Removed old Blender/extern/bullet, and upgraded game engine to use Bullet 2.x
All platforms/build systems: either upgrade to use extern/bullet2, or disable the game engine until the build is fixed.
This commit is contained in:
Erwin Coumans
610
extern/bullet/Bullet/BLI_Bullet.dsp
vendored
610
extern/bullet/Bullet/BLI_Bullet.dsp
vendored
@@ -1,610 +0,0 @@
|
||||
# Microsoft Developer Studio Project File - Name="Bullet" - Package Owner=<4>
|
||||
# Microsoft Developer Studio Generated Build File, Format Version 6.00
|
||||
# ** DO NOT EDIT **
|
||||
|
||||
# TARGTYPE "Win32 (x86) Static Library" 0x0104
|
||||
|
||||
CFG=Bullet - Win32 Debug
|
||||
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
|
||||
!MESSAGE use the Export Makefile command and run
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "BLI_Bullet.mak".
|
||||
!MESSAGE
|
||||
!MESSAGE You can specify a configuration when running NMAKE
|
||||
!MESSAGE by defining the macro CFG on the command line. For example:
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "BLI_Bullet.mak" CFG="Bullet - Win32 Debug"
|
||||
!MESSAGE
|
||||
!MESSAGE Possible choices for configuration are:
|
||||
!MESSAGE
|
||||
!MESSAGE "Bullet - Win32 Release" (based on "Win32 (x86) Static Library")
|
||||
!MESSAGE "Bullet - Win32 Debug" (based on "Win32 (x86) Static Library")
|
||||
!MESSAGE
|
||||
|
||||
# Begin Project
|
||||
# PROP AllowPerConfigDependencies 0
|
||||
# PROP Scc_ProjName ""
|
||||
# PROP Scc_LocalPath ""
|
||||
CPP=cl.exe
|
||||
RSC=rc.exe
|
||||
|
||||
!IF "$(CFG)" == "Bullet - Win32 Release"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 0
|
||||
# PROP BASE Output_Dir "Release"
|
||||
# PROP BASE Intermediate_Dir "Release"
|
||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 0
|
||||
# PROP Output_Dir "Release"
|
||||
# PROP Intermediate_Dir "Release"
|
||||
# PROP Target_Dir ""
|
||||
MTL=midl.exe
|
||||
LINK32=link.exe -lib
|
||||
# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
|
||||
# ADD CPP /nologo /MT /W3 /GX /Zd /O2 /I "../LinearMath" /I "." /D "NDEBUG" /D "_LIB" /D "WIN32" /D "_MBCS" /D "BUM_INLINED" /D "USE_ALGEBRAIC" /YX /FD /c
|
||||
# ADD BASE RSC /l 0x409 /d "NDEBUG"
|
||||
# ADD RSC /l 0x409 /d "NDEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LIB32=link.exe -lib
|
||||
# ADD BASE LIB32 /nologo
|
||||
# ADD LIB32 /nologo
|
||||
# Begin Special Build Tool
|
||||
SOURCE="$(InputPath)"
|
||||
PostBuild_Desc=copy bullet to ..lib\windows\lib
|
||||
PostBuild_Cmds=XCOPY /Y .\release\*.lib .\..\..\..\..\lib\windows\bullet\lib\*.*
|
||||
# End Special Build Tool
|
||||
|
||||
!ELSEIF "$(CFG)" == "Bullet - Win32 Debug"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 1
|
||||
# PROP BASE Output_Dir "Debug"
|
||||
# PROP BASE Intermediate_Dir "Debug"
|
||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 1
|
||||
# PROP Output_Dir "Debug"
|
||||
# PROP Intermediate_Dir "Debug"
|
||||
# PROP Target_Dir ""
|
||||
MTL=midl.exe
|
||||
LINK32=link.exe -lib
|
||||
# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ /c
|
||||
# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /I "../LinearMath" /I "." /D "_DEBUG" /D "_LIB" /D "WIN32" /D "_MBCS" /D "BUM_INLINED" /D "USE_ALGEBRAIC" /YX /FD /GZ /c
|
||||
# ADD BASE RSC /l 0x409 /d "_DEBUG"
|
||||
# ADD RSC /l 0x409 /d "_DEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LIB32=link.exe -lib
|
||||
# ADD BASE LIB32 /nologo
|
||||
# ADD LIB32 /nologo /out:"Debug\BLI_Bullet_D.lib"
|
||||
# Begin Special Build Tool
|
||||
SOURCE="$(InputPath)"
|
||||
PostBuild_Desc=copy bullet to ..lib\windows\lib
|
||||
PostBuild_Cmds=XCOPY /Y .\debug\*.lib .\..\..\..\..\lib\windows\bullet\lib\*.*
|
||||
# End Special Build Tool
|
||||
|
||||
!ENDIF
|
||||
|
||||
# Begin Target
|
||||
|
||||
# Name "Bullet - Win32 Release"
|
||||
# Name "Bullet - Win32 Debug"
|
||||
# Begin Group "NarrowPhaseCollision"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Collidable.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Collidable.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_CollisionPair.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_CollisionPair.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_EdgeEdge.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_EdgeEdge.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_MotionStateInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_PolynomialSolverInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Screwing.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Screwing.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_StaticMotionState.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\CollisionMargin.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ConvexCast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ConvexCast.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkConvexCast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkConvexCast.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkPairDetector.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkPairDetector.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ManifoldContactAddResult.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ManifoldContactAddResult.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ManifoldPoint.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\PersistentManifold.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\PersistentManifold.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\PointCollector.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\RaycastCallback.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\RaycastCallback.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\SimplexSolverInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\SubSimplexConvexCast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\SubSimplexConvexCast.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\VoronoiSimplexSolver.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\VoronoiSimplexSolver.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "BroadphaseCollision"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\AxisSweep3.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\AxisSweep3.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\BroadPhaseInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\BroadphaseProxy.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\BroadphaseProxy.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\CollisionAlgorithm.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\CollisionAlgorithm.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\Dispatcher.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\Dispatcher.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\OverlappingPairCache.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\OverlappingPairCache.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\SimpleBroadphase.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\SimpleBroadphase.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "CollisionShapes"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\BoxShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\BoxShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\BvhTriangleMeshShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\BvhTriangleMeshShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CollisionMargin.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CollisionShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CollisionShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CompoundShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CompoundShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConcaveShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConcaveShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConeShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConeShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexHullShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexHullShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexTriangleMeshShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexTriangleMeshShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CylinderShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CylinderShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\EmptyShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\EmptyShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MinkowskiSumShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MinkowskiSumShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MultiSphereShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MultiSphereShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\OptimizedBvh.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\OptimizedBvh.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\PolyhedralConvexShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\PolyhedralConvexShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\Simplex1to4Shape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\Simplex1to4Shape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\SphereShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\SphereShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\StaticPlaneShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\StaticPlaneShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\StridingMeshInterface.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\StridingMeshInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleCallback.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleCallback.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleIndexVertexArray.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleIndexVertexArray.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMesh.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMesh.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMeshShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMeshShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleShape.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "CollisionDispatch"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionCreateFunc.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionDispatcher.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionDispatcher.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionObject.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionObject.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionWorld.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CollisionWorld.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CompoundCollisionAlgorithm.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\CompoundCollisionAlgorithm.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\ConvexConvexAlgorithm.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\ConvexConvexAlgorithm.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\EmptyCollisionAlgorithm.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\EmptyCollisionAlgorithm.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\ManifoldResult.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\ManifoldResult.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\SimulationIslandManager.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\SimulationIslandManager.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\UnionFind.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionDispatch\UnionFind.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "Extras"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# End Group
|
||||
# End Target
|
||||
# End Project
|
||||
@@ -1,502 +0,0 @@
|
||||
|
||||
//Bullet Continuous Collision Detection and Physics Library
|
||||
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
|
||||
//
|
||||
// AxisSweep3
|
||||
//
|
||||
// Copyright (c) 2006 Simon Hobbs
|
||||
//
|
||||
// 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 "AxisSweep3.h"
|
||||
|
||||
#include <assert.h>
|
||||
|
||||
BroadphaseProxy* AxisSweep3::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
unsigned short handleId = AddHandle(min,max, userPtr,collisionFilterGroup,collisionFilterMask);
|
||||
|
||||
Handle* handle = GetHandle(handleId);
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
void AxisSweep3::DestroyProxy(BroadphaseProxy* proxy)
|
||||
{
|
||||
Handle* handle = static_cast<Handle*>(proxy);
|
||||
RemoveHandle(handle->m_handleId);
|
||||
}
|
||||
|
||||
void AxisSweep3::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
|
||||
{
|
||||
Handle* handle = static_cast<Handle*>(proxy);
|
||||
UpdateHandle(handle->m_handleId,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles, int maxOverlaps)
|
||||
:OverlappingPairCache(maxOverlaps)
|
||||
{
|
||||
//assert(bounds.HasVolume());
|
||||
|
||||
// 1 handle is reserved as sentinel
|
||||
assert(maxHandles > 1 && maxHandles < 32767);
|
||||
|
||||
// doesn't need this limit right now, but I may want to use unsigned short indexes into overlaps array
|
||||
assert(maxOverlaps > 0 && maxOverlaps < 65536);
|
||||
|
||||
// init bounds
|
||||
m_worldAabbMin = worldAabbMin;
|
||||
m_worldAabbMax = worldAabbMax;
|
||||
|
||||
SimdVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
|
||||
|
||||
m_quantize = SimdVector3(65535.0f,65535.0f,65535.0f) / aabbSize;
|
||||
|
||||
// allocate handles buffer and put all handles on free list
|
||||
m_pHandles = new Handle[maxHandles];
|
||||
m_maxHandles = maxHandles;
|
||||
m_numHandles = 0;
|
||||
|
||||
// handle 0 is reserved as the null index, and is also used as the sentinel
|
||||
m_firstFreeHandle = 1;
|
||||
{
|
||||
for (int i = m_firstFreeHandle; i < maxHandles; i++)
|
||||
m_pHandles[i].SetNextFree(i + 1);
|
||||
m_pHandles[maxHandles - 1].SetNextFree(0);
|
||||
}
|
||||
|
||||
{
|
||||
// allocate edge buffers
|
||||
for (int i = 0; i < 3; i++)
|
||||
m_pEdges[i] = new Edge[maxHandles * 2];
|
||||
}
|
||||
//removed overlap management
|
||||
|
||||
// make boundary sentinels
|
||||
|
||||
m_pHandles[0].m_clientObject = 0;
|
||||
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
m_pHandles[0].m_minEdges[axis] = 0;
|
||||
m_pHandles[0].m_maxEdges[axis] = 1;
|
||||
|
||||
m_pEdges[axis][0].m_pos = 0;
|
||||
m_pEdges[axis][0].m_handle = 0;
|
||||
m_pEdges[axis][1].m_pos = 0xffff;
|
||||
m_pEdges[axis][1].m_handle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
AxisSweep3::~AxisSweep3()
|
||||
{
|
||||
|
||||
for (int i = 2; i >= 0; i--)
|
||||
delete[] m_pEdges[i];
|
||||
delete[] m_pHandles;
|
||||
}
|
||||
|
||||
void AxisSweep3::Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const
|
||||
{
|
||||
SimdPoint3 clampedPoint(point);
|
||||
/*
|
||||
if (isMax)
|
||||
clampedPoint += SimdVector3(10,10,10);
|
||||
else
|
||||
{
|
||||
clampedPoint -= SimdVector3(10,10,10);
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
clampedPoint.setMax(m_worldAabbMin);
|
||||
clampedPoint.setMin(m_worldAabbMax);
|
||||
|
||||
SimdVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
|
||||
out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax);
|
||||
out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax);
|
||||
out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
unsigned short AxisSweep3::AllocHandle()
|
||||
{
|
||||
assert(m_firstFreeHandle);
|
||||
|
||||
unsigned short handle = m_firstFreeHandle;
|
||||
m_firstFreeHandle = GetHandle(handle)->GetNextFree();
|
||||
m_numHandles++;
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
void AxisSweep3::FreeHandle(unsigned short handle)
|
||||
{
|
||||
assert(handle > 0 && handle < m_maxHandles);
|
||||
|
||||
GetHandle(handle)->SetNextFree(m_firstFreeHandle);
|
||||
m_firstFreeHandle = handle;
|
||||
|
||||
m_numHandles--;
|
||||
}
|
||||
|
||||
|
||||
|
||||
unsigned short AxisSweep3::AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
// quantize the bounds
|
||||
unsigned short min[3], max[3];
|
||||
Quantize(min, aabbMin, 0);
|
||||
Quantize(max, aabbMax, 1);
|
||||
|
||||
// allocate a handle
|
||||
unsigned short handle = AllocHandle();
|
||||
assert(handle!= 0xcdcd);
|
||||
|
||||
Handle* pHandle = GetHandle(handle);
|
||||
|
||||
pHandle->m_handleId = handle;
|
||||
//pHandle->m_pOverlaps = 0;
|
||||
pHandle->m_clientObject = pOwner;
|
||||
pHandle->m_collisionFilterGroup = collisionFilterGroup;
|
||||
pHandle->m_collisionFilterMask = collisionFilterMask;
|
||||
|
||||
// compute current limit of edge arrays
|
||||
int limit = m_numHandles * 2;
|
||||
|
||||
// insert new edges just inside the max boundary edge
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
m_pHandles[0].m_maxEdges[axis] += 2;
|
||||
|
||||
m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
|
||||
|
||||
m_pEdges[axis][limit - 1].m_pos = min[axis];
|
||||
m_pEdges[axis][limit - 1].m_handle = handle;
|
||||
|
||||
m_pEdges[axis][limit].m_pos = max[axis];
|
||||
m_pEdges[axis][limit].m_handle = handle;
|
||||
|
||||
pHandle->m_minEdges[axis] = limit - 1;
|
||||
pHandle->m_maxEdges[axis] = limit;
|
||||
}
|
||||
|
||||
// now sort the new edges to their correct position
|
||||
SortMinDown(0, pHandle->m_minEdges[0], false);
|
||||
SortMaxDown(0, pHandle->m_maxEdges[0], false);
|
||||
SortMinDown(1, pHandle->m_minEdges[1], false);
|
||||
SortMaxDown(1, pHandle->m_maxEdges[1], false);
|
||||
SortMinDown(2, pHandle->m_minEdges[2], true);
|
||||
SortMaxDown(2, pHandle->m_maxEdges[2], true);
|
||||
|
||||
//PrintAxis(1);
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
|
||||
void AxisSweep3::RemoveHandle(unsigned short handle)
|
||||
{
|
||||
Handle* pHandle = GetHandle(handle);
|
||||
|
||||
RemoveOverlappingPairsContainingProxy(pHandle);
|
||||
|
||||
|
||||
// compute current limit of edge arrays
|
||||
