexCast::CastResult	rayResult2;
		ConvexCast::CastResult*	rayResultPtr;
		if (IDebugDraw::DBG_DrawAabb)
		{
			rayResultPtr = &rayResult1;
		} else
		{
			rayResultPtr = &rayResult2;
		}

		//GjkConvexCast	convexCaster(&gGjkSimplexSolver);
		//SubsimplexConvexCast convexCaster(&gGjkSimplexSolver);

		//optional
		ConvexPenetrationDepthSolver* penetrationDepthSolver = 0;
		ContinuousConvexCollision convexCaster(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,penetrationDepthSolver );

		gGjkSimplexSolver.reset();
	
		
	
		if (convexCaster.calcTimeOfImpact(fromTrans[0],toTrans[0],fromTrans[i] ,toTrans[i] ,*rayResultPtr))
		{

			glDisable(GL_DEPTH_TEST);

			SimdTransform hitTrans;
			SimdTransformUtil::IntegrateTransform(fromTrans[0],linVels[0],angVels[0],rayResultPtr->m_fraction,hitTrans);

			hitTrans.getOpenGLMatrix(m);
			GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,0),getDebugMode());

			SimdTransformUtil::IntegrateTransform(fromTrans[i],linVels[i],angVels[i],rayResultPtr->m_fraction,hitTrans);

			hitTrans.getOpenGLMatrix(m);
			GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(0,1,1),getDebugMode());
	

		}
	}

	glFlush();
    glutSwapBuffers();
}