309 lines
8.8 KiB
C++
309 lines
8.8 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.
|
|
*/
|
|
|
|
|
|
#include "btPersistentManifold.h"
|
|
#include "LinearMath/btTransform.h"
|
|
|
|
|
|
btScalar gContactBreakingThreshold = btScalar(0.02);
|
|
ContactDestroyedCallback gContactDestroyedCallback = 0;
|
|
ContactProcessedCallback gContactProcessedCallback = 0;
|
|
ContactStartedCallback gContactStartedCallback = 0;
|
|
ContactEndedCallback gContactEndedCallback = 0;
|
|
///gContactCalcArea3Points will approximate the convex hull area using 3 points
|
|
///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
|
|
bool gContactCalcArea3Points = true;
|
|
|
|
|
|
btPersistentManifold::btPersistentManifold()
|
|
:btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
|
|
m_body0(0),
|
|
m_body1(0),
|
|
m_cachedPoints (0),
|
|
m_index1a(0)
|
|
{
|
|
}
|
|
|
|
|
|
|
|
|
|
#ifdef DEBUG_PERSISTENCY
|
|
#include <stdio.h>
|
|
void btPersistentManifold::DebugPersistency()
|
|
{
|
|
int i;
|
|
printf("DebugPersistency : numPoints %d\n",m_cachedPoints);
|
|
for (i=0;i<m_cachedPoints;i++)
|
|
{
|
|
printf("m_pointCache[%d].m_userPersistentData = %x\n",i,m_pointCache[i].m_userPersistentData);
|
|
}
|
|
}
|
|
#endif //DEBUG_PERSISTENCY
|
|
|
|
void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
|
|
{
|
|
|
|
void* oldPtr = pt.m_userPersistentData;
|
|
if (oldPtr)
|
|
{
|
|
#ifdef DEBUG_PERSISTENCY
|
|
int i;
|
|
int occurance = 0;
|
|
for (i=0;i<m_cachedPoints;i++)
|
|
{
|
|
if (m_pointCache[i].m_userPersistentData == oldPtr)
|
|
{
|
|
occurance++;
|
|
if (occurance>1)
|
|
printf("error in clearUserCache\n");
|
|
}
|
|
}
|
|
btAssert(occurance<=0);
|
|
#endif //DEBUG_PERSISTENCY
|
|
|
|
if (pt.m_userPersistentData && gContactDestroyedCallback)
|
|
{
|
|
(*gContactDestroyedCallback)(pt.m_userPersistentData);
|
|
pt.m_userPersistentData = 0;
|
|
}
|
|
|
|
#ifdef DEBUG_PERSISTENCY
|
|
DebugPersistency();
|
|
#endif
|
|
}
|
|
|
|
|
|
}
|
|
|
|
static inline btScalar calcArea4Points(const btVector3 &p0,const btVector3 &p1,const btVector3 &p2,const btVector3 &p3)
|
|
{
|
|
// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
|
|
|
|
btVector3 a[3],b[3];
|
|
a[0] = p0 - p1;
|
|
a[1] = p0 - p2;
|
|
a[2] = p0 - p3;
|
|
b[0] = p2 - p3;
|
|
b[1] = p1 - p3;
|
|
b[2] = p1 - p2;
|
|
|
|
//todo: Following 3 cross production can be easily optimized by SIMD.
|
|
btVector3 tmp0 = a[0].cross(b[0]);
|
|
btVector3 tmp1 = a[1].cross(b[1]);
|
|
btVector3 tmp2 = a[2].cross(b[2]);
|
|
|
|
return btMax(btMax(tmp0.length2(),tmp1.length2()),tmp2.length2());
|
|
}
|
|
|
|
int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
|
|
{
|
|
//calculate 4 possible cases areas, and take biggest area
|
|
//also need to keep 'deepest'
|
|
|
|
int maxPenetrationIndex = -1;
|
|
#define KEEP_DEEPEST_POINT 1
|
|
#ifdef KEEP_DEEPEST_POINT
|
|
btScalar maxPenetration = pt.getDistance();
|
|
for (int i=0;i<4;i++)
|
|
{
|
|
if (m_pointCache[i].getDistance() < maxPenetration)
|
|
{
|
|
maxPenetrationIndex = i;
|
|
maxPenetration = m_pointCache[i].getDistance();
|
|
}
|
|
}
|
|
#endif //KEEP_DEEPEST_POINT
|
|
|
|
btScalar res0(btScalar(0.)),res1(btScalar(0.)),res2(btScalar(0.)),res3(btScalar(0.));
|
|
|
|
if (gContactCalcArea3Points)
|
|
{
|
|
if (maxPenetrationIndex != 0)
|
|
{
|
|
btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
|
|
btVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
|
|
btVector3 cross = a0.cross(b0);
|
|
res0 = cross.length2();
|
|
}
|
|
if (maxPenetrationIndex != 1)
|
|
{
|
|
btVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
|
|
btVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
|
|
btVector3 cross = a1.cross(b1);
|
|
res1 = cross.length2();
|
|
}
|
|
|
|
if (maxPenetrationIndex != 2)
|
|
{
|
|
btVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
|
|
btVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
|
|
btVector3 cross = a2.cross(b2);
|
|
res2 = cross.length2();
|
|
}
|
|
|
|
if (maxPenetrationIndex != 3)
|
|