int limit = m_numHandles * 2;
|
||||
int axis;
|
||||
|
||||
for (axis = 0;axis<3;axis++)
|
||||
{
|
||||
Edge* pEdges = m_pEdges[axis];
|
||||
int maxEdge= pHandle->m_maxEdges[axis];
|
||||
pEdges[maxEdge].m_pos = 0xffff;
|
||||
int minEdge = pHandle->m_minEdges[axis];
|
||||
pEdges[minEdge].m_pos = 0xffff;
|
||||
}
|
||||
|
||||
// remove the edges by sorting them up to the end of the list
|
||||
for ( axis = 0; axis < 3; axis++)
|
||||
{
|
||||
Edge* pEdges = m_pEdges[axis];
|
||||
int max = pHandle->m_maxEdges[axis];
|
||||
pEdges[max].m_pos = 0xffff;
|
||||
|
||||
SortMaxUp(axis,max,false);
|
||||
|
||||
int i = pHandle->m_minEdges[axis];
|
||||
pEdges[i].m_pos = 0xffff;
|
||||
|
||||
SortMinUp(axis,i,false);
|
||||
|
||||
pEdges[limit-1].m_handle = 0;
|
||||
pEdges[limit-1].m_pos = 0xffff;
|
||||
|
||||
}
|
||||
|
||||
// free the handle
|
||||
FreeHandle(handle);
|
||||
|
||||
|
||||
}
|
||||
|
||||
bool AxisSweep3::TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
|
||||
{
|
||||
//optimization 1: check the array index (memory address), instead of the m_pos
|
||||
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
if (axis != ignoreAxis)
|
||||
{
|
||||
if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
|
||||
pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//optimization 2: only 2 axis need to be tested
|
||||
|
||||
/*for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
|
||||
m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void AxisSweep3::UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax)
|
||||
{
|
||||
// assert(bounds.IsFinite());
|
||||
//assert(bounds.HasVolume());
|
||||
|
||||
Handle* pHandle = GetHandle(handle);
|
||||
|
||||
// quantize the new bounds
|
||||
unsigned short min[3], max[3];
|
||||
Quantize(min, aabbMin, 0);
|
||||
Quantize(max, aabbMax, 1);
|
||||
|
||||
// update changed edges
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
unsigned short emin = pHandle->m_minEdges[axis];
|
||||
unsigned short emax = pHandle->m_maxEdges[axis];
|
||||
|
||||
int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
|
||||
int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
|
||||
|
||||
m_pEdges[axis][emin].m_pos = min[axis];
|
||||
m_pEdges[axis][emax].m_pos = max[axis];
|
||||
|
||||
// expand (only adds overlaps)
|
||||
if (dmin < 0)
|
||||
SortMinDown(axis, emin);
|
||||
|
||||
if (dmax > 0)
|
||||
SortMaxUp(axis, emax);
|
||||
|
||||
// shrink (only removes overlaps)
|
||||
if (dmin > 0)
|
||||
SortMinUp(axis, emin);
|
||||
|
||||
if (dmax < 0)
|
||||
SortMaxDown(axis, emax);
|
||||
}
|
||||
|
||||
//PrintAxis(1);
|
||||
}
|
||||
|
||||
// sorting a min edge downwards can only ever *add* overlaps
|
||||
void AxisSweep3::SortMinDown(int axis, unsigned short edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pPrev = pEdge - 1;
|
||||
Handle* pHandleEdge = GetHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos < pPrev->m_pos)
|
||||
{
|
||||
Handle* pHandlePrev = GetHandle(pPrev->m_handle);
|
||||
|
||||
if (pPrev->IsMax())
|
||||
{
|
||||
// if previous edge is a maximum check the bounds and add an overlap if necessary
|
||||
if (updateOverlaps && TestOverlap(axis,pHandleEdge, pHandlePrev))
|
||||
{
|
||||
AddOverlappingPair(pHandleEdge,pHandlePrev);
|
||||
|
||||
//AddOverlap(pEdge->m_handle, pPrev->m_handle);
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandlePrev->m_maxEdges[axis]++;
|
||||
}
|
||||
else
|
||||
pHandlePrev->m_minEdges[axis]++;
|
||||
|
||||
pHandleEdge->m_minEdges[axis]--;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pPrev;
|
||||
*pPrev = swap;
|
||||
|
||||
// decrement
|
||||
pEdge--;
|
||||
pPrev--;
|
||||
}
|
||||
}
|
||||
|
||||
// sorting a min edge upwards can only ever *remove* overlaps
|
||||
void AxisSweep3::SortMinUp(int axis, unsigned short edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pNext = pEdge + 1;
|
||||
Handle* pHandleEdge = GetHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos > pNext->m_pos)
|
||||
{
|
||||
Handle* pHandleNext = GetHandle(pNext->m_handle);
|
||||
|
||||
if (pNext->IsMax())
|
||||
{
|
||||
// if next edge is maximum remove any overlap between the two handles
|
||||
if (updateOverlaps)
|
||||
{
|
||||
Handle* handle0 = GetHandle(pEdge->m_handle);
|
||||
Handle* handle1 = GetHandle(pNext->m_handle);
|
||||
BroadphasePair* pair = FindPair(handle0,handle1);
|
||||
//assert(pair);
|
||||
if (pair)
|
||||
{
|
||||
RemoveOverlappingPair(*pair);
|
||||
}
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandleNext->m_maxEdges[axis]--;
|
||||
}
|
||||
else
|
||||
pHandleNext->m_minEdges[axis]--;
|
||||
|
||||
pHandleEdge->m_minEdges[axis]++;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pNext;
|
||||
*pNext = swap;
|
||||
|
||||
// increment
|
||||
pEdge++;
|
||||
pNext++;
|
||||
}
|
||||
}
|
||||
|
||||
// sorting a max edge downwards can only ever *remove* overlaps
|
||||
void AxisSweep3::SortMaxDown(int axis, unsigned short edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pPrev = pEdge - 1;
|
||||
Handle* pHandleEdge = GetHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos < pPrev->m_pos)
|
||||
{
|
||||
Handle* pHandlePrev = GetHandle(pPrev->m_handle);
|
||||
|
||||
if (!pPrev->IsMax())
|
||||
{
|
||||
// if previous edge was a minimum remove any overlap between the two handles
|
||||
if (updateOverlaps)
|
||||
{
|
||||
Handle* handle0 = GetHandle(pEdge->m_handle);
|
||||
Handle* handle1 = GetHandle(pPrev->m_handle);
|
||||
BroadphasePair* pair = FindPair(handle0,handle1);
|
||||
//assert(pair);
|
||||
|
||||
if (pair)
|
||||
{
|
||||
RemoveOverlappingPair(*pair);
|
||||
}
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandlePrev->m_minEdges[axis]++;;
|
||||
}
|
||||
else
|
||||
pHandlePrev->m_maxEdges[axis]++;
|
||||
|
||||
pHandleEdge->m_maxEdges[axis]--;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pPrev;
|
||||
*pPrev = swap;
|
||||
|
||||
// decrement
|
||||
pEdge--;
|
||||
pPrev--;
|
||||
}
|
||||
}
|
||||
|
||||
// sorting a max edge upwards can only ever *add* overlaps
|
||||
void AxisSweep3::SortMaxUp(int axis, unsigned short edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pNext = pEdge + 1;
|
||||
Handle* pHandleEdge = GetHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos > pNext->m_pos)
|
||||
{
|
||||
Handle* pHandleNext = GetHandle(pNext->m_handle);
|
||||
|
||||
if (!pNext->IsMax())
|
||||
{
|
||||
// if next edge is a minimum check the bounds and add an overlap if necessary
|
||||
if (updateOverlaps && TestOverlap(axis, pHandleEdge, pHandleNext))
|
||||
{
|
||||
Handle* handle0 = GetHandle(pEdge->m_handle);
|
||||
Handle* handle1 = GetHandle(pNext->m_handle);
|
||||
AddOverlappingPair(handle0,handle1);
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandleNext->m_minEdges[axis]--;
|
||||
}
|
||||
else
|
||||
pHandleNext->m_maxEdges[axis]--;
|
||||
|
||||
pHandleEdge->m_maxEdges[axis]++;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pNext;
|
||||
*pNext = swap;
|
||||
|
||||
// increment
|
||||
pEdge++;
|
||||
pNext++;
|
||||
}
|
||||
}
|
||||
@@ -1,115 +0,0 @@
|
||||
//Bullet Continuous Collision Detection and Physics Library
|
||||
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
//
|
||||
// AxisSweep3.h
|
||||
//
|
||||
// Copyright (c) 2006 Simon Hobbs
|
||||
//
|
||||
// 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 AXIS_SWEEP_3_H
|
||||
#define AXIS_SWEEP_3_H
|
||||
|
||||
#include "SimdPoint3.h"
|
||||
#include "SimdVector3.h"
|
||||
#include "OverlappingPairCache.h"
|
||||
#include "BroadphaseProxy.h"
|
||||
|
||||
/// AxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
|
||||
/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
|
||||
/// The TestOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
|
||||
class AxisSweep3 : public OverlappingPairCache
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
|
||||
class Edge
|
||||
{
|
||||
public:
|
||||
unsigned short m_pos; // low bit is min/max
|
||||
unsigned short m_handle;
|
||||
|
||||
unsigned short IsMax() const {return m_pos & 1;}
|
||||
};
|
||||
|
||||
public:
|
||||
class Handle : public BroadphaseProxy
|
||||
{
|
||||
public:
|
||||
|
||||
// indexes into the edge arrays
|
||||
unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
|
||||
unsigned short m_handleId;
|
||||
unsigned short m_pad;
|
||||
|
||||
//void* m_pOwner; this is now in BroadphaseProxy.m_clientObject
|
||||
|
||||
inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
|
||||
inline unsigned short GetNextFree() const {return m_minEdges[0];}
|
||||
}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
|
||||
|
||||
|
||||
private:
|
||||
SimdPoint3 m_worldAabbMin; // overall system bounds
|
||||
SimdPoint3 m_worldAabbMax; // overall system bounds
|
||||
|
||||
SimdVector3 m_quantize; // scaling factor for quantization
|
||||
|
||||
int m_numHandles; // number of active handles
|
||||
int m_maxHandles; // max number of handles
|
||||
Handle* m_pHandles; // handles pool
|
||||
unsigned short m_firstFreeHandle; // free handles list
|
||||
|
||||
Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
|
||||
|
||||
|
||||
// allocation/deallocation
|
||||
unsigned short AllocHandle();
|
||||
void FreeHandle(unsigned short handle);
|
||||
|
||||
|
||||
bool TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
|
||||
|
||||
//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
|
||||
//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
|
||||
|
||||
void Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const;
|
||||
|
||||
void SortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
|
||||
void SortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
|
||||
void SortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
|
||||
void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
|
||||
|
||||
public:
|
||||
AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 1024, int maxOverlaps = 8192);
|
||||
virtual ~AxisSweep3();
|
||||
|
||||
virtual void RefreshOverlappingPairs()
|
||||
{
|
||||
//this is replace by sweep and prune
|
||||
}
|
||||
|
||||
unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
|
||||
void RemoveHandle(unsigned short handle);
|
||||
void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
|
||||
inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}
|
||||
|
||||
|
||||
//Broadphase Interface
|
||||
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
|
||||
virtual void DestroyProxy(BroadphaseProxy* proxy);
|
||||
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
|
||||
|
||||
};
|
||||
|
||||
#endif //AXIS_SWEEP_3_H
|
||||
@@ -1,40 +0,0 @@
|
||||
/*
|
||||
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 BROADPHASE_INTERFACE_H
|
||||
#define BROADPHASE_INTERFACE_H
|
||||
|
||||
|
||||
|
||||
struct DispatcherInfo;
|
||||
class Dispatcher;
|
||||
struct BroadphaseProxy;
|
||||
#include "SimdVector3.h"
|
||||
|
||||
///BroadphaseInterface for aabb-overlapping object pairs
|
||||
class BroadphaseInterface
|
||||
{
|
||||
public:
|
||||
virtual ~BroadphaseInterface() {}
|
||||
|
||||
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0;
|
||||
virtual void DestroyProxy(BroadphaseProxy* proxy)=0;
|
||||
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)=0;
|
||||
virtual void CleanProxyFromPairs(BroadphaseProxy* proxy)=0;
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BROADPHASE_INTERFACE_H
|
||||
@@ -1,17 +0,0 @@
|
||||
/*
|
||||
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 "BroadphaseProxy.h"
|
||||
|
||||
@@ -1,125 +0,0 @@
|
||||
/*
|
||||
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 BROADPHASE_PROXY_H
|
||||
#define BROADPHASE_PROXY_H
|
||||
|
||||
|
||||
|
||||
/// Dispatcher uses these types
|
||||
/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
|
||||
/// to facilitate type checking
|
||||
enum BroadphaseNativeTypes
|
||||
{
|
||||
// polyhedral convex shapes
|
||||
BOX_SHAPE_PROXYTYPE,
|
||||
TRIANGLE_SHAPE_PROXYTYPE,
|
||||
TETRAHEDRAL_SHAPE_PROXYTYPE,
|
||||
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
|
||||
CONVEX_HULL_SHAPE_PROXYTYPE,
|
||||
//implicit convex shapes
|
||||
IMPLICIT_CONVEX_SHAPES_START_HERE,
|
||||
SPHERE_SHAPE_PROXYTYPE,
|
||||
MULTI_SPHERE_SHAPE_PROXYTYPE,
|
||||
CONE_SHAPE_PROXYTYPE,
|
||||
CONVEX_SHAPE_PROXYTYPE,
|
||||
CYLINDER_SHAPE_PROXYTYPE,
|
||||
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
|
||||
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
|
||||
//concave shapes
|
||||
CONCAVE_SHAPES_START_HERE,
|
||||
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
|
||||
TRIANGLE_MESH_SHAPE_PROXYTYPE,
|
||||
EMPTY_SHAPE_PROXYTYPE,
|
||||
STATIC_PLANE_PROXYTYPE,
|
||||
CONCAVE_SHAPES_END_HERE,
|
||||
|
||||
COMPOUND_SHAPE_PROXYTYPE,
|
||||
|
||||
MAX_BROADPHASE_COLLISION_TYPES
|
||||
};
|
||||
|
||||
|
||||
///BroadphaseProxy
|
||||
struct BroadphaseProxy
|
||||
{
|
||||
|
||||
//Usually the client CollisionObject or Rigidbody class
|
||||
void* m_clientObject;
|
||||
short int m_collisionFilterGroup;
|
||||
short int m_collisionFilterMask;
|
||||
|
||||
//used for memory pools
|
||||
BroadphaseProxy() :m_clientObject(0){}
|
||||
|
||||
BroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
|
||||
:m_clientObject(userPtr),
|
||||
m_collisionFilterGroup(collisionFilterGroup),
|
||||
m_collisionFilterMask(collisionFilterMask)
|
||||
{
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class CollisionAlgorithm;
|
||||
|
||||
struct BroadphaseProxy;
|
||||
|
||||
#define SIMPLE_MAX_ALGORITHMS 2
|
||||
|
||||
/// contains a pair of aabb-overlapping objects
|
||||
struct BroadphasePair
|
||||
{
|
||||
BroadphasePair ()
|
||||
:
|
||||
m_pProxy0(0),
|
||||
m_pProxy1(0)
|
||||
{
|
||||
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
|
||||
{
|
||||
m_algorithms[i] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
BroadphasePair(const BroadphasePair& other)
|
||||
: m_pProxy0(other.m_pProxy0),
|
||||
m_pProxy1(other.m_pProxy1)
|
||||
{
|
||||
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
|
||||
{
|
||||
m_algorithms[i] = other.m_algorithms[i];
|
||||
}
|
||||
}
|
||||
BroadphasePair(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
||||
:
|
||||
m_pProxy0(&proxy0),
|
||||
m_pProxy1(&proxy1)
|
||||
{
|
||||
for (int i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
|
||||
{
|
||||
m_algorithms[i] = 0;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
BroadphaseProxy* m_pProxy0;
|
||||
BroadphaseProxy* m_pProxy1;
|
||||
|
||||
mutable CollisionAlgorithm* m_algorithms[SIMPLE_MAX_ALGORITHMS];
|
||||
};
|
||||
|
||||
#endif //BROADPHASE_PROXY_H
|
||||
|
||||
@@ -1,23 +0,0 @@
|
||||
/*
|
||||
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 "CollisionAlgorithm.h"
|
||||
#include "Dispatcher.h"
|
||||
|
||||
CollisionAlgorithm::CollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
|
||||
{
|
||||
m_dispatcher = ci.m_dispatcher;
|
||||
}
|
||||
|
||||
@@ -1,67 +0,0 @@
|
||||
/*
|
||||
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 COLLISION_ALGORITHM_H
|
||||
#define COLLISION_ALGORITHM_H
|
||||
|
||||
struct BroadphaseProxy;
|
||||
class Dispatcher;
|
||||
|
||||
struct CollisionAlgorithmConstructionInfo
|
||||
{
|
||||
CollisionAlgorithmConstructionInfo()
|
||||
:m_dispatcher(0)
|
||||
{
|
||||
}
|
||||
CollisionAlgorithmConstructionInfo(Dispatcher* dispatcher,int temp)
|
||||
:m_dispatcher(dispatcher)
|
||||
{
|
||||
}
|
||||
|
||||
Dispatcher* m_dispatcher;
|
||||
|
||||
int GetDispatcherId();
|
||||
|
||||
};
|
||||
|
||||
|
||||
///CollisionAlgorithm is an collision interface that is compatible with the Broadphase and Dispatcher.
|
||||
///It is persistent over frames
|
||||
class CollisionAlgorithm
|
||||
{
|
||||
|
||||
protected:
|
||||
|
||||
Dispatcher* m_dispatcher;
|
||||
|
||||
protected:
|
||||
int GetDispatcherId();
|
||||
|
||||
public:
|
||||
|
||||
CollisionAlgorithm() {};
|
||||
|
||||
CollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
|
||||
|
||||
virtual ~CollisionAlgorithm() {};
|
||||
|
||||
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const struct DispatcherInfo& dispatchInfo) = 0;
|
||||
|
||||
virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const struct DispatcherInfo& dispatchInfo) = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //COLLISION_ALGORITHM_H
|
||||
@@ -1,22 +0,0 @@
|
||||
/*
|
||||
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 "Dispatcher.h"
|
||||
|
||||
Dispatcher::~Dispatcher()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
@@ -1,99 +0,0 @@
|
||||
/*
|
||||
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 _DISPATCHER_H
|
||||
#define _DISPATCHER_H
|
||||
|
||||
class CollisionAlgorithm;
|
||||
struct BroadphaseProxy;
|
||||
class RigidBody;
|
||||
struct CollisionObject;
|
||||
class ManifoldResult;
|
||||
class OverlappingPairCache;
|
||||
|
||||
enum CollisionDispatcherId
|
||||
{
|
||||
RIGIDBODY_DISPATCHER = 0,
|
||||
USERCALLBACK_DISPATCHER
|
||||
};
|
||||
|
||||
class PersistentManifold;
|
||||
|
||||
struct DispatcherInfo
|
||||
{
|
||||
enum DispatchFunc
|
||||
{
|
||||
DISPATCH_DISCRETE = 1,
|
||||
DISPATCH_CONTINUOUS
|
||||
};
|
||||
DispatcherInfo()
|
||||
:m_dispatchFunc(DISPATCH_DISCRETE),
|
||||
m_timeOfImpact(1.f),
|
||||
m_useContinuous(false),
|
||||
m_debugDraw(0),
|
||||
m_enableSatConvex(false)
|
||||
{
|
||||
|
||||
}
|
||||
float m_timeStep;
|
||||
int m_stepCount;
|
||||
int m_dispatchFunc;
|
||||
float m_timeOfImpact;
|
||||
bool m_useContinuous;
|
||||
class IDebugDraw* m_debugDraw;
|
||||
bool m_enableSatConvex;
|
||||
|
||||
};
|
||||
|
||||
/// Dispatcher can be used in combination with broadphase to dispatch overlapping pairs.
|
||||
/// For example for pairwise collision detection or user callbacks (game logic).
