mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
88 lines
4.0 KiB
C
88 lines
4.0 KiB
C
|
/*
|
||
|
|
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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef BT_CONVEX_CONVEX_MPR_ALGORITHM_H
|
||
|
|
#define BT_CONVEX_CONVEX_MPR_ALGORITHM_H
|
||
|
|
|
||
|
|
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
|
||
|
|
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
|
||
|
|
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||
|
|
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
|
||
|
|
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||
|
|
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||
|
|
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
|
||
|
|
|
||
|
|
class btConvexPenetrationDepthSolver;
|
||
|
|
|
||
|
|
///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
|
||
|
|
///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
|
||
|
|
///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
|
||
|
|
///for certain pairs that have a small size ratio
|
||
|
|
|
||
|
|
///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
|
||
|
|
///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
|
||
|
|
///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
|
||
|
|
class btConvexConvexMprAlgorithm : public btActivatingCollisionAlgorithm
|
||
|
|
{
|
||
|
|
|
||
|
|
|
||
|
|
bool m_ownManifold;
|
||
|
|
btPersistentManifold* m_manifoldPtr;
|
||
|
|
///cache separating vector to speedup collision detection
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
btConvexConvexMprAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
|
||
|
|
|
||
|
|
virtual ~btConvexConvexMprAlgorithm();
|
||
|
|
|
||
|
|
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||
|
|
|
||
|
|
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||
|
|
|
||
|
|
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||
|
|
{
|
||
|
|
///should we use m_ownManifold to avoid adding duplicates?
|
||
|
|
if (m_manifoldPtr && m_ownManifold)
|
||
|
|
manifoldArray.push_back(m_manifoldPtr);
|
||
|
|
}
|
||
|
|
|
||
|
|
const btPersistentManifold* getManifold()
|
||
|
|
{
|
||
|
|
return m_manifoldPtr;
|
||
|
|
}
|
||
|
|
|
||
|
|
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||
|
|
{
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
CreateFunc();
|
||
|
|
|
||
|
|
virtual ~CreateFunc();
|
||
|
|
|
||
|
|
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
|
||
|
|
{
|
||
|
|
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexMprAlgorithm));
|
||
|
|
return new(mem) btConvexConvexMprAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_CONVEX_CONVEX_MPR_ALGORITHM_H
|