102 lines
4.7 KiB
C++
102 lines
4.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
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#define BT_CONVEX_CONVEX_ALGORITHM_H
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#include "btActivatingCollisionAlgorithm.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "btCollisionCreateFunc.h"
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#include "btCollisionDispatcher.h"
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#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
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#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
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class btConvexPenetrationDepthSolver;
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///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
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///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
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///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
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///for certain pairs that have a small size ratio
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//#define USE_SEPDISTANCE_UTIL2 1
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///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
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///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
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///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
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class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
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{
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#ifdef USE_SEPDISTANCE_UTIL2
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btConvexSeparatingDistanceUtil m_sepDistance;
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#endif
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btConvexPenetrationDepthSolver* m_pdSolver;
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btVertexArray worldVertsB1;
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btVertexArray worldVertsB2;
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bool m_ownManifold;
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btPersistentManifold* m_manifoldPtr;
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bool m_lowLevelOfDetail;
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int m_numPerturbationIterations;
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int m_minimumPointsPerturbationThreshold;
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///cache separating vector to speedup collision detection
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public:
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btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
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virtual ~btConvexConvexAlgorithm();
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virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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///should we use m_ownManifold to avoid adding duplicates?
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if (m_manifoldPtr && m_ownManifold)
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manifoldArray.push_back(m_manifoldPtr);
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}
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void setLowLevelOfDetail(bool useLowLevel);
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const btPersistentManifold* getManifold()
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{
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return m_manifoldPtr;
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}
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struct CreateFunc : public btCollisionAlgorithmCreateFunc
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{
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btConvexPenetrationDepthSolver* m_pdSolver;
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int m_numPerturbationIterations;
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int m_minimumPointsPerturbationThreshold;
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CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
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virtual ~CreateFunc();
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
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return new (mem) btConvexConvexAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
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}
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};
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};
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#endif //BT_CONVEX_CONVEX_ALGORITHM_H
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