|
||||
class Dispatcher
|
||||
{
|
||||
|
||||
|
||||
public:
|
||||
virtual ~Dispatcher() ;
|
||||
|
||||
virtual CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1) = 0;
|
||||
|
||||
//
|
||||
// asume dispatchers to have unique id's in the range [0..max dispacher]
|
||||
//
|
||||
virtual int GetUniqueId() = 0;
|
||||
|
||||
virtual PersistentManifold* GetNewManifold(void* body0,void* body1)=0;
|
||||
|
||||
virtual void ReleaseManifold(PersistentManifold* manifold)=0;
|
||||
|
||||
virtual void ClearManifold(PersistentManifold* manifold)=0;
|
||||
|
||||
virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1) = 0;
|
||||
|
||||
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1)=0;
|
||||
|
||||
virtual ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold) =0;
|
||||
|
||||
virtual void ReleaseManifoldResult(ManifoldResult*)=0;
|
||||
|
||||
virtual void DispatchAllCollisionPairs(struct BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo)=0;
|
||||
|
||||
virtual int GetNumManifolds() const = 0;
|
||||
|
||||
virtual PersistentManifold* GetManifoldByIndexInternal(int index) = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //_DISPATCHER_H
|
||||
@@ -1,151 +0,0 @@
|
||||
|
||||
/*
|
||||
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 "OverlappingPairCache.h"
|
||||
|
||||
#include "Dispatcher.h"
|
||||
#include "CollisionAlgorithm.h"
|
||||
|
||||
|
||||
OverlappingPairCache::OverlappingPairCache(int maxOverlap):
|
||||
m_blockedForChanges(false),
|
||||
m_NumOverlapBroadphasePair(0),
|
||||
m_maxOverlap(maxOverlap)
|
||||
{
|
||||
m_OverlappingPairs = new BroadphasePair[maxOverlap];
|
||||
}
|
||||
|
||||
|
||||
OverlappingPairCache::~OverlappingPairCache()
|
||||
{
|
||||
delete [] m_OverlappingPairs;
|
||||
}
|
||||
|
||||
|
||||
void OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
|
||||
{
|
||||
CleanOverlappingPair(pair);
|
||||
int index = &pair - &m_OverlappingPairs[0];
|
||||
//remove efficiently, swap with the last
|
||||
m_OverlappingPairs[index] = m_OverlappingPairs[m_NumOverlapBroadphasePair-1];
|
||||
m_NumOverlapBroadphasePair--;
|
||||
}
|
||||
|
||||
|
||||
void OverlappingPairCache::CleanOverlappingPair(BroadphasePair& pair)
|
||||
{
|
||||
for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
|
||||
{
|
||||
if (pair.m_algorithms[dispatcherId])
|
||||
{
|
||||
{
|
||||
delete pair.m_algorithms[dispatcherId];
|
||||
pair.m_algorithms[dispatcherId]=0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
|
||||
{
|
||||
//don't add overlap with own
|
||||
assert(proxy0 != proxy1);
|
||||
|
||||
if (!NeedsCollision(proxy0,proxy1))
|
||||
return;
|
||||
|
||||
|
||||
BroadphasePair pair(*proxy0,*proxy1);
|
||||
m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;
|
||||
|
||||
int i;
|
||||
for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
|
||||
{
|
||||
assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
|
||||
m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
|
||||
}
|
||||
|
||||
if (m_NumOverlapBroadphasePair >= m_maxOverlap)
|
||||
{
|
||||
//printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
|
||||
#ifdef DEBUG
|
||||
assert(0);
|
||||
#endif
|
||||
} else
|
||||
{
|
||||
m_NumOverlapBroadphasePair++;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
BroadphasePair* OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
|
||||
{
|
||||
BroadphasePair* foundPair = 0;
|
||||
|
||||
int i;
|
||||
for (i=m_NumOverlapBroadphasePair-1;i>=0;i--)
|
||||
{
|
||||
BroadphasePair& pair = m_OverlappingPairs[i];
|
||||
if (((pair.m_pProxy0 == proxy0) && (pair.m_pProxy1 == proxy1)) ||
|
||||
((pair.m_pProxy0 == proxy1) && (pair.m_pProxy1 == proxy0)))
|
||||
{
|
||||
foundPair = &pair;
|
||||
return foundPair;
|
||||
}
|
||||
}
|
||||
|
||||
return foundPair;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void OverlappingPairCache::CleanProxyFromPairs(BroadphaseProxy* proxy)
|
||||
{
|
||||
for (int i=0;i<m_NumOverlapBroadphasePair;i++)
|
||||
{
|
||||
BroadphasePair& pair = m_OverlappingPairs[i];
|
||||
if (pair.m_pProxy0 == proxy ||
|
||||
pair.m_pProxy1 == proxy)
|
||||
{
|
||||
CleanOverlappingPair(pair);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void OverlappingPairCache::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy)
|
||||
{
|
||||
int i;
|
||||
for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
|
||||
{
|
||||
BroadphasePair& pair = m_OverlappingPairs[i];
|
||||
if (pair.m_pProxy0 == proxy ||
|
||||
pair.m_pProxy1 == proxy)
|
||||
{
|
||||
RemoveOverlappingPair(pair);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,85 +0,0 @@
|
||||
|
||||
/*
|
||||
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 OVERLAPPING_PAIR_CACHE_H
|
||||
#define OVERLAPPING_PAIR_CACHE_H
|
||||
|
||||
|
||||
#include "BroadphaseInterface.h"
|
||||
#include "BroadphaseProxy.h"
|
||||
#include "SimdPoint3.h"
|
||||
|
||||
|
||||
///OverlappingPairCache maintains the objects with overlapping AABB
|
||||
///Typically managed by the Broadphase, Axis3Sweep or SimpleBroadphase
|
||||
class OverlappingPairCache : public BroadphaseInterface
|
||||
{
|
||||
|
||||
BroadphasePair* m_OverlappingPairs;
|
||||
int m_NumOverlapBroadphasePair;
|
||||
int m_maxOverlap;
|
||||
|
||||
//during the dispatch, check that user doesn't destroy/create proxy
|
||||
bool m_blockedForChanges;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
OverlappingPairCache(int maxOverlap);
|
||||
virtual ~OverlappingPairCache();
|
||||
|
||||
int GetNumOverlappingPairs() const
|
||||
{
|
||||
return m_NumOverlapBroadphasePair;
|
||||
}
|
||||
|
||||
BroadphasePair& GetOverlappingPair(int index)
|
||||
{
|
||||
return m_OverlappingPairs[index];
|
||||
}
|
||||
|
||||
void RemoveOverlappingPair(BroadphasePair& pair);
|
||||
|
||||
void CleanOverlappingPair(BroadphasePair& pair);
|
||||
|
||||
void AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
||||
|
||||
BroadphasePair* FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
||||
|
||||
|
||||
|
||||
void CleanProxyFromPairs(BroadphaseProxy* proxy);
|
||||
|
||||
void RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy);
|
||||
|
||||
|
||||
inline bool NeedsCollision(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) const
|
||||
{
|
||||
bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
|
||||
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
|
||||
|
||||
return collides;
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void RefreshOverlappingPairs() =0;
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
#endif //OVERLAPPING_PAIR_CACHE_H
|
||||
@@ -1,192 +0,0 @@
|
||||
/*
|
||||
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 "SimpleBroadphase.h"
|
||||
#include <BroadphaseCollision/Dispatcher.h>
|
||||
#include <BroadphaseCollision/CollisionAlgorithm.h>
|
||||
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdTransform.h"
|
||||
#include "SimdMatrix3x3.h"
|
||||
#include <vector>
|
||||
|
||||
|
||||
void SimpleBroadphase::validate()
|
||||
{
|
||||
for (int i=0;i<m_numProxies;i++)
|
||||
{
|
||||
for (int j=i+1;j<m_numProxies;j++)
|
||||
{
|
||||
assert(m_pProxies[i] != m_pProxies[j]);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
|
||||
:OverlappingPairCache(maxOverlap),
|
||||
m_firstFreeProxy(0),
|
||||
m_numProxies(0),
|
||||
m_maxProxies(maxProxies)
|
||||
{
|
||||
|
||||
m_proxies = new SimpleBroadphaseProxy[maxProxies];
|
||||
m_freeProxies = new int[maxProxies];
|
||||
m_pProxies = new SimpleBroadphaseProxy*[maxProxies];
|
||||
|
||||
|
||||
int i;
|
||||
for (i=0;i<m_maxProxies;i++)
|
||||
{
|
||||
m_freeProxies[i] = i;
|
||||
}
|
||||
}
|
||||
|
||||
SimpleBroadphase::~SimpleBroadphase()
|
||||
{
|
||||
delete[] m_proxies;
|
||||
delete []m_freeProxies;
|
||||
delete [] m_pProxies;
|
||||
|
||||
/*int i;
|
||||
for (i=m_numProxies-1;i>=0;i--)
|
||||
{
|
||||
BP_Proxy* proxy = m_pProxies[i];
|
||||
destroyProxy(proxy);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
BroadphaseProxy* SimpleBroadphase::CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
if (m_numProxies >= m_maxProxies)
|
||||
{
|
||||
assert(0);
|
||||
return 0; //should never happen, but don't let the game crash ;-)
|
||||
}
|
||||
assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);
|
||||
|
||||
int freeIndex= m_freeProxies[m_firstFreeProxy];
|
||||
SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
|
||||
m_firstFreeProxy++;
|
||||
|
||||
SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
|
||||
|
||||
int index = proxy - proxy1;
|
||||
assert(index == freeIndex);
|
||||
|
||||
m_pProxies[m_numProxies] = proxy;
|
||||
m_numProxies++;
|
||||
//validate();
|
||||
|
||||
return proxy;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxyOrg)
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxyOrg);
|
||||
SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
|
||||
|
||||
int index = proxy0 - proxy1;
|
||||
assert (index < m_maxProxies);
|
||||
m_freeProxies[--m_firstFreeProxy] = index;
|
||||
|
||||
RemoveOverlappingPairsContainingProxy(proxyOrg);
|
||||
|
||||
|
||||
for (i=0;i<m_numProxies;i++)
|
||||
{
|
||||
if (m_pProxies[i] == proxyOrg)
|
||||
{
|
||||
m_pProxies[i] = m_pProxies[m_numProxies-1];
|
||||
break;
|
||||
}
|
||||
}
|
||||
m_numProxies--;
|
||||
//validate();
|
||||
|
||||
}
|
||||
|
||||
void SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
|
||||
{
|
||||
SimpleBroadphaseProxy* sbp = GetSimpleProxyFromProxy(proxy);
|
||||
sbp->m_min = aabbMin;
|
||||
sbp->m_max = aabbMax;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
bool SimpleBroadphase::AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1)
|
||||
{
|
||||
return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] &&
|
||||
proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
|
||||
proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
|
||||
|
||||
}
|
||||
void SimpleBroadphase::RefreshOverlappingPairs()
|
||||
{
|
||||
//first check for new overlapping pairs
|
||||
int i,j;
|
||||
|
||||
for (i=0;i<m_numProxies;i++)
|
||||
{
|
||||
BroadphaseProxy* proxy0 = m_pProxies[i];
|
||||
for (j=i+1;j<m_numProxies;j++)
|
||||
{
|
||||
BroadphaseProxy* proxy1 = m_pProxies[j];
|
||||
SimpleBroadphaseProxy* p0 = GetSimpleProxyFromProxy(proxy0);
|
||||
SimpleBroadphaseProxy* p1 = GetSimpleProxyFromProxy(proxy1);
|
||||
|
||||
if (AabbOverlap(p0,p1))
|
||||
{
|
||||
if ( !FindPair(proxy0,proxy1))
|
||||
{
|
||||
AddOverlappingPair(proxy0,proxy1);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//then remove non-overlapping ones
|
||||
for (i=0;i<GetNumOverlappingPairs();i++)
|
||||
{
|
||||
BroadphasePair& pair = GetOverlappingPair(i);
|
||||
|
||||
SimpleBroadphaseProxy* proxy0 = GetSimpleProxyFromProxy(pair.m_pProxy0);
|
||||
SimpleBroadphaseProxy* proxy1 = GetSimpleProxyFromProxy(pair.m_pProxy1);
|
||||
if (!AabbOverlap(proxy0,proxy1))
|
||||
{
|
||||
RemoveOverlappingPair(pair);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,90 +0,0 @@
|
||||
/*
|
||||
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 SIMPLE_BROADPHASE_H
|
||||
#define SIMPLE_BROADPHASE_H
|
||||
|
||||
|
||||
#include "OverlappingPairCache.h"
|
||||
|
||||
|
||||
struct SimpleBroadphaseProxy : public BroadphaseProxy
|
||||
{
|
||||
SimdVector3 m_min;
|
||||
SimdVector3 m_max;
|
||||
|
||||
SimpleBroadphaseProxy() {};
|
||||
|
||||
SimpleBroadphaseProxy(const SimdPoint3& minpt,const SimdPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
:BroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
|
||||
m_min(minpt),m_max(maxpt)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
|
||||
class SimpleBroadphase : public OverlappingPairCache
|
||||
{
|
||||
|
||||
SimpleBroadphaseProxy* m_proxies;
|
||||
int* m_freeProxies;
|
||||
int m_firstFreeProxy;
|
||||
|
||||
SimpleBroadphaseProxy** m_pProxies;
|
||||
int m_numProxies;
|
||||
|
||||
|
||||
|
||||
int m_maxProxies;
|
||||
|
||||
|
||||
inline SimpleBroadphaseProxy* GetSimpleProxyFromProxy(BroadphaseProxy* proxy)
|
||||
{
|
||||
SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxy);
|
||||
return proxy0;
|
||||
}
|
||||
|
||||
bool AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1);
|
||||
|
||||
void validate();
|
||||
|
||||
protected:
|
||||
|
||||
|
||||
virtual void RefreshOverlappingPairs();
|
||||
public:
|
||||
SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
|
||||
virtual ~SimpleBroadphase();
|
||||
|
||||
|
||||
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
|
||||
|
||||
|
||||
virtual void DestroyProxy(BroadphaseProxy* proxy);
|
||||
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //SIMPLE_BROADPHASE_H
|
||||
|
||||
412
extern/bullet/Bullet/Bullet3.dsp
vendored
412
extern/bullet/Bullet/Bullet3.dsp
vendored
@@ -1,412 +0,0 @@
|
||||
# Microsoft Developer Studio Project File - Name="Bullet" - Package Owner=<4>
|
||||
# Microsoft Developer Studio Generated Build File, Format Version 6.00
|
||||
# ** DO NOT EDIT **
|
||||
|
||||
# TARGTYPE "Win32 (x86) Static Library" 0x0104
|
||||
|
||||
CFG=Bullet - Win32 Debug
|
||||
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
|
||||
!MESSAGE use the Export Makefile command and run
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "Bullet3.mak".