{
|
|
btVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
|
|
btVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
|
|
btVector3 cross = a3.cross(b3);
|
|
res3 = cross.length2();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if(maxPenetrationIndex != 0) {
|
|
res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
|
|
}
|
|
|
|
if(maxPenetrationIndex != 1) {
|
|
res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
|
|
}
|
|
|
|
if(maxPenetrationIndex != 2) {
|
|
res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
|
|
}
|
|
|
|
if(maxPenetrationIndex != 3) {
|
|
res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
|
|
}
|
|
}
|
|
btVector4 maxvec(res0,res1,res2,res3);
|
|
int biggestarea = maxvec.closestAxis4();
|
|
return biggestarea;
|
|
|
|
}
|
|
|
|
|
|
int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
|
|
{
|
|
btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold();
|
|
int size = getNumContacts();
|
|
int nearestPoint = -1;
|
|
for( int i = 0; i < size; i++ )
|
|
{
|
|
const btManifoldPoint &mp = m_pointCache[i];
|
|
|
|
btVector3 diffA = mp.m_localPointA- newPoint.m_localPointA;
|
|
const btScalar distToManiPoint = diffA.dot(diffA);
|
|
if( distToManiPoint < shortestDist )
|
|
{
|
|
shortestDist = distToManiPoint;
|
|
nearestPoint = i;
|
|
}
|
|
}
|
|
return nearestPoint;
|
|
}
|
|
|
|
int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
|
|
{
|
|
if (!isPredictive)
|
|
{
|
|
btAssert(validContactDistance(newPoint));
|
|
}
|
|
|
|
int insertIndex = getNumContacts();
|
|
if (insertIndex == MANIFOLD_CACHE_SIZE)
|
|
{
|
|
#if MANIFOLD_CACHE_SIZE >= 4
|
|
//sort cache so best points come first, based on area
|
|
insertIndex = sortCachedPoints(newPoint);
|
|
#else
|
|
insertIndex = 0;
|
|
#endif
|
|
clearUserCache(m_pointCache[insertIndex]);
|
|
|
|
} else
|
|
{
|
|
m_cachedPoints++;
|
|
|
|
|
|
}
|
|
if (insertIndex<0)
|
|
insertIndex=0;
|
|
|
|
btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
|
|
m_pointCache[insertIndex] = newPoint;
|
|
return insertIndex;
|
|
}
|
|
|
|
btScalar btPersistentManifold::getContactBreakingThreshold() const
|
|
{
|
|
return m_contactBreakingThreshold;
|
|
}
|
|
|
|
|
|
|
|
void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB)
|
|
{
|
|
int i;
|
|
#ifdef DEBUG_PERSISTENCY
|
|
printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
|
|
trA.getOrigin().getX(),
|
|
trA.getOrigin().getY(),
|
|
trA.getOrigin().getZ(),
|
|
trB.getOrigin().getX(),
|
|
trB.getOrigin().getY(),
|
|
trB.getOrigin().getZ());
|
|
#endif //DEBUG_PERSISTENCY
|
|
/// first refresh worldspace positions and distance
|
|
for (i=getNumContacts()-1;i>=0;i--)
|
|
{
|
|
btManifoldPoint &manifoldPoint = m_pointCache[i];
|
|
manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
|
|
manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
|
|
manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
|
|
manifoldPoint.m_lifeTime++;
|
|
}
|
|
|
|
/// then
|
|
btScalar distance2d;
|
|
btVector3 projectedDifference,projectedPoint;
|
|
for (i=getNumContacts()-1;i>=0;i--)
|
|
{
|
|
|
|
btManifoldPoint &manifoldPoint = m_pointCache[i];
|
|
//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
|
|
if (!validContactDistance(manifoldPoint))
|
|
{
|
|
removeContactPoint(i);
|
|
} else
|
|
{
|
|
//todo: friction anchor may require the contact to be around a bit longer
|
|
//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
|
|
projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
|
|
projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
|
|
distance2d = projectedDifference.dot(projectedDifference);
|
|
if (distance2d > getContactBreakingThreshold()*getContactBreakingThreshold() )
|
|
{
|
|
removeContactPoint(i);
|
|
} else
|
|
{
|
|
//contact point processed callback
|
|
if (gContactProcessedCallback)
|
|
(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
|
|
}
|
|
}
|
|
}
|
|
#ifdef DEBUG_PERSISTENCY
|
|
DebugPersistency();
|
|
#endif //
|
|
}
|
|
|
|
|
|
|
|
|
|
|