|
||||
!MESSAGE
|
||||
!MESSAGE You can specify a configuration when running NMAKE
|
||||
!MESSAGE by defining the macro CFG on the command line. For example:
|
||||
!MESSAGE
|
||||
!MESSAGE NMAKE /f "Bullet3.mak" CFG="Bullet - Win32 Debug"
|
||||
!MESSAGE
|
||||
!MESSAGE Possible choices for configuration are:
|
||||
!MESSAGE
|
||||
!MESSAGE "Bullet - Win32 Release" (based on "Win32 (x86) Static Library")
|
||||
!MESSAGE "Bullet - Win32 Debug" (based on "Win32 (x86) Static Library")
|
||||
!MESSAGE
|
||||
|
||||
# Begin Project
|
||||
# PROP AllowPerConfigDependencies 0
|
||||
# PROP Scc_ProjName ""
|
||||
# PROP Scc_LocalPath ""
|
||||
CPP=cl.exe
|
||||
RSC=rc.exe
|
||||
|
||||
!IF "$(CFG)" == "Bullet - Win32 Release"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 0
|
||||
# PROP BASE Output_Dir "Release"
|
||||
# PROP BASE Intermediate_Dir "Release"
|
||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 0
|
||||
# PROP Output_Dir "Release"
|
||||
# PROP Intermediate_Dir "Release"
|
||||
# PROP Target_Dir ""
|
||||
MTL=midl.exe
|
||||
LINK32=link.exe -lib
|
||||
# ADD BASE CPP /nologo /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_MBCS" /D "_LIB" /YX /FD /c
|
||||
# ADD CPP /nologo /MT /W3 /GX /Zd /O2 /I "../LinearMath" /I "." /D "NDEBUG" /D "_LIB" /D "WIN32" /D "_MBCS" /D "BUM_INLINED" /D "USE_ALGEBRAIC" /YX /FD /c
|
||||
# ADD BASE RSC /l 0x409 /d "NDEBUG"
|
||||
# ADD RSC /l 0x409 /d "NDEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LIB32=link.exe -lib
|
||||
# ADD BASE LIB32 /nologo
|
||||
# ADD LIB32 /nologo
|
||||
|
||||
!ELSEIF "$(CFG)" == "Bullet - Win32 Debug"
|
||||
|
||||
# PROP BASE Use_MFC 0
|
||||
# PROP BASE Use_Debug_Libraries 1
|
||||
# PROP BASE Output_Dir "Debug"
|
||||
# PROP BASE Intermediate_Dir "Debug"
|
||||
# PROP BASE Target_Dir ""
|
||||
# PROP Use_MFC 0
|
||||
# PROP Use_Debug_Libraries 1
|
||||
# PROP Output_Dir "Debug"
|
||||
# PROP Intermediate_Dir "Debug"
|
||||
# PROP Target_Dir ""
|
||||
MTL=midl.exe
|
||||
LINK32=link.exe -lib
|
||||
# ADD BASE CPP /nologo /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_MBCS" /D "_LIB" /YX /FD /GZ /c
|
||||
# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /I "../LinearMath" /I "." /D "_DEBUG" /D "_LIB" /D "WIN32" /D "_MBCS" /D "BUM_INLINED" /D "USE_ALGEBRAIC" /YX /FD /GZ /c
|
||||
# ADD BASE RSC /l 0x409 /d "_DEBUG"
|
||||
# ADD RSC /l 0x409 /d "_DEBUG"
|
||||
BSC32=bscmake.exe
|
||||
# ADD BASE BSC32 /nologo
|
||||
# ADD BSC32 /nologo
|
||||
LIB32=link.exe -lib
|
||||
# ADD BASE LIB32 /nologo
|
||||
# ADD LIB32 /nologo
|
||||
|
||||
!ENDIF
|
||||
|
||||
# Begin Target
|
||||
|
||||
# Name "Bullet - Win32 Release"
|
||||
# Name "Bullet - Win32 Debug"
|
||||
# Begin Group "NarrowPhaseCollision"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Collidable.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Collidable.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_CollisionPair.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_CollisionPair.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_EdgeEdge.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_EdgeEdge.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_MotionStateInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_PolynomialSolverInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Screwing.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_Screwing.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_StaticMotionState.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\BU_VertexPoly.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\CollisionMargin.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ContinuousConvexCollision.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ConvexCast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ConvexCast.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkConvexCast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkConvexCast.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkPairDetector.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\GjkPairDetector.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\ManifoldPoint.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\PersistentManifold.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\PersistentManifold.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\PointCollector.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\RaycastCallback.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\RaycastCallback.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\SimplexSolverInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\SubSimplexConvexCast.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\SubSimplexConvexCast.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\VoronoiSimplexSolver.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\NarrowPhaseCollision\VoronoiSimplexSolver.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "BroadphaseCollision"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\BroadPhaseInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\BroadphaseProxy.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\BroadphaseProxy.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\CollisionAlgorithm.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\CollisionAlgorithm.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\CollisionDispatcher.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\CollisionDispatcher.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\SimpleBroadphase.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\BroadphaseCollision\SimpleBroadphase.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# Begin Group "CollisionShapes"
|
||||
|
||||
# PROP Default_Filter ""
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\BoxShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\BoxShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CollisionShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CollisionShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConeShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConeShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexHullShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexHullShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\ConvexShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CylinderShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\CylinderShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MinkowskiSumShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MinkowskiSumShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MultiSphereShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\MultiSphereShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\PolyhedralConvexShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\PolyhedralConvexShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\Simplex1to4Shape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\Simplex1to4Shape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\SphereShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\SphereShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\StridingMeshInterface.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\StridingMeshInterface.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleCallback.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMesh.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMesh.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMeshShape.cpp
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleMeshShape.h
|
||||
# End Source File
|
||||
# Begin Source File
|
||||
|
||||
SOURCE=.\CollisionShapes\TriangleShape.h
|
||||
# End Source File
|
||||
# End Group
|
||||
# End Target
|
||||
# End Project
|
||||
517
extern/bullet/Bullet/Bullet3_vc7.vcproj
vendored
517
extern/bullet/Bullet/Bullet3_vc7.vcproj
vendored
@@ -1,517 +0,0 @@
|
||||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="7.10"
|
||||
Name="Bullet3ContinuousCollision"
|
||||
ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
|
||||
SccProjectName=""
|
||||
SccLocalPath="">
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"/>
|
||||
</Platforms>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Debug"
|
||||
IntermediateDirectory=".\Debug"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=".;..\LinearMath"
|
||||
PreprocessorDefinitions="_DEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="3"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Debug/Bullet.pch"
|
||||
AssemblerListingLocation=".\Debug/"
|
||||
ObjectFile=".\Debug/"
|
||||
ProgramDataBaseFileName=".\Debug/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile=".\Debug\Bullet.lib"
|
||||
SuppressStartupBanner="TRUE"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Release"
|
||||
IntermediateDirectory=".\Release"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="FALSE"
|
||||
CharacterSet="2">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories=".;..\LinearMath"
|
||||
PreprocessorDefinitions="NDEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
|
||||
StringPooling="TRUE"
|
||||
RuntimeLibrary="4"
|
||||
EnableFunctionLevelLinking="TRUE"
|
||||
UsePrecompiledHeader="2"
|
||||
PrecompiledHeaderFile=".\Release/Bullet.pch"
|
||||
AssemblerListingLocation=".\Release/"
|
||||
ObjectFile=".\Release/"
|
||||
ProgramDataBaseFileName=".\Release/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="TRUE"
|
||||
DebugInformationFormat="2"
|
||||
CompileAs="0"/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile="..\..\..\..\build\msvc_7\libs\extern\Bullet.lib"
|
||||
SuppressStartupBanner="TRUE"/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="1033"/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCManagedWrapperGeneratorTool"/>
|
||||
<Tool
|
||||
Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="NarrowPhaseCollision"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Collidable.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Collidable.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_MotionStateInterface.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_PolynomialSolverInterface.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Screwing.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Screwing.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_StaticMotionState.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\CollisionMargin.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ConvexCast.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkConvexCast.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkConvexCast.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkPairDetector.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkPairDetector.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\PersistentManifold.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\PersistentManifold.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\PointCollector.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\RaycastCallback.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\RaycastCallback.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\SimplexSolverInterface.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="CollisionShapes"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BoxShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BoxShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BvhTriangleMeshShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BvhTriangleMeshShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CollisionShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CollisionShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConeShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConeShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexHullShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexHullShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexTriangleCallback.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexTriangleCallback.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CylinderShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CylinderShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MinkowskiSumShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MinkowskiSumShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MultiSphereShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MultiSphereShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\OptimizedBvh.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\OptimizedBvh.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\PolyhedralConvexShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\PolyhedralConvexShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\Simplex1to4Shape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\Simplex1to4Shape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\SphereShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\SphereShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\StridingMeshInterface.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\StridingMeshInterface.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleCallback.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleCallback.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleIndexVertexArray.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleIndexVertexArray.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMesh.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMesh.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMeshShape.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMeshShape.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleShape.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="BroadphaseCollision"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\AxisSweep3.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\AxisSweep3.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\BroadPhaseInterface.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\BroadphaseProxy.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\BroadphaseProxy.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\CollisionAlgorithm.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\CollisionAlgorithm.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\Dispatcher.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\Dispatcher.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\SimpleBroadphase.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\SimpleBroadphase.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="LinearAlgebra"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath="..\LinearMath\AabbUtil2.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\GEN_List.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\GEN_MinMax.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\GEN_random.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdMatrix3x3.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdMinMax.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdPoint3.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdQuadword.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdQuaternion.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdScalar.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdTransform.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdTransformUtil.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdVector3.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="CollisionDispatch"
|
||||
Filter="">
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionDispatcher.cpp">
|
||||
<FileConfiguration
|
||||
Name="Debug|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
ObjectFile="$(IntDir)/$(InputName)1.obj"/>
|
||||
</FileConfiguration>
|
||||
<FileConfiguration
|
||||
Name="Release|Win32">
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
ObjectFile="$(IntDir)/$(InputName)1.obj"/>
|
||||
</FileConfiguration>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionDispatcher.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionObject.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionObject.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionWorld.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionWorld.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ManifoldResult.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ManifoldResult.h">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\UnionFind.cpp">
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\UnionFind.h">
|
||||
</File>
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ConvexCast.cpp">
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
20
extern/bullet/Bullet/Bullet3_vc8.sln
vendored
20
extern/bullet/Bullet/Bullet3_vc8.sln
vendored
@@ -1,20 +0,0 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 9.00
|
||||
# Visual Studio 2005
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Bullet3ContinuousCollision", "Bullet3_vc8.vcproj", "{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|Win32 = Debug|Win32
|
||||
Release|Win32 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug|Win32.ActiveCfg = Debug|Win32
|
||||
{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Debug|Win32.Build.0 = Debug|Win32
|
||||
{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release|Win32.ActiveCfg = Release|Win32
|
||||
{FFD3C64A-30E2-4BC7-BC8F-51818C320400}.Release|Win32.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
716
extern/bullet/Bullet/Bullet3_vc8.vcproj
vendored
716
extern/bullet/Bullet/Bullet3_vc8.vcproj
vendored
@@ -1,716 +0,0 @@
|
||||
<?xml version="1.0" encoding="Windows-1252"?>
|
||||
<VisualStudioProject
|
||||
ProjectType="Visual C++"
|
||||
Version="8.00"
|
||||
Name="Bullet3ContinuousCollision"
|
||||
ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
|
||||
>
|
||||
<Platforms>
|
||||
<Platform
|
||||
Name="Win32"
|
||||
/>
|
||||
</Platforms>
|
||||
<ToolFiles>
|
||||
</ToolFiles>
|
||||
<Configurations>
|
||||
<Configuration
|
||||
Name="Debug|Win32"
|
||||
OutputDirectory=".\Debug"
|
||||
IntermediateDirectory=".\Debug"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="0"
|
||||
AdditionalIncludeDirectories=".;..\LinearMath"
|
||||
PreprocessorDefinitions="_DEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
|
||||
ExceptionHandling="0"
|
||||
BasicRuntimeChecks="3"
|
||||
RuntimeLibrary="1"
|
||||
UsePrecompiledHeader="0"
|
||||
PrecompiledHeaderFile=""
|
||||
AssemblerListingLocation=".\Debug/"
|
||||
ObjectFile=".\Debug/"
|
||||
ProgramDataBaseFileName=".\Debug/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="true"
|
||||
DebugInformationFormat="4"
|
||||
CompileAs="0"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="_DEBUG"
|
||||
Culture="1033"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile=".\Debug\Bullet.lib"
|
||||
SuppressStartupBanner="true"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
/>
|
||||
</Configuration>
|
||||
<Configuration
|
||||
Name="Release|Win32"
|
||||
OutputDirectory=".\Release"
|
||||
IntermediateDirectory=".\Release"
|
||||
ConfigurationType="4"
|
||||
UseOfMFC="0"
|
||||
ATLMinimizesCRunTimeLibraryUsage="false"
|
||||
CharacterSet="2"
|
||||
>
|
||||
<Tool
|
||||
Name="VCPreBuildEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCustomBuildTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXMLDataGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCWebServiceProxyGeneratorTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCMIDLTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCCLCompilerTool"
|
||||
Optimization="2"
|
||||
InlineFunctionExpansion="1"
|
||||
AdditionalIncludeDirectories=".;..\LinearMath"
|
||||
PreprocessorDefinitions="NDEBUG;_LIB;WIN32;BUM_INLINED;USE_ALGEBRAIC"
|
||||
StringPooling="true"
|
||||
RuntimeLibrary="0"
|
||||
EnableFunctionLevelLinking="true"
|
||||
UsePrecompiledHeader="0"
|
||||
PrecompiledHeaderFile=""
|
||||
AssemblerListingLocation=".\Release/"
|
||||
ObjectFile=".\Release/"
|
||||
ProgramDataBaseFileName=".\Release/"
|
||||
WarningLevel="3"
|
||||
SuppressStartupBanner="true"
|
||||
DebugInformationFormat="3"
|
||||
CompileAs="0"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCManagedResourceCompilerTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCResourceCompilerTool"
|
||||
PreprocessorDefinitions="NDEBUG"
|
||||
Culture="1033"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPreLinkEventTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCLibrarianTool"
|
||||
OutputFile=".\Release\Bullet.lib"
|
||||
SuppressStartupBanner="true"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCALinkTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCXDCMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCBscMakeTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCFxCopTool"
|
||||
/>
|
||||
<Tool
|
||||
Name="VCPostBuildEventTool"
|
||||
/>
|
||||
</Configuration>
|
||||
</Configurations>
|
||||
<References>
|
||||
</References>
|
||||
<Files>
|
||||
<Filter
|
||||
Name="NarrowPhaseCollision"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_AlgebraicPolynomialSolver.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Collidable.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Collidable.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_CollisionPair.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_EdgeEdge.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_MotionStateInterface.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_PolynomialSolverInterface.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Screwing.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_Screwing.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_StaticMotionState.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\BU_VertexPoly.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\CollisionMargin.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ContinuousConvexCollision.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ConvexCast.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ConvexCast.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ConvexPenetrationDepthSolver.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\DiscreteCollisionDetectorInterface.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\Epa.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\Epa.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaFace.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaFace.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaHalfEdge.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaPenetrationDepthSolver.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaPenetrationDepthSolver.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaPolyhedron.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaPolyhedron.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\EpaVertex.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkConvexCast.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkConvexCast.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkPairDetector.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\GjkPairDetector.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ManifoldContactAddResult.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\PersistentManifold.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\PersistentManifold.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\PointCollector.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\RaycastCallback.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\RaycastCallback.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\SimplexSolverInterface.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\SubSimplexConvexCast.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\NarrowPhaseCollision\VoronoiSimplexSolver.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="CollisionShapes"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BoxShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BoxShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CollisionShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CollisionShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConeShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConeShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexHullShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexHullShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\ConvexShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CylinderShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\CylinderShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\EmptyShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\EmptyShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MinkowskiSumShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MinkowskiSumShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MultiSphereShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\MultiSphereShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\PolyhedralConvexShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\PolyhedralConvexShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\Simplex1to4Shape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\Simplex1to4Shape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\SphereShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\SphereShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\StridingMeshInterface.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\StridingMeshInterface.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleCallback.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleCallback.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMesh.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMesh.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleMeshShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleShape.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="BroadphaseCollision"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\AxisSweep3.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\AxisSweep3.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\BroadPhaseInterface.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\BroadphaseProxy.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\BroadphaseProxy.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\CollisionAlgorithm.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\CollisionAlgorithm.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\Dispatcher.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\Dispatcher.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\SimpleBroadphase.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\BroadphaseCollision\SimpleBroadphase.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="LinearAlgebra"
|
||||
>
|
||||
<File
|
||||
RelativePath="..\LinearMath\AabbUtil2.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\GEN_List.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\GEN_MinMax.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\GEN_random.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\IDebugDraw.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdMatrix3x3.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdMinMax.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdPoint3.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdQuadword.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdQuaternion.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdScalar.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdTransform.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdTransformUtil.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath="..\LinearMath\SimdVector3.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<Filter
|
||||
Name="CollisionDispatch"
|
||||
>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionDispatcher.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionDispatcher.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionObject.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionObject.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionWorld.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\CollisionWorld.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConcaveCollisionAlgorithm.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ConvexConvexAlgorithm.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\EmptyCollisionAlgorithm.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ManifoldResult.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\ManifoldResult.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\UnionFind.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionDispatch\UnionFind.h"
|
||||
>
|
||||
</File>
|
||||
</Filter>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BvhTriangleMeshShape.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\BvhTriangleMeshShape.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\OptimizedBvh.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\OptimizedBvh.h"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleIndexVertexArray.cpp"
|
||||
>
|
||||
</File>
|
||||
<File
|
||||
RelativePath=".\CollisionShapes\TriangleIndexVertexArray.h"
|
||||
>
|
||||
</File>
|
||||
</Files>
|
||||
<Globals>
|
||||
</Globals>
|
||||
</VisualStudioProject>
|
||||
@@ -1,42 +0,0 @@
|
||||
/*
|
||||
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 COLLISION_CREATE_FUNC
|
||||
#define COLLISION_CREATE_FUNC
|
||||
|
||||
#include <vector>
|
||||
|
||||
typedef std::vector<struct CollisionObject*> CollisionObjectArray;
|
||||
class CollisionAlgorithm;
|
||||
struct BroadphaseProxy;
|
||||
|
||||
|
||||
|
||||
struct CollisionAlgorithmCreateFunc
|
||||
{
|
||||
bool m_swapped;
|
||||
|
||||
CollisionAlgorithmCreateFunc()
|
||||
:m_swapped(false)
|
||||
{
|
||||
}
|
||||
virtual ~CollisionAlgorithmCreateFunc(){};
|
||||
|
||||
virtual CollisionAlgorithm* CreateCollisionAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
#endif //COLLISION_CREATE_FUNC
|
||||
@@ -1,257 +0,0 @@
|
||||
/*
|
||||
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 "CollisionDispatcher.h"
|
||||
|
||||
|
||||
#include "BroadphaseCollision/CollisionAlgorithm.h"
|
||||
#include "CollisionDispatch/ConvexConvexAlgorithm.h"
|
||||
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
|
||||
#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
|
||||
#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
|
||||
#include "CollisionShapes/CollisionShape.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
#include <algorithm>
|
||||
#include "BroadphaseCollision/OverlappingPairCache.h"
|
||||
|
||||
int gNumManifold = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
CollisionDispatcher::CollisionDispatcher ():
|
||||
m_useIslands(true),
|
||||
m_defaultManifoldResult(0,0,0),
|
||||
m_count(0)
|
||||
{
|
||||
int i;
|
||||
|
||||
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
|
||||
{
|
||||
for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
|
||||
{
|
||||
m_doubleDispatch[i][j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
PersistentManifold* CollisionDispatcher::GetNewManifold(void* b0,void* b1)
|
||||
{
|
||||
gNumManifold++;
|
||||
|
||||
//ASSERT(gNumManifold < 65535);
|
||||
|
||||
|
||||
CollisionObject* body0 = (CollisionObject*)b0;
|
||||
CollisionObject* body1 = (CollisionObject*)b1;
|
||||
|
||||
PersistentManifold* manifold = new PersistentManifold (body0,body1);
|
||||
m_manifoldsPtr.push_back(manifold);
|
||||
|
||||
return manifold;
|
||||
}
|
||||
|
||||
void CollisionDispatcher::ClearManifold(PersistentManifold* manifold)
|
||||
{
|
||||
manifold->ClearManifold();
|
||||
}
|
||||
|
||||
|
||||
void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
|
||||
{
|
||||
|
||||
gNumManifold--;
|
||||
|
||||
//printf("ReleaseManifold: gNumManifold %d\n",gNumManifold);
|
||||
|
||||
ClearManifold(manifold);
|
||||
|
||||
std::vector<PersistentManifold*>::iterator i =
|
||||
std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
|
||||
if (!(i == m_manifoldsPtr.end()))
|
||||
{
|
||||
std::swap(*i, m_manifoldsPtr.back());
|
||||
m_manifoldsPtr.pop_back();
|
||||
delete manifold;
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
CollisionAlgorithm* CollisionDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
||||
{
|
||||
m_count++;
|
||||
CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
|
||||
CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
|
||||
|
||||
CollisionAlgorithmConstructionInfo ci;
|
||||
ci.m_dispatcher = this;
|
||||
|
||||
if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConvex() )
|
||||
{
|
||||
return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);
|
||||
}
|
||||
|
||||
if (body0->m_collisionShape->IsConvex() && body1->m_collisionShape->IsConcave())
|
||||
{
|
||||
return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
|
||||
}
|
||||
|
||||
if (body1->m_collisionShape->IsConvex() && body0->m_collisionShape->IsConcave())
|
||||
{
|
||||
return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
|
||||
}
|
||||
|
||||
if (body0->m_collisionShape->IsCompound())
|
||||
{
|
||||
return new CompoundCollisionAlgorithm(ci,&proxy0,&proxy1);
|
||||
} else
|
||||
{
|
||||
if (body1->m_collisionShape->IsCompound())
|
||||
{
|
||||
return new CompoundCollisionAlgorithm(ci,&proxy1,&proxy0);
|
||||
}
|
||||
}
|
||||
|
||||
//failed to find an algorithm
|
||||
return new EmptyAlgorithm(ci);
|
||||
|
||||
}
|
||||
|
||||
bool CollisionDispatcher::NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1)
|
||||
{
|
||||
|
||||
|
||||
//here you can do filtering
|
||||
bool hasResponse =
|
||||
(!(colObj0.m_collisionFlags & CollisionObject::noContactResponse)) &&
|
||||
(!(colObj1.m_collisionFlags & CollisionObject::noContactResponse));
|
||||
hasResponse = hasResponse &&
|
||||
(colObj0.IsActive() || colObj1.IsActive());
|
||||
return hasResponse;
|
||||
}
|
||||
|
||||
bool CollisionDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
||||
{
|
||||
|
||||
CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
|
||||
CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
|
||||
|
||||
assert(body0);
|
||||
assert(body1);
|
||||
|
||||
bool needsCollision = true;
|
||||
|
||||
if ((body0->m_collisionFlags & CollisionObject::isStatic) &&
|
||||
(body1->m_collisionFlags & CollisionObject::isStatic))
|
||||
needsCollision = false;
|
||||
|
||||
if ((!body0->IsActive()) && (!body1->IsActive()))
|
||||
needsCollision = false;
|
||||
|
||||
return needsCollision ;
|
||||
|
||||
}
|
||||
|
||||
///allows the user to get contact point callbacks
|
||||
ManifoldResult* CollisionDispatcher::GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold)
|
||||
{
|
||||
|
||||
|
||||
//in-place, this prevents parallel dispatching, but just adding a list would fix that.
|
||||
ManifoldResult* manifoldResult = new (&m_defaultManifoldResult) ManifoldResult(obj0,obj1,manifold);
|
||||
return manifoldResult;
|
||||
}
|
||||
|
||||
///allows the user to get contact point callbacks
|
||||
void CollisionDispatcher::ReleaseManifoldResult(ManifoldResult*)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
void CollisionDispatcher::DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
//m_blockedForChanges = true;
|
||||
|
||||
int i;
|
||||
|
||||
int dispatcherId = GetUniqueId();
|
||||
|
||||
|
||||
|
||||
for (i=0;i<numPairs;i++)
|
||||
{
|
||||
|
||||
BroadphasePair& pair = pairs[i];
|
||||
|
||||
if (dispatcherId>= 0)
|
||||
{
|
||||
//dispatcher will keep algorithms persistent in the collision pair
|
||||
if (!pair.m_algorithms[dispatcherId])
|
||||
{
|
||||
pair.m_algorithms[dispatcherId] = FindAlgorithm(
|
||||
*pair.m_pProxy0,
|
||||
*pair.m_pProxy1);
|
||||
}
|
||||
|
||||
if (pair.m_algorithms[dispatcherId])
|
||||
{
|
||||
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
|
||||
{
|
||||
pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
|
||||
} else
|
||||
{
|
||||
float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
|
||||
if (dispatchInfo.m_timeOfImpact > toi)
|
||||
dispatchInfo.m_timeOfImpact = toi;
|
||||
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
//non-persistent algorithm dispatcher
|
||||
CollisionAlgorithm* algo = FindAlgorithm(
|
||||
*pair.m_pProxy0,
|
||||
*pair.m_pProxy1);
|
||||
|
||||
if (algo)
|
||||
{
|
||||
if (dispatchInfo.m_dispatchFunc == DispatcherInfo::DISPATCH_DISCRETE)
|
||||
{
|
||||
algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
|
||||
} else
|
||||
{
|
||||
float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
|
||||
if (dispatchInfo.m_timeOfImpact > toi)
|
||||
dispatchInfo.m_timeOfImpact = toi;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//m_blockedForChanges = false;
|
||||
|
||||
}
|
||||
@@ -1,113 +0,0 @@
|
||||
/*
|
||||
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 COLLISION__DISPATCHER_H
|
||||
#define COLLISION__DISPATCHER_H
|
||||
|
||||
#include "BroadphaseCollision/Dispatcher.h"
|
||||
#include "NarrowPhaseCollision/PersistentManifold.h"
|
||||
|
||||
#include "CollisionDispatch/ManifoldResult.h"
|
||||
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
|
||||
|
||||
class IDebugDraw;
|
||||
class OverlappingPairCache;
|
||||
|
||||
|
||||
#include "CollisionCreateFunc.h"
|
||||
|
||||
|
||||
|
||||
|
||||
///CollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
|
||||
///Time of Impact, Closest Points and Penetration Depth.
|
||||
class CollisionDispatcher : public Dispatcher
|
||||
{
|
||||
|
||||
std::vector<PersistentManifold*> m_manifoldsPtr;
|
||||
|
||||
|
||||
|
||||
bool m_useIslands;
|
||||
|
||||
ManifoldResult m_defaultManifoldResult;
|
||||
|
||||
CollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
|
||||
|
||||
public:
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
int GetNumManifolds() const
|
||||
{
|
||||
return m_manifoldsPtr.size();
|
||||
}
|
||||
|
||||
PersistentManifold* GetManifoldByIndexInternal(int index)
|
||||
{
|
||||
return m_manifoldsPtr[index];
|
||||
}
|
||||
|
||||
const PersistentManifold* GetManifoldByIndexInternal(int index) const
|
||||
{
|
||||
return m_manifoldsPtr[index];
|
||||
}
|
||||
|
||||
int m_count;
|
||||
|
||||
CollisionDispatcher ();
|
||||
virtual ~CollisionDispatcher() {};
|
||||
|
||||
virtual PersistentManifold* GetNewManifold(void* b0,void* b1);
|
||||
|
||||
virtual void ReleaseManifold(PersistentManifold* manifold);
|
||||
|
||||
|
||||
///allows the user to get contact point callbacks
|
||||
virtual ManifoldResult* GetNewManifoldResult(CollisionObject* obj0,CollisionObject* obj1,PersistentManifold* manifold);
|
||||
|
||||
///allows the user to get contact point callbacks
|
||||
virtual void ReleaseManifoldResult(ManifoldResult*);
|
||||
|
||||
virtual void ClearManifold(PersistentManifold* manifold);
|
||||
|
||||
|
||||
CollisionAlgorithm* FindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
|
||||
{
|
||||
CollisionAlgorithm* algo = InternalFindAlgorithm(proxy0,proxy1);
|
||||
return algo;
|
||||
}
|
||||
|
||||
CollisionAlgorithm* InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
|
||||
|
||||
virtual bool NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1);
|
||||
|
||||
virtual bool NeedsResponse(const CollisionObject& colObj0,const CollisionObject& colObj1);
|
||||
|
||||
virtual int GetUniqueId() { return RIGIDBODY_DISPATCHER;}
|
||||
|
||||
virtual void DispatchAllCollisionPairs(BroadphasePair* pairs,int numPairs,DispatcherInfo& dispatchInfo);
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION__DISPATCHER_H
|
||||
|
||||
@@ -1,56 +0,0 @@
|
||||
/*
|
||||
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 "CollisionObject.h"
|
||||
|
||||
CollisionObject::CollisionObject()
|
||||
: m_collisionFlags(0),
|
||||
m_activationState1(1),
|
||||
m_deactivationTime(0.f),
|
||||
m_broadphaseHandle(0),
|
||||
m_collisionShape(0),
|
||||
m_hitFraction(1.f),
|
||||
m_ccdSweptShereRadius(0.f),
|
||||
m_ccdSquareMotionTreshold(0.f)
|
||||
{
|
||||
m_cachedInvertedWorldTransform.setIdentity();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void CollisionObject::SetActivationState(int newState)
|
||||
{
|
||||
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
|
||||
m_activationState1 = newState;
|
||||
}
|
||||
|
||||
void CollisionObject::ForceActivationState(int newState)
|
||||
{
|
||||
m_activationState1 = newState;
|
||||
}
|
||||
|
||||
void CollisionObject::activate()
|
||||
{
|
||||
if (!(m_collisionFlags & isStatic))
|
||||
{
|
||||
SetActivationState(1);
|
||||
m_deactivationTime = 0.f;
|
||||
}
|
||||
}
|
||||
|
||||
bool CollisionObject::mergesSimulationIslands() const
|
||||
{
|
||||
return ( !(m_collisionFlags & isStatic));
|
||||
}
|
||||
@@ -1,128 +0,0 @@
|
||||
/*
|
||||
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 COLLISION_OBJECT_H
|
||||
#define COLLISION_OBJECT_H
|
||||
|
||||
#include "SimdTransform.h"
|
||||
|
||||
//island management, m_activationState1
|
||||
#define ACTIVE_TAG 1
|
||||
#define ISLAND_SLEEPING 2
|
||||
#define WANTS_DEACTIVATION 3
|
||||
#define DISABLE_DEACTIVATION 4
|
||||
#define DISABLE_SIMULATION 5
|
||||
|
||||
struct BroadphaseProxy;
|
||||
class CollisionShape;
|
||||
|
||||
/// CollisionObject can be used to manage collision detection objects.
|
||||
/// CollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
|
||||
/// They can be added to the CollisionWorld.
|
||||
struct CollisionObject
|
||||
{
|
||||
SimdTransform m_worldTransform;
|
||||
|
||||
//m_interpolationWorldTransform is used for CCD and interpolation
|
||||
//it can be either previous or future (predicted) transform
|
||||
SimdTransform m_interpolationWorldTransform;
|
||||
|
||||
SimdTransform m_cachedInvertedWorldTransform;
|
||||
|
||||
enum CollisionFlags
|
||||
{
|
||||
isStatic = 1,
|
||||
noContactResponse = 2,
|
||||
customMaterialCallback = 4,//this allows per-triangle material (friction/restitution)
|
||||
};
|
||||
|
||||
int m_collisionFlags;
|
||||
|
||||
int m_islandTag1;
|
||||
int m_activationState1;
|
||||
float m_deactivationTime;
|
||||
|
||||
SimdScalar m_friction;
|
||||
SimdScalar m_restitution;
|
||||
|
||||
BroadphaseProxy* m_broadphaseHandle;
|
||||
CollisionShape* m_collisionShape;
|
||||
|
||||
void* m_userPointer;//not use by Bullet internally
|
||||
|
||||
///time of impact calculation
|
||||
float m_hitFraction;
|
||||
|
||||
///Swept sphere radius (0.0 by default), see ConvexConvexAlgorithm::
|
||||
float m_ccdSweptShereRadius;
|
||||
|
||||
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionTreshold
|
||||
float m_ccdSquareMotionTreshold;
|
||||
|
||||
bool mergesSimulationIslands() const;
|
||||
|
||||
inline bool IsStatic() const {
|
||||
return m_collisionFlags & isStatic;
|
||||
}
|
||||
|
||||
inline bool HasContactResponse() {
|
||||
return !(m_collisionFlags & noContactResponse);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
CollisionObject();
|
||||
|
||||
|
||||
void SetCollisionShape(CollisionShape* collisionShape)
|
||||
{
|
||||
m_collisionShape = collisionShape;
|
||||
}
|
||||
|
||||
int GetActivationState() const { return m_activationState1;}
|
||||
|
||||
void SetActivationState(int newState);
|
||||
|
||||
void ForceActivationState(int newState);
|
||||
|
||||
void activate();
|
||||
|
||||
inline bool IsActive() const
|
||||
{
|
||||
return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
|
||||
}
|
||||
|
||||
void setRestitution(float rest)
|
||||
{
|
||||
m_restitution = rest;
|
||||
}
|
||||
float getRestitution() const
|
||||
{
|
||||
return m_restitution;
|
||||
}
|
||||
void setFriction(float frict)
|
||||
{
|
||||
m_friction = frict;
|
||||
}
|
||||
float getFriction() const
|
||||
{
|
||||
return m_friction;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_OBJECT_H
|
||||
@@ -1,320 +0,0 @@
|
||||
/*
|
||||
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 "CollisionWorld.h"
|
||||
#include "CollisionDispatcher.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
#include "CollisionShapes/CollisionShape.h"
|
||||
#include "CollisionShapes/SphereShape.h" //for raycasting
|
||||
#include "CollisionShapes/TriangleMeshShape.h" //for raycasting
|
||||
#include "NarrowPhaseCollision/RaycastCallback.h"
|
||||
#include "CollisionShapes/CompoundShape.h"
|
||||
|
||||
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
|
||||
#include "BroadphaseCollision/BroadphaseInterface.h"
|
||||
#include "AabbUtil2.h"
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
CollisionWorld::~CollisionWorld()
|
||||
{
|
||||
//clean up remaining objects
|
||||
std::vector<CollisionObject*>::iterator i;
|
||||
|
||||
int index = 0;
|
||||
for (i=m_collisionObjects.begin();
|
||||
!(i==m_collisionObjects.end()); i++)
|
||||
|
||||
{
|
||||
CollisionObject* collisionObject= (*i);
|
||||
|
||||
BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
|
||||
if (bp)
|
||||
{
|
||||
//
|
||||
// only clear the cached algorithms
|
||||
//
|
||||
GetBroadphase()->CleanProxyFromPairs(bp);
|
||||
GetBroadphase()->DestroyProxy(bp);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
m_collisionObjects.push_back(collisionObject);
|
||||
|
||||
//calculate new AABB
|
||||
SimdTransform trans = collisionObject->m_worldTransform;
|
||||
|
||||
SimdVector3 minAabb;
|
||||
SimdVector3 maxAabb;
|
||||
collisionObject->m_collisionShape->GetAabb(trans,minAabb,maxAabb);
|
||||
|
||||
int type = collisionObject->m_collisionShape->GetShapeType();
|
||||
collisionObject->m_broadphaseHandle = GetBroadphase()->CreateProxy(
|
||||
minAabb,
|
||||
maxAabb,
|
||||
type,
|
||||
collisionObject,
|
||||
collisionFilterGroup,
|
||||
collisionFilterMask
|
||||
);
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void CollisionWorld::PerformDiscreteCollisionDetection()
|
||||
{
|
||||
DispatcherInfo dispatchInfo;
|
||||
dispatchInfo.m_timeStep = 0.f;
|
||||
dispatchInfo.m_stepCount = 0;
|
||||
|
||||
//update aabb (of all moved objects)
|
||||
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
for (size_t i=0;i<m_collisionObjects.size();i++)
|
||||
{
|
||||
m_collisionObjects[i]->m_collisionShape->GetAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
|
||||
m_pairCache->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
Dispatcher* dispatcher = GetDispatcher();
|
||||
if (dispatcher)
|
||||
dispatcher->DispatchAllCollisionPairs(&m_pairCache->GetOverlappingPair(0),m_pairCache->GetNumOverlappingPairs(),dispatchInfo);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
|
||||
{
|
||||
|
||||
|
||||
//bool removeFromBroadphase = false;
|
||||
|
||||
{
|
||||
|
||||
BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
|
||||
if (bp)
|
||||
{
|
||||
//
|
||||
// only clear the cached algorithms
|
||||
//
|
||||
GetBroadphase()->CleanProxyFromPairs(bp);
|
||||
GetBroadphase()->DestroyProxy(bp);
|
||||
collisionObject->m_broadphaseHandle = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
std::vector<CollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
|
||||
|
||||
if (!(i == m_collisionObjects.end()))
|
||||
{
|
||||
std::swap(*i, m_collisionObjects.back());
|
||||
m_collisionObjects.pop_back();
|
||||
}
|
||||
}
|
||||
|
||||
void RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
|
||||
CollisionObject* collisionObject,
|
||||
const CollisionShape* collisionShape,
|
||||
const SimdTransform& colObjWorldTransform,
|
||||
CollisionWorld::RayResultCallback& resultCallback)
|
||||
{
|
||||
|
||||
SphereShape pointShape(0.0f);
|
||||
|
||||
if (collisionShape->IsConvex())
|
||||
{
|
||||
ConvexCast::CastResult castResult;
|
||||
castResult.m_fraction = 1.f;//??
|
||||
|
||||
ConvexShape* convexShape = (ConvexShape*) collisionShape;
|
||||
VoronoiSimplexSolver simplexSolver;
|
||||
SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
|
||||
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
|
||||
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
|
||||
|
||||
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
|
||||
{
|
||||
//add hit
|
||||
if (castResult.m_normal.length2() > 0.0001f)
|
||||
{
|
||||
castResult.m_normal.normalize();
|
||||
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
|
||||
{
|
||||
|
||||
|
||||
CollisionWorld::LocalRayResult localRayResult
|
||||
(
|
||||
collisionObject,
|
||||
0,
|
||||
castResult.m_normal,
|
||||
castResult.m_fraction
|
||||
);
|
||||
|
||||
resultCallback.AddSingleResult(localRayResult);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
if (collisionShape->IsConcave())
|
||||
{
|
||||
|
||||
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionShape;
|
||||
|
||||
SimdTransform worldTocollisionObject = colObjWorldTransform.inverse();
|
||||
|
||||
SimdVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
|
||||
SimdVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
|
||||
|
||||
//ConvexCast::CastResult
|
||||
|
||||
struct BridgeTriangleRaycastCallback : public TriangleRaycastCallback
|
||||
{
|
||||
CollisionWorld::RayResultCallback* m_resultCallback;
|
||||
CollisionObject* m_collisionObject;
|
||||
TriangleMeshShape* m_triangleMesh;
|
||||
|
||||
BridgeTriangleRaycastCallback( const SimdVector3& from,const SimdVector3& to,
|
||||
CollisionWorld::RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape* triangleMesh):
|
||||
TriangleRaycastCallback(from,to),
|
||||
m_resultCallback(resultCallback),
|
||||
m_collisionObject(collisionObject),
|
||||
m_triangleMesh(triangleMesh)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
|
||||
{
|
||||
CollisionWorld::LocalShapeInfo shapeInfo;
|
||||
shapeInfo.m_shapePart = partId;
|
||||
shapeInfo.m_triangleIndex = triangleIndex;
|
||||
|
||||
CollisionWorld::LocalRayResult rayResult
|
||||
(m_collisionObject,
|
||||
&shapeInfo,
|
||||
hitNormalLocal,
|
||||
hitFraction);
|
||||
|
||||
return m_resultCallback->AddSingleResult(rayResult);
|
||||
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
|
||||
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
|
||||
|
||||
SimdVector3 rayAabbMinLocal = rayFromLocal;
|
||||
rayAabbMinLocal.setMin(rayToLocal);
|
||||
SimdVector3 rayAabbMaxLocal = rayFromLocal;
|
||||
rayAabbMaxLocal.setMax(rayToLocal);
|
||||
|
||||
triangleMesh->ProcessAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
|
||||
|
||||
} else
|
||||
{
|
||||
//todo: use AABB tree or other BVH acceleration structure!
|
||||
if (collisionShape->IsCompound())
|
||||
{
|
||||
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(collisionShape);
|
||||
int i=0;
|
||||
for (i=0;i<compoundShape->GetNumChildShapes();i++)
|
||||
{
|
||||
SimdTransform childTrans = compoundShape->GetChildTransform(i);
|
||||
const CollisionShape* childCollisionShape = compoundShape->GetChildShape(i);
|
||||
SimdTransform childWorldTrans = colObjWorldTransform * childTrans;
|
||||
RayTestSingle(rayFromTrans,rayToTrans,
|
||||
collisionObject,
|
||||
childCollisionShape,
|
||||
childWorldTrans,
|
||||
resultCallback);
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
|
||||
{
|
||||
|
||||
|
||||
SimdTransform rayFromTrans,rayToTrans;
|
||||
rayFromTrans.setIdentity();
|
||||
rayFromTrans.setOrigin(rayFromWorld);
|
||||
rayToTrans.setIdentity();
|
||||
|
||||
rayToTrans.setOrigin(rayToWorld);
|
||||
|
||||
//do culling based on aabb (rayFrom/rayTo)
|
||||
SimdVector3 rayAabbMin = rayFromWorld;
|
||||
SimdVector3 rayAabbMax = rayFromWorld;
|
||||
rayAabbMin.setMin(rayToWorld);
|
||||
rayAabbMax.setMax(rayToWorld);
|
||||
|
||||
|
||||
/// brute force go over all objects. Once there is a broadphase, use that, or
|
||||
/// add a raycast against aabb first.
|
||||
|
||||
std::vector<CollisionObject*>::iterator iter;
|
||||
|
||||
for (iter=m_collisionObjects.begin();
|
||||
!(iter==m_collisionObjects.end()); iter++)
|
||||
{
|
||||
|
||||
CollisionObject* collisionObject= (*iter);
|
||||
|
||||
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
|
||||
SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
|
||||
collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
|
||||
|
||||
//check aabb overlap
|
||||
|
||||
if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
|
||||
{
|
||||
RayTestSingle(rayFromTrans,rayToTrans,
|
||||
collisionObject,
|
||||
collisionObject->m_collisionShape,
|
||||
collisionObject->m_worldTransform,
|
||||
resultCallback);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
@@ -1,230 +0,0 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* @mainpage Bullet Documentation
|
||||
*
|
||||
* @section intro_sec Introduction
|
||||
* Bullet Collision Detection & Physics SDK
|
||||
*
|
||||
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
|
||||
*
|
||||
* There is the Physics Forum for Feedback and General Collision Detection and Physics discussions.
|
||||
* Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
|
||||
*
|
||||
* @section install_sec Installation
|
||||
*
|
||||
* @subsection step1 Step 1: Download
|
||||
* You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
|
||||
* @subsection step2 Step 2: Building
|
||||
* Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
|
||||
* The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
|
||||
*
|
||||
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using jam, http://www.perforce.com/jam/jam.html .
|
||||
* Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
|
||||
* So if you are not using MSVC, you can run configure and jam .
|
||||
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
|
||||
*
|
||||
* @subsection step3 Step 3: Testing demos
|
||||
* Try to run and experiment with CcdPhysicsDemo executable as a starting point.
|
||||
* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
|
||||
* The Dependencies can be seen in this documentation under Directories
|
||||
*
|
||||
* @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
|
||||
* Check out CcdPhysicsDemo how to create a CcdPhysicsEnvironment , CollisionShape and RigidBody, Stepping the simulation and synchronizing your derived version of the PHY_IMotionState class.
|
||||
* @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
|
||||
* Bullet Collision Detection can also be used without the Dynamics/Extras.
|
||||
* Check out CollisionWorld and CollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
|
||||
* @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
|
||||
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of GjkPairDetector.
|
||||
*
|
||||
* @section copyright Copyright
|
||||
* Copyright (C) 2005-2006 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
|
||||
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
|
||||
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren.
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef COLLISION_WORLD_H
|
||||
#define COLLISION_WORLD_H
|
||||
|
||||
|
||||
class CollisionShape;
|
||||
class BroadphaseInterface;
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdTransform.h"
|
||||
#include "CollisionObject.h"
|
||||
#include "CollisionDispatcher.h" //for definition of CollisionObjectArray
|
||||
#include "BroadphaseCollision/OverlappingPairCache.h"
|
||||
|
||||
#include <vector>
|
||||
|
||||
|
||||
|
||||
///CollisionWorld is interface and container for the collision detection
|
||||
class CollisionWorld
|
||||
{
|
||||
|
||||
|
||||
|
||||
std::vector<CollisionObject*> m_collisionObjects;
|
||||
|
||||
Dispatcher* m_dispatcher1;
|
||||
|
||||
OverlappingPairCache* m_pairCache;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
CollisionWorld(Dispatcher* dispatcher,OverlappingPairCache* pairCache)
|
||||
:m_dispatcher1(dispatcher),
|
||||
m_pairCache(pairCache)
|
||||
{
|
||||
|
||||
}
|
||||
virtual ~CollisionWorld();
|
||||
|
||||
|
||||
BroadphaseInterface* GetBroadphase()
|
||||
{
|
||||
return m_pairCache;
|
||||
}
|
||||
|
||||
OverlappingPairCache* GetPairCache()
|
||||
{
|
||||
return m_pairCache;
|
||||
}
|
||||
|
||||
|
||||
Dispatcher* GetDispatcher()
|
||||
{
|
||||
return m_dispatcher1;
|
||||
}
|
||||
|
||||
///LocalShapeInfo gives extra information for complex shapes
|
||||
///Currently, only TriangleMeshShape is available, so it just contains triangleIndex and subpart
|
||||
struct LocalShapeInfo
|
||||
{
|
||||
int m_shapePart;
|
||||
int m_triangleIndex;
|
||||
|
||||
//const CollisionShape* m_shapeTemp;
|
||||
//const SimdTransform* m_shapeLocalTransform;
|
||||
};
|
||||
|
||||
struct LocalRayResult
|
||||
{
|
||||
LocalRayResult(const CollisionObject* collisionObject,
|
||||
LocalShapeInfo* localShapeInfo,
|
||||
const SimdVector3& hitNormalLocal,
|
||||
float hitFraction)
|
||||
:m_collisionObject(collisionObject),
|
||||
m_localShapeInfo(m_localShapeInfo),
|
||||
m_hitNormalLocal(hitNormalLocal),
|
||||
m_hitFraction(hitFraction)
|
||||
{
|
||||
}
|
||||
|
||||
const CollisionObject* m_collisionObject;
|
||||
LocalShapeInfo* m_localShapeInfo;
|
||||
const SimdVector3& m_hitNormalLocal;
|
||||
float m_hitFraction;
|
||||
|
||||
};
|
||||
|
||||
///RayResultCallback is used to report new raycast results
|
||||
struct RayResultCallback
|
||||
{
|
||||
virtual ~RayResultCallback()
|
||||
{
|
||||
}
|
||||
float m_closestHitFraction;
|
||||
bool HasHit()
|
||||
{
|
||||
return (m_closestHitFraction < 1.f);
|
||||
}
|
||||
|
||||
RayResultCallback()
|
||||
:m_closestHitFraction(1.f)
|
||||
{
|
||||
}
|
||||
virtual float AddSingleResult(const LocalRayResult& rayResult) = 0;
|
||||
};
|
||||
|
||||
struct ClosestRayResultCallback : public RayResultCallback
|
||||
{
|
||||
ClosestRayResultCallback(SimdVector3 rayFromWorld,SimdVector3 rayToWorld)
|
||||
:m_rayFromWorld(rayFromWorld),
|
||||
m_rayToWorld(rayToWorld),
|
||||
m_collisionObject(0)
|
||||
{
|
||||
}
|
||||
|
||||
SimdVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
|
||||
SimdVector3 m_rayToWorld;
|
||||
|
||||
SimdVector3 m_hitNormalWorld;
|
||||
SimdVector3 m_hitPointWorld;
|
||||
const CollisionObject* m_collisionObject;
|
||||
|
||||
virtual float AddSingleResult(const LocalRayResult& rayResult)
|
||||
{
|
||||
|
||||
//caller already does the filter on the m_closestHitFraction
|
||||
assert(rayResult.m_hitFraction <= m_closestHitFraction);
|
||||
|
||||
m_closestHitFraction = rayResult.m_hitFraction;
|
||||
m_collisionObject = rayResult.m_collisionObject;
|
||||
m_hitNormalWorld = m_collisionObject->m_worldTransform.getBasis()*rayResult.m_hitNormalLocal;
|
||||
m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
|
||||
return rayResult.m_hitFraction;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
int GetNumCollisionObjects() const
|
||||
{
|
||||
return m_collisionObjects.size();
|
||||
}
|
||||
|
||||
void RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback);
|
||||
|
||||
|
||||
void AddCollisionObject(CollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
|
||||
|
||||
CollisionObjectArray& GetCollisionObjectArray()
|
||||
{
|
||||
return m_collisionObjects;
|
||||
}
|
||||
|
||||
const CollisionObjectArray& GetCollisionObjectArray() const
|
||||
{
|
||||
return m_collisionObjects;
|
||||
}
|
||||
|
||||
|
||||
void RemoveCollisionObject(CollisionObject* collisionObject);
|
||||
|
||||
virtual void PerformDiscreteCollisionDetection();
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //COLLISION_WORLD_H
|
||||
@@ -1,144 +0,0 @@
|
||||
/*
|
||||
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 "CollisionDispatch/CompoundCollisionAlgorithm.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
#include "CollisionShapes/CompoundShape.h"
|
||||
|
||||
|
||||
CompoundCollisionAlgorithm::CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
|
||||
:m_dispatcher(ci.m_dispatcher),
|
||||
m_compoundProxy(*proxy0),
|
||||
m_otherProxy(*proxy1)
|
||||
{
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
|
||||
assert (colObj->m_collisionShape->IsCompound());
|
||||
|
||||
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
|
||||
int numChildren = compoundShape->GetNumChildShapes();
|
||||
m_childProxies.resize( numChildren );
|
||||
int i;
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
m_childProxies[i] = BroadphaseProxy(*proxy0);
|
||||
}
|
||||
|
||||
m_childCollisionAlgorithms.resize(numChildren);
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
CollisionShape* childShape = compoundShape->GetChildShape(i);
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
|
||||
CollisionShape* orgShape = colObj->m_collisionShape;
|
||||
colObj->m_collisionShape = childShape;
|
||||
m_childCollisionAlgorithms[i] = m_dispatcher->FindAlgorithm(m_childProxies[i],m_otherProxy);
|
||||
colObj->m_collisionShape =orgShape;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
|
||||
{
|
||||
int numChildren = m_childCollisionAlgorithms.size();
|
||||
int i;
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
delete m_childCollisionAlgorithms[i];
|
||||
}
|
||||
}
|
||||
|
||||
void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
|
||||
assert (colObj->m_collisionShape->IsCompound());
|
||||
|
||||
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
|
||||
|
||||
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
||||
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
||||
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
||||
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
||||
//then use each overlapping node AABB against Tree0
|
||||
//and vise versa.
|
||||
|
||||
|
||||
int numChildren = m_childCollisionAlgorithms.size();
|
||||
int i;
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
//temporarily exchange parent CollisionShape with childShape, and recurse
|
||||
CollisionShape* childShape = compoundShape->GetChildShape(i);
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
|
||||
|
||||
//backup
|
||||
SimdTransform orgTrans = colObj->m_worldTransform;
|
||||
CollisionShape* orgShape = colObj->m_collisionShape;
|
||||
|
||||
SimdTransform childTrans = compoundShape->GetChildTransform(i);
|
||||
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
|
||||
colObj->m_worldTransform = newChildWorldTrans;
|
||||
|
||||
colObj->m_collisionShape = childShape;
|
||||
m_childCollisionAlgorithms[i]->ProcessCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
|
||||
//revert back
|
||||
colObj->m_collisionShape =orgShape;
|
||||
colObj->m_worldTransform = orgTrans;
|
||||
}
|
||||
}
|
||||
|
||||
float CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
|
||||
assert (colObj->m_collisionShape->IsCompound());
|
||||
|
||||
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
|
||||
|
||||
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
||||
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
||||
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
||||
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
||||
//then use each overlapping node AABB against Tree0
|
||||
//and vise versa.
|
||||
|
||||
float hitFraction = 1.f;
|
||||
|
||||
int numChildren = m_childCollisionAlgorithms.size();
|
||||
int i;
|
||||
for (i=0;i<numChildren;i++)
|
||||
{
|
||||
//temporarily exchange parent CollisionShape with childShape, and recurse
|
||||
CollisionShape* childShape = compoundShape->GetChildShape(i);
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
|
||||
|
||||
//backup
|
||||
SimdTransform orgTrans = colObj->m_worldTransform;
|
||||
CollisionShape* orgShape = colObj->m_collisionShape;
|
||||
|
||||
SimdTransform childTrans = compoundShape->GetChildTransform(i);
|
||||
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
|
||||
colObj->m_worldTransform = newChildWorldTrans;
|
||||
|
||||
colObj->m_collisionShape = childShape;
|
||||
float frac = m_childCollisionAlgorithms[i]->CalculateTimeOfImpact(&m_childProxies[i],&m_otherProxy,dispatchInfo);
|
||||
if (frac<hitFraction)
|
||||
{
|
||||
hitFraction = frac;
|
||||
}
|
||||
//revert back
|
||||
colObj->m_collisionShape =orgShape;
|
||||
colObj->m_worldTransform = orgTrans;
|
||||
}
|
||||
return hitFraction;
|
||||
|
||||
}
|
||||
@@ -1,56 +0,0 @@
|
||||
/*
|
||||
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 COMPOUND_COLLISION_ALGORITHM_H
|
||||
#define COMPOUND_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BroadphaseCollision/CollisionAlgorithm.h"
|
||||
#include "BroadphaseCollision/Dispatcher.h"
|
||||
#include "BroadphaseCollision/BroadphaseInterface.h"
|
||||
|
||||
#include "NarrowPhaseCollision/PersistentManifold.h"
|
||||
class Dispatcher;
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
#include <vector>
|
||||
|
||||
|
||||
/// CompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
|
||||
/// Place holder, not fully implemented yet
|
||||
class CompoundCollisionAlgorithm : public CollisionAlgorithm
|
||||
{
|
||||
BroadphaseProxy m_compoundProxy;
|
||||
BroadphaseProxy m_otherProxy;
|
||||
std::vector<BroadphaseProxy> m_childProxies;
|
||||
std::vector<CollisionAlgorithm*> m_childCollisionAlgorithms;
|
||||
|
||||
Dispatcher* m_dispatcher;
|
||||
BroadphaseProxy m_compound;
|
||||
|
||||
BroadphaseProxy m_other;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
||||
|
||||
virtual ~CompoundCollisionAlgorithm();
|
||||
|
||||
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
};
|
||||
|
||||
#endif //COMPOUND_COLLISION_ALGORITHM_H
|
||||
@@ -1,306 +0,0 @@
|
||||
/*
|
||||
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 "ConvexConcaveCollisionAlgorithm.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
#include "CollisionShapes/MultiSphereShape.h"
|
||||
#include "ConvexConvexAlgorithm.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
#include "CollisionShapes/ConcaveShape.h"
|
||||
#include "CollisionDispatch/ManifoldResult.h"
|
||||
#include "NarrowPhaseCollision/RaycastCallback.h"
|
||||
#include "CollisionShapes/TriangleShape.h"
|
||||
#include "CollisionShapes/SphereShape.h"
|
||||
#include "IDebugDraw.h"
|
||||
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
|
||||
|
||||
ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
|
||||
: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
|
||||
m_ConvexTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
|
||||
|
||||
{
|
||||
}
|
||||
|
||||
ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
ConvexTriangleCallback::ConvexTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
|
||||
m_convexProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
|
||||
m_dispatchInfoPtr(0)
|
||||
{
|
||||
|
||||
//
|
||||
// create the manifold from the dispatcher 'manifold pool'
|
||||
//
|
||||
m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
|
||||
|
||||
ClearCache();
|
||||
}
|
||||
|
||||
ConvexTriangleCallback::~ConvexTriangleCallback()
|
||||
{
|
||||
ClearCache();
|
||||
m_dispatcher->ReleaseManifold( m_manifoldPtr );
|
||||
|
||||
}
|
||||
|
||||
|
||||
void ConvexTriangleCallback::ClearCache()
|
||||
{
|
||||
m_dispatcher->ClearManifold(m_manifoldPtr);
|
||||
};
|
||||
|
||||
|
||||
|
||||
void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
|
||||
{
|
||||
|
||||
//just for debugging purposes
|
||||
//printf("triangle %d",m_triangleCount++);
|
||||
|
||||
|
||||
//aabb filter is already applied!
|
||||
|
||||
CollisionAlgorithmConstructionInfo ci;
|
||||
ci.m_dispatcher = m_dispatcher;
|
||||
|
||||
CollisionObject* ob = static_cast<CollisionObject*>(m_triangleProxy.m_clientObject);
|
||||
|
||||
|
||||
|
||||
///debug drawing of the overlapping triangles
|
||||
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->GetDebugMode() > 0)
|
||||
{
|
||||
SimdVector3 color(255,255,0);
|
||||
SimdTransform& tr = ob->m_worldTransform;
|
||||
m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(triangle[1]),color);
|
||||
m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(triangle[2]),color);
|
||||
m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(triangle[0]),color);
|
||||
|
||||
//SimdVector3 center = triangle[0] + triangle[1]+triangle[2];
|
||||
//center *= 0.333333f;
|
||||
//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(center),color);
|
||||
//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(center),color);
|
||||
//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(center),color);
|
||||
|
||||
}
|
||||
|
||||
|
||||
CollisionObject* colObj = static_cast<CollisionObject*>(m_convexProxy->m_clientObject);
|
||||
|
||||
if (colObj->m_collisionShape->IsConvex())
|
||||
{
|
||||
TriangleShape tm(triangle[0],triangle[1],triangle[2]);
|
||||
tm.SetMargin(m_collisionMarginTriangle);
|
||||
|
||||
|
||||
CollisionShape* tmpShape = ob->m_collisionShape;
|
||||
ob->m_collisionShape = &tm;
|
||||
|
||||
ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexProxy,&m_triangleProxy);
|
||||
cvxcvxalgo.SetShapeIdentifiers(-1,-1,partId,triangleIndex);
|
||||
cvxcvxalgo.ProcessCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
|
||||
ob->m_collisionShape = tmpShape;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
m_dispatchInfoPtr = &dispatchInfo;
|
||||
m_collisionMarginTriangle = collisionMarginTriangle;
|
||||
|
||||
//recalc aabbs
|
||||
CollisionObject* convexBody = (CollisionObject* )m_convexProxy->m_clientObject;
|
||||
CollisionObject* triBody = (CollisionObject* )m_triangleProxy.m_clientObject;
|
||||
|
||||
SimdTransform convexInTriangleSpace;
|
||||
convexInTriangleSpace = triBody->m_worldTransform.inverse() * convexBody->m_worldTransform;
|
||||
|
||||
CollisionShape* convexShape = static_cast<CollisionShape*>(convexBody->m_collisionShape);
|
||||
//CollisionShape* triangleShape = static_cast<CollisionShape*>(triBody->m_collisionShape);
|
||||
|
||||
convexShape->GetAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
|
||||
|
||||
float extraMargin = collisionMarginTriangle;//CONVEX_DISTANCE_MARGIN;//+0.1f;
|
||||
|
||||
SimdVector3 extra(extraMargin,extraMargin,extraMargin);
|
||||
|
||||
m_aabbMax += extra;
|
||||
m_aabbMin -= extra;
|
||||
|
||||
}
|
||||
|
||||
void ConvexConcaveCollisionAlgorithm::ClearCache()
|
||||
{
|
||||
m_ConvexTriangleCallback.ClearCache();
|
||||
|
||||
}
|
||||
|
||||
void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
|
||||
CollisionObject* convexBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
|
||||
CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
|
||||
|
||||
if (triBody->m_collisionShape->IsConcave())
|
||||
{
|
||||
|
||||
if (!m_dispatcher->NeedsCollision(m_convex,m_concave))
|
||||
return;
|
||||
|
||||
|
||||
|
||||
CollisionObject* triOb = static_cast<CollisionObject*>(m_concave.m_clientObject);
|
||||
ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->m_collisionShape);
|
||||
|
||||
if (convexBody->m_collisionShape->IsConvex())
|
||||
{
|
||||
float collisionMarginTriangle = concaveShape->GetMargin();
|
||||
|
||||
m_ConvexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
|
||||
|
||||
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
|
||||
//m_dispatcher->ClearManifold(m_ConvexTriangleCallback.m_manifoldPtr);
|
||||
|
||||
|
||||
m_ConvexTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
|
||||
|
||||
concaveShape->ProcessAllTriangles( &m_ConvexTriangleCallback,m_ConvexTriangleCallback.GetAabbMin(),m_ConvexTriangleCallback.GetAabbMax());
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
|
||||
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the ConvexCast)
|
||||
CollisionObject* convexbody = (CollisionObject* )m_convex.m_clientObject;
|
||||
CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
|
||||
|
||||
//only perform CCD above a certain treshold, this prevents blocking on the long run
|
||||
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
|
||||
float squareMot0 = (convexbody->m_interpolationWorldTransform.getOrigin() - convexbody->m_worldTransform.getOrigin()).length2();
|
||||
if (squareMot0 < convexbody->m_ccdSquareMotionTreshold)
|
||||
{
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
//const SimdVector3& from = convexbody->m_worldTransform.getOrigin();
|
||||
//SimdVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
|
||||
//todo: only do if the motion exceeds the 'radius'
|
||||
|
||||
SimdTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
|
||||
SimdTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
|
||||
|
||||
struct LocalTriangleSphereCastCallback : public TriangleCallback
|
||||
{
|
||||
SimdTransform m_ccdSphereFromTrans;
|
||||
SimdTransform m_ccdSphereToTrans;
|
||||
SimdTransform m_meshTransform;
|
||||
|
||||
float m_ccdSphereRadius;
|
||||
float m_hitFraction;
|
||||
|
||||
|
||||
LocalTriangleSphereCastCallback(const SimdTransform& from,const SimdTransform& to,float ccdSphereRadius,float hitFraction)
|
||||
:m_ccdSphereFromTrans(from),
|
||||
m_ccdSphereToTrans(to),
|
||||
m_ccdSphereRadius(ccdSphereRadius),
|
||||
m_hitFraction(hitFraction)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
//do a swept sphere for now
|
||||
SimdTransform ident;
|
||||
ident.setIdentity();
|
||||
ConvexCast::CastResult castResult;
|
||||
castResult.m_fraction = m_hitFraction;
|
||||
SphereShape pointShape(m_ccdSphereRadius);
|
||||
TriangleShape triShape(triangle[0],triangle[1],triangle[2]);
|
||||
VoronoiSimplexSolver simplexSolver;
|
||||
SubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
|
||||
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
|
||||
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
|
||||
//local space?
|
||||
|
||||
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
|
||||
ident,ident,castResult))
|
||||
{
|
||||
if (m_hitFraction > castResult.m_fraction)
|
||||
m_hitFraction = castResult.m_fraction;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (triBody->m_collisionShape->IsConcave())
|
||||
{
|
||||
SimdVector3 rayAabbMin = convexFromLocal.getOrigin();
|
||||
rayAabbMin.setMin(convexToLocal.getOrigin());
|
||||
SimdVector3 rayAabbMax = convexFromLocal.getOrigin();
|
||||
rayAabbMax.setMax(convexToLocal.getOrigin());
|
||||
rayAabbMin -= SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
|
||||
rayAabbMax += SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
|
||||
|
||||
float curHitFraction = 1.f; //is this available?
|
||||
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
|
||||
convexbody->m_ccdSweptShereRadius,curHitFraction);
|
||||
|
||||
raycastCallback.m_hitFraction = convexbody->m_hitFraction;
|
||||
|
||||
CollisionObject* concavebody = (CollisionObject* )m_concave.m_clientObject;
|
||||
|
||||
ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->m_collisionShape;
|
||||
|
||||
if (triangleMesh)
|
||||
{
|
||||
triangleMesh->ProcessAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
|
||||
{
|
||||
convexbody->m_hitFraction = raycastCallback.m_hitFraction;
|
||||
return raycastCallback.m_hitFraction;
|
||||
}
|
||||
}
|
||||
|
||||
return 1.f;
|
||||
|
||||
}
|
||||
@@ -1,95 +0,0 @@
|
||||
/*
|
||||
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 CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
||||
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BroadphaseCollision/CollisionAlgorithm.h"
|
||||
#include "BroadphaseCollision/Dispatcher.h"
|
||||
#include "BroadphaseCollision/BroadphaseInterface.h"
|
||||
#include "CollisionShapes/TriangleCallback.h"
|
||||
#include "NarrowPhaseCollision/PersistentManifold.h"
|
||||
class Dispatcher;
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
|
||||
|
||||
///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), ProcessTriangle is called.
|
||||
class ConvexTriangleCallback : public TriangleCallback
|
||||
{
|
||||
BroadphaseProxy* m_convexProxy;
|
||||
BroadphaseProxy m_triangleProxy;
|
||||
|
||||
SimdVector3 m_aabbMin;
|
||||
SimdVector3 m_aabbMax ;
|
||||
|
||||
Dispatcher* m_dispatcher;
|
||||
const DispatcherInfo* m_dispatchInfoPtr;
|
||||
float m_collisionMarginTriangle;
|
||||
|
||||
public:
|
||||
int m_triangleCount;
|
||||
|
||||
PersistentManifold* m_manifoldPtr;
|
||||
|
||||
ConvexTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
||||
|
||||
void SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
virtual ~ConvexTriangleCallback();
|
||||
|
||||
virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
void ClearCache();
|
||||
|
||||
inline const SimdVector3& GetAabbMin() const
|
||||
{
|
||||
return m_aabbMin;
|
||||
}
|
||||
inline const SimdVector3& GetAabbMax() const
|
||||
{
|
||||
return m_aabbMax;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
/// ConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
|
||||
class ConvexConcaveCollisionAlgorithm : public CollisionAlgorithm
|
||||
{
|
||||
|
||||
BroadphaseProxy m_convex;
|
||||
|
||||
BroadphaseProxy m_concave;
|
||||
|
||||
ConvexTriangleCallback m_ConvexTriangleCallback;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
||||
|
||||
virtual ~ConvexConcaveCollisionAlgorithm();
|
||||
|
||||
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
void ClearCache();
|
||||
|
||||
};
|
||||
|
||||
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
||||
@@ -1,432 +0,0 @@
|
||||
/*
|
||||
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 "ConvexConvexAlgorithm.h"
|
||||
|
||||
#include <stdio.h>
|
||||
#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
|
||||
#include "BroadphaseCollision/BroadphaseInterface.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
#include "CollisionShapes/ConvexShape.h"
|
||||
#include "NarrowPhaseCollision/GjkPairDetector.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
#include "CollisionDispatch/CollisionDispatcher.h"
|
||||
#include "CollisionShapes/BoxShape.h"
|
||||
#include "CollisionDispatch/ManifoldResult.h"
|
||||
|
||||
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
|
||||
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
|
||||
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
|
||||
#include "NarrowPhaseCollision/GjkConvexCast.h"
|
||||
|
||||
|
||||
|
||||
#include "CollisionShapes/MinkowskiSumShape.h"
|
||||
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
|
||||
#include "CollisionShapes/SphereShape.h"
|
||||
|
||||
#include "NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h"
|
||||
|
||||
//#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
|
||||
|
||||
#ifdef WIN32
|
||||
#if _MSC_VER >= 1310
|
||||
//only use SIMD Hull code under Win32
|
||||
#ifdef TEST_HULL
|
||||
#define USE_HULL 1
|
||||
#endif //TEST_HULL
|
||||
#endif //_MSC_VER
|
||||
#endif //WIN32
|
||||
|
||||
|
||||
#ifdef USE_HULL
|
||||
|
||||
#include "NarrowPhaseCollision/Hull.h"
|
||||
#include "NarrowPhaseCollision/HullContactCollector.h"
|
||||
|
||||
|
||||
#endif //USE_HULL
|
||||
|
||||
bool gUseEpa = false;
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
void DrawRasterizerLine(const float* from,const float* to,int color);
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
//#define PROCESS_SINGLE_CONTACT
|
||||
#ifdef WIN32
|
||||
bool gForceBoxBox = false;//false;//true;
|
||||
|
||||
#else
|
||||
bool gForceBoxBox = false;//false;//true;
|
||||
#endif
|
||||
bool gBoxBoxUseGjk = true;//true;//false;
|
||||
bool gDisableConvexCollision = false;
|
||||
|
||||
|
||||
|
||||
ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
|
||||
: CollisionAlgorithm(ci),
|
||||
m_gjkPairDetector(0,0,&m_simplexSolver,0),
|
||||
m_useEpa(!gUseEpa),
|
||||
m_box0(*proxy0),
|
||||
m_box1(*proxy1),
|
||||
m_ownManifold (false),
|
||||
m_manifoldPtr(mf),
|
||||
m_lowLevelOfDetail(false)
|
||||
{
|
||||
CheckPenetrationDepthSolver();
|
||||
|
||||
{
|
||||
if (!m_manifoldPtr && m_dispatcher->NeedsCollision(m_box0,m_box1))
|
||||
{
|
||||
m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
|
||||
m_ownManifold = true;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
ConvexConvexAlgorithm::~ConvexConvexAlgorithm()
|
||||
{
|
||||
if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->ReleaseManifold(m_manifoldPtr);
|
||||
}
|
||||
}
|
||||
|
||||
void ConvexConvexAlgorithm ::SetLowLevelOfDetail(bool useLowLevel)
|
||||
{
|
||||
m_lowLevelOfDetail = useLowLevel;
|
||||
}
|
||||
|
||||
|
||||
|
||||
class FlippedContactResult : public DiscreteCollisionDetectorInterface::Result
|
||||
{
|
||||
DiscreteCollisionDetectorInterface::Result* m_org;
|
||||
|
||||
public:
|
||||
|
||||
FlippedContactResult(DiscreteCollisionDetectorInterface::Result* org)
|
||||
: m_org(org)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
|
||||
{
|
||||
SimdVector3 flippedNormal = -normalOnBInWorld;
|
||||
|
||||
m_org->AddContactPoint(flippedNormal,pointInWorld,depth);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
static MinkowskiPenetrationDepthSolver gPenetrationDepthSolver;
|
||||
|
||||
//static EpaPenetrationDepthSolver gEpaPenetrationDepthSolver;
|
||||
|
||||
#ifdef USE_EPA
|
||||
Solid3EpaPenetrationDepth gSolidEpaPenetrationSolver;
|
||||
#endif //USE_EPA
|
||||
|
||||
void ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
|
||||
{
|
||||
if (m_useEpa != gUseEpa)
|
||||
{
|
||||
m_useEpa = gUseEpa;
|
||||
if (m_useEpa)
|
||||
{
|
||||
|
||||
// m_gjkPairDetector.SetPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
m_gjkPairDetector.SetPenetrationDepthSolver(&gPenetrationDepthSolver);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#ifdef USE_HULL
|
||||
|
||||
Transform GetTransformFromSimdTransform(const SimdTransform& trans)
|
||||
{
|
||||
//const SimdVector3& rowA0 = trans.getBasis().getRow(0);
|
||||
////const SimdVector3& rowA1 = trans.getBasis().getRow(1);
|
||||
//const SimdVector3& rowA2 = trans.getBasis().getRow(2);
|
||||
|
||||
SimdVector3 rowA0 = trans.getBasis().getColumn(0);
|
||||
SimdVector3 rowA1 = trans.getBasis().getColumn(1);
|
||||
SimdVector3 rowA2 = trans.getBasis().getColumn(2);
|
||||
|
||||
|
||||
Vector3 x(rowA0.getX(),rowA0.getY(),rowA0.getZ());
|
||||
Vector3 y(rowA1.getX(),rowA1.getY(),rowA1.getZ());
|
||||
Vector3 z(rowA2.getX(),rowA2.getY(),rowA2.getZ());
|
||||
|
||||
Matrix33 ornA(x,y,z);
|
||||
|
||||
Point3 transA(
|
||||
trans.getOrigin().getX(),
|
||||
trans.getOrigin().getY(),
|
||||
trans.getOrigin().getZ());
|
||||
|
||||
return Transform(ornA,transA);
|
||||
}
|
||||
|
||||
class ManifoldResultCollector : public HullContactCollector
|
||||
{
|
||||
public:
|
||||
ManifoldResult& m_manifoldResult;
|
||||
|
||||
ManifoldResultCollector(ManifoldResult& manifoldResult)
|
||||
:m_manifoldResult(manifoldResult)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
virtual ~ManifoldResultCollector() {};
|
||||
|
||||
virtual int BatchAddContactGroup(const Separation& sep,int numContacts,const Vector3& normalWorld,const Vector3& tangent,const Point3* positionsWorld,const float* depths)
|
||||
{
|
||||
for (int i=0;i<numContacts;i++)
|
||||
{
|
||||
//printf("numContacts = %i\n",numContacts);
|
||||
SimdVector3 normalOnBInWorld(sep.m_axis.GetX(),sep.m_axis.GetY(),sep.m_axis.GetZ());
|
||||
//normalOnBInWorld.normalize();
|
||||
SimdVector3 pointInWorld(positionsWorld[i].GetX(),positionsWorld[i].GetY(),positionsWorld[i].GetZ());
|
||||
float depth = -depths[i];
|
||||
m_manifoldResult.AddContactPoint(normalOnBInWorld,pointInWorld,depth);
|
||||
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
virtual int GetMaxNumContacts() const
|
||||
{
|
||||
return 4;
|
||||
}
|
||||
|
||||
};
|
||||
#endif //USE_HULL
|
||||
|
||||
|
||||
//
|
||||
// Convex-Convex collision algorithm
|
||||
//
|
||||
void ConvexConvexAlgorithm ::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
|
||||
if (!m_manifoldPtr)
|
||||
return;
|
||||
|
||||
CheckPenetrationDepthSolver();
|
||||
|
||||
// printf("ConvexConvexAlgorithm::ProcessCollision\n");
|
||||
|
||||
bool needsCollision = m_dispatcher->NeedsCollision(m_box0,m_box1);
|
||||
if (!needsCollision)
|
||||
return;
|
||||
|
||||
CollisionObject* col0 = static_cast<CollisionObject*>(m_box0.m_clientObject);
|
||||
CollisionObject* col1 = static_cast<CollisionObject*>(m_box1.m_clientObject);
|
||||
|
||||
#ifdef USE_HULL
|
||||
|
||||
|
||||
if (dispatchInfo.m_enableSatConvex)
|
||||
{
|
||||
if ((col0->m_collisionShape->IsPolyhedral()) &&
|
||||
(col1->m_collisionShape->IsPolyhedral()))
|
||||
{
|
||||
|
||||
|
||||
PolyhedralConvexShape* polyhedron0 = static_cast<PolyhedralConvexShape*>(col0->m_collisionShape);
|
||||
PolyhedralConvexShape* polyhedron1 = static_cast<PolyhedralConvexShape*>(col1->m_collisionShape);
|
||||
if (polyhedron0->m_optionalHull && polyhedron1->m_optionalHull)
|
||||
{
|
||||
//printf("Hull-Hull");
|
||||
|
||||
//todo: cache this information, rather then initialize
|
||||
Separation sep;
|
||||
sep.m_featureA = 0;
|
||||
sep.m_featureB = 0;
|
||||
sep.m_contact = -1;
|
||||
sep.m_separator = 0;
|
||||
|
||||
//convert from SimdTransform to Transform
|
||||
|
||||
Transform trA = GetTransformFromSimdTransform(col0->m_worldTransform);
|
||||
Transform trB = GetTransformFromSimdTransform(col1->m_worldTransform);
|
||||
|
||||
//either use persistent manifold or clear it every time
|
||||
m_dispatcher->ClearManifold(m_manifoldPtr);
|
||||
ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
|
||||
|
||||
ManifoldResultCollector hullContactCollector(*resultOut);
|
||||
|
||||
Hull::ProcessHullHull(sep,*polyhedron0->m_optionalHull,*polyhedron1->m_optionalHull,
|
||||
trA,trB,&hullContactCollector);
|
||||
|
||||
|
||||
//user provided hull's, so we use SAT Hull collision detection
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif //USE_HULL
|
||||
|
||||
|
||||
ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
|
||||
|
||||
ConvexShape* min0 = static_cast<ConvexShape*>(col0->m_collisionShape);
|
||||
ConvexShape* min1 = static_cast<ConvexShape*>(col1->m_collisionShape);
|
||||
|
||||
GjkPairDetector::ClosestPointInput input;
|
||||
|
||||
|
||||
//TODO: if (dispatchInfo.m_useContinuous)
|
||||
m_gjkPairDetector.SetMinkowskiA(min0);
|
||||
m_gjkPairDetector.SetMinkowskiB(min1);
|
||||
input.m_maximumDistanceSquared = min0->GetMargin() + min1->GetMargin() + m_manifoldPtr->GetContactBreakingTreshold();
|
||||
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
|
||||
|
||||
// input.m_maximumDistanceSquared = 1e30f;
|
||||
|
||||
input.m_transformA = col0->m_worldTransform;
|
||||
input.m_transformB = col1->m_worldTransform;
|
||||
|
||||
m_gjkPairDetector.GetClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
||||
|
||||
m_dispatcher->ReleaseManifoldResult(resultOut);
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool disableCcd = false;
|
||||
float ConvexConvexAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
///Rather then checking ALL pairs, only calculate TOI when motion exceeds treshold
|
||||
|
||||
///Linear motion for one of objects needs to exceed m_ccdSquareMotionTreshold
|
||||
///col0->m_worldTransform,
|
||||
float resultFraction = 1.f;
|
||||
|
||||
CollisionObject* col1 = static_cast<CollisionObject*>(m_box1.m_clientObject);
|
||||
CollisionObject* col0 = static_cast<CollisionObject*>(m_box0.m_clientObject);
|
||||
|
||||
float squareMot0 = (col0->m_interpolationWorldTransform.getOrigin() - col0->m_worldTransform.getOrigin()).length2();
|
||||
float squareMot1 = (col1->m_interpolationWorldTransform.getOrigin() - col1->m_worldTransform.getOrigin()).length2();
|
||||
|
||||
if (squareMot0 < col0->m_ccdSquareMotionTreshold &&
|
||||
squareMot0 < col0->m_ccdSquareMotionTreshold)
|
||||
return resultFraction;
|
||||
|
||||
|
||||
|
||||
if (disableCcd)
|
||||
return 1.f;
|
||||
|
||||
CheckPenetrationDepthSolver();
|
||||
|
||||
//An adhoc way of testing the Continuous Collision Detection algorithms
|
||||
//One object is approximated as a sphere, to simplify things
|
||||
//Starting in penetration should report no time of impact
|
||||
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
|
||||
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
|
||||
|
||||
bool needsCollision = m_dispatcher->NeedsCollision(m_box0,m_box1);
|
||||
|
||||
if (!needsCollision)
|
||||
return 1.f;
|
||||
|
||||
|
||||
/// Convex0 against sphere for Convex1
|
||||
{
|
||||
ConvexShape* convex0 = static_cast<ConvexShape*>(col0->m_collisionShape);
|
||||
|
||||
SphereShape sphere1(col1->m_ccdSweptShereRadius); //todo: allow non-zero sphere sizes, for better approximation
|
||||
ConvexCast::CastResult result;
|
||||
VoronoiSimplexSolver voronoiSimplex;
|
||||
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
||||
///Simplification, one object is simplified as a sphere
|
||||
GjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
|
||||
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
||||
if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
|
||||
col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
|
||||
{
|
||||
|
||||
//store result.m_fraction in both bodies
|
||||
|
||||
if (col0->m_hitFraction > result.m_fraction)
|
||||
col0->m_hitFraction = result.m_fraction;
|
||||
|
||||
if (col1->m_hitFraction > result.m_fraction)
|
||||
col1->m_hitFraction = result.m_fraction;
|
||||
|
||||
if (resultFraction > result.m_fraction)
|
||||
resultFraction = result.m_fraction;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
/// Sphere (for convex0) against Convex1
|
||||
{
|
||||
ConvexShape* convex1 = static_cast<ConvexShape*>(col1->m_collisionShape);
|
||||
|
||||
SphereShape sphere0(col0->m_ccdSweptShereRadius); //todo: allow non-zero sphere sizes, for better approximation
|
||||
ConvexCast::CastResult result;
|
||||
VoronoiSimplexSolver voronoiSimplex;
|
||||
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
|
||||
///Simplification, one object is simplified as a sphere
|
||||
GjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
|
||||
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
|
||||
if (ccd1.calcTimeOfImpact(col0->m_worldTransform,col0->m_interpolationWorldTransform,
|
||||
col1->m_worldTransform,col1->m_interpolationWorldTransform,result))
|
||||
{
|
||||
|
||||
//store result.m_fraction in both bodies
|
||||
|
||||
if (col0->m_hitFraction > result.m_fraction)
|
||||
col0->m_hitFraction = result.m_fraction;
|
||||
|
||||
if (col1->m_hitFraction > result.m_fraction)
|
||||
col1->m_hitFraction = result.m_fraction;
|
||||
|
||||
if (resultFraction > result.m_fraction)
|
||||
resultFraction = result.m_fraction;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return resultFraction;
|
||||
|
||||
}
|
||||
@@ -1,73 +0,0 @@
|
||||
/*
|
||||
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 CONVEX_CONVEX_ALGORITHM_H
|
||||
#define CONVEX_CONVEX_ALGORITHM_H
|
||||
|
||||
#include "BroadphaseCollision/CollisionAlgorithm.h"
|
||||
#include "NarrowPhaseCollision/GjkPairDetector.h"
|
||||
#include "NarrowPhaseCollision/PersistentManifold.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
|
||||
|
||||
class ConvexPenetrationDepthSolver;
|
||||
|
||||
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
|
||||
class ConvexConvexAlgorithm : public CollisionAlgorithm
|
||||
{
|
||||
//ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
|
||||
VoronoiSimplexSolver m_simplexSolver;
|
||||
GjkPairDetector m_gjkPairDetector;
|
||||
bool m_useEpa;
|
||||
public:
|
||||
BroadphaseProxy m_box0;
|
||||
BroadphaseProxy m_box1;
|
||||
|
||||
bool m_ownManifold;
|
||||
PersistentManifold* m_manifoldPtr;
|
||||
bool m_lowLevelOfDetail;
|
||||
|
||||
void CheckPenetrationDepthSolver();
|
||||
|
||||
|
||||
|
||||
public:
|
||||
|
||||
ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
||||
|
||||
virtual ~ConvexConvexAlgorithm();
|
||||
|
||||
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
void SetLowLevelOfDetail(bool useLowLevel);
|
||||
|
||||
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
m_gjkPairDetector.m_partId0=partId0;
|
||||
m_gjkPairDetector.m_partId1=partId1;
|
||||
m_gjkPairDetector.m_index0=index0;
|
||||
m_gjkPairDetector.m_index1=index1;
|
||||
}
|
||||
|
||||
const PersistentManifold* GetManifold()
|
||||
{
|
||||
return m_manifoldPtr;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //CONVEX_CONVEX_ALGORITHM_H
|
||||
@@ -1,35 +0,0 @@
|
||||
/*
|
||||
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 "EmptyCollisionAlgorithm.h"
|
||||
|
||||
|
||||
|
||||
EmptyAlgorithm::EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
|
||||
: CollisionAlgorithm(ci)
|
||||
{
|
||||
}
|
||||
|
||||
void EmptyAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
float EmptyAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
|
||||
{
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
/*
|
||||
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 EMPTY_ALGORITH
|
||||
#define EMPTY_ALGORITH
|
||||
#include "BroadphaseCollision/CollisionAlgorithm.h"
|
||||
|
||||
#define ATTRIBUTE_ALIGNED(a)
|
||||
|
||||
///EmptyAlgorithm is a stub for unsupported collision pairs.
|
||||
///The dispatcher can dispatch a persistent EmptyAlgorithm to avoid a search every frame.
|
||||
class EmptyAlgorithm : public CollisionAlgorithm
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
EmptyAlgorithm(const CollisionAlgorithmConstructionInfo& ci);
|
||||
|
||||
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
|
||||
|
||||
|
||||
|
||||
|
||||
} ATTRIBUTE_ALIGNED(16);
|
||||
|
||||
#endif //EMPTY_ALGORITH
|
||||
@@ -1,101 +0,0 @@
|
||||
/*
|
||||
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 "ManifoldResult.h"
|
||||
#include "NarrowPhaseCollision/PersistentManifold.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
|
||||
|
||||
///This is to allow MaterialCombiner/Custom Friction/Restitution values
|
||||
ContactAddedCallback gContactAddedCallback=0;
|
||||
|
||||
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
|
||||
inline SimdScalar calculateCombinedFriction(const CollisionObject* body0,const CollisionObject* body1)
|
||||
{
|
||||
SimdScalar friction = body0->getFriction() * body1->getFriction();
|
||||
|
||||
const SimdScalar MAX_FRICTION = 10.f;
|
||||
if (friction < -MAX_FRICTION)
|
||||
friction = -MAX_FRICTION;
|
||||
if (friction > MAX_FRICTION)
|
||||
friction = MAX_FRICTION;
|
||||
return friction;
|
||||
|
||||
}
|
||||
|
||||
inline SimdScalar calculateCombinedRestitution(const CollisionObject* body0,const CollisionObject* body1)
|
||||
{
|
||||
return body0->getRestitution() * body1->getRestitution();
|
||||
}
|
||||
|
||||
|
||||
|
||||
ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr)
|
||||
:m_manifoldPtr(manifoldPtr),
|
||||
m_body0(body0),
|
||||
m_body1(body1)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
|
||||
{
|
||||
if (depth > m_manifoldPtr->GetContactBreakingTreshold())
|
||||
return;
|
||||
|
||||
|
||||
SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
|
||||
SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
|
||||
|
||||
//transAInv = m_body0->m_worldTransform.inverse();
|
||||
//transBInv= m_body1->m_worldTransform.inverse();
|
||||
SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
|
||||
SimdVector3 localA = transAInv(pointA );
|
||||
SimdVector3 localB = transBInv(pointInWorld);
|
||||
ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
|
||||
|
||||
|
||||
|
||||
int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
|
||||
if (insertIndex >= 0)
|
||||
{
|
||||
|
||||
// This is not needed, just use the old info!
|
||||
// const ManifoldPoint& oldPoint = m_manifoldPtr->GetContactPoint(insertIndex);
|
||||
// newPt.CopyPersistentInformation(oldPoint);
|
||||
// m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
|
||||
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
|
||||
|
||||
//User can override friction and/or restitution
|
||||
if (gContactAddedCallback &&
|
||||
//and if either of the two bodies requires custom material
|
||||
((m_body0->m_collisionFlags & CollisionObject::customMaterialCallback) ||
|
||||
(m_body1->m_collisionFlags & CollisionObject::customMaterialCallback)))
|
||||
{
|
||||
//experimental feature info, for per-triangle material etc.
|
||||
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
|
||||
}
|
||||
|
||||
m_manifoldPtr->AddManifoldPoint(newPt);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,60 +0,0 @@
|
||||
/*
|
||||
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 MANIFOLD_RESULT_H
|
||||
#define MANIFOLD_RESULT_H
|
||||
|
||||
#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
|
||||
struct CollisionObject;
|
||||
class PersistentManifold;
|
||||
class ManifoldPoint;
|
||||
|
||||
typedef bool (*ContactAddedCallback)(ManifoldPoint& cp, const CollisionObject* colObj0,int partId0,int index0,const CollisionObject* colObj1,int partId1,int index1);
|
||||
extern ContactAddedCallback gContactAddedCallback;
|
||||
|
||||
|
||||
|
||||
///ManifoldResult is a helper class to manage contact results.
|
||||
class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
|
||||
{
|
||||
PersistentManifold* m_manifoldPtr;
|
||||
CollisionObject* m_body0;
|
||||
CollisionObject* m_body1;
|
||||
int m_partId0;
|
||||
int m_partId1;
|
||||
int m_index0;
|
||||
int m_index1;
|
||||
public:
|
||||
|
||||
ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr);
|
||||
|
||||
virtual ~ManifoldResult() {};
|
||||
|
||||
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
|
||||
{
|
||||
m_partId0=partId0;
|
||||
m_partId1=partId1;
|
||||
m_index0=index0;
|
||||
m_index1=index1;
|
||||
}
|
||||
|
||||
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth);
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //MANIFOLD_RESULT_H
|
||||
@@ -1,211 +0,0 @@
|
||||
|
||||
#include "SimulationIslandManager.h"
|
||||
#include "BroadphaseCollision/Dispatcher.h"
|
||||
#include "NarrowPhaseCollision/PersistentManifold.h"
|
||||
#include "CollisionDispatch/CollisionObject.h"
|
||||
#include "CollisionDispatch/CollisionWorld.h"
|
||||
|
||||
|
||||
|
||||
SimulationIslandManager::SimulationIslandManager()
|
||||
{
|
||||
}
|
||||
|
||||
void SimulationIslandManager::InitUnionFind(int n)
|
||||
{
|
||||
m_unionFind.reset(n);
|
||||
}
|
||||
|
||||
|
||||
void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
|
||||
{
|
||||
|
||||
{
|
||||
for (int i=0;i<dispatcher->GetNumManifolds();i++)
|
||||
{
|
||||
const PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
|
||||
//static objects (invmass 0.f) don't merge !
|
||||
|
||||
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
|
||||
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
|
||||
|
||||
if (colObj0 && colObj1 && dispatcher->NeedsResponse(*colObj0,*colObj1))
|
||||
{
|
||||
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
|
||||
((colObj1) && ((colObj1)->mergesSimulationIslands())))
|
||||
{
|
||||
|
||||
m_unionFind.unite((colObj0)->m_islandTag1,
|
||||
(colObj1)->m_islandTag1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SimulationIslandManager::UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher)
|
||||
{
|
||||
|
||||
InitUnionFind(colWorld->GetCollisionObjectArray().size());
|
||||
|
||||
// put the index into m_controllers into m_tag
|
||||
{
|
||||
std::vector<CollisionObject*>::iterator i;
|
||||
|
||||
int index = 0;
|
||||
for (i=colWorld->GetCollisionObjectArray().begin();
|
||||
!(i==colWorld->GetCollisionObjectArray().end()); i++)
|
||||
{
|
||||
|
||||
CollisionObject* collisionObject= (*i);
|
||||
collisionObject->m_islandTag1 = index;
|
||||
collisionObject->m_hitFraction = 1.f;
|
||||
index++;
|
||||
|
||||
}
|
||||
}
|
||||
// do the union find
|
||||
|
||||
FindUnions(dispatcher);
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void SimulationIslandManager::StoreIslandActivationState(CollisionWorld* colWorld)
|
||||
{
|
||||
// put the islandId ('find' value) into m_tag
|
||||
{
|
||||
|
||||
|
||||
std::vector<CollisionObject*>::iterator i;
|
||||
|
||||
int index = 0;
|
||||
for (i=colWorld->GetCollisionObjectArray().begin();
|
||||
!(i==colWorld->GetCollisionObjectArray().end()); i++)
|
||||
{
|
||||
CollisionObject* collisionObject= (*i);
|
||||
|
||||
if (collisionObject->mergesSimulationIslands())
|
||||
{
|
||||
collisionObject->m_islandTag1 = m_unionFind.find(index);
|
||||
} else
|
||||
{
|
||||
collisionObject->m_islandTag1 = -1;
|
||||
}
|
||||
index++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//
|
||||
// todo: this is random access, it can be walked 'cache friendly'!
|
||||
//
|
||||
void SimulationIslandManager::BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback)
|
||||
{
|
||||
|
||||
int numBodies = collisionObjects.size();
|
||||
|
||||
//first calculate the number of islands, and iterate over the islands id's
|
||||
|
||||
const UnionFind& uf = this->GetUnionFind();
|
||||
|
||||
for (int islandId=0;islandId<uf.getNumElements();islandId++)
|
||||
{
|
||||
if (uf.isRoot(islandId))
|
||||
{
|
||||
|
||||
std::vector<PersistentManifold*> islandmanifold;
|
||||
|
||||
//int numSleeping = 0;
|
||||
|
||||
bool allSleeping = true;
|
||||
|
||||
int i;
|
||||
for (i=0;i<numBodies;i++)
|
||||
{
|
||||
CollisionObject* colObj0 = collisionObjects[i];
|
||||
|
||||
if (colObj0->m_islandTag1 == islandId)
|
||||
{
|
||||
|
||||
if (colObj0->GetActivationState()== ACTIVE_TAG)
|
||||
{
|
||||
allSleeping = false;
|
||||
}
|
||||
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
|
||||
{
|
||||
allSleeping = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
for (i=0;i<dispatcher->GetNumManifolds();i++)
|
||||
{
|
||||
PersistentManifold* manifold = dispatcher->GetManifoldByIndexInternal(i);
|
||||
|
||||
//filtering for response
|
||||
|
||||
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
|
||||
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
|
||||
assert(colObj0);
|
||||
assert(colObj1);
|
||||
{
|
||||
if (((colObj0)->m_islandTag1 == (islandId)) ||
|
||||
((colObj1)->m_islandTag1 == (islandId)))
|
||||
{
|
||||
if (dispatcher->NeedsResponse(*colObj0,*colObj1))
|
||||
islandmanifold.push_back(manifold);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (allSleeping)
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<numBodies;i++)
|
||||
{
|
||||
CollisionObject* colObj0 = collisionObjects[i];
|
||||
if (colObj0->m_islandTag1 == islandId)
|
||||
{
|
||||
colObj0->SetActivationState( ISLAND_SLEEPING );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
int i;
|
||||
for (i=0;i<numBodies;i++)
|
||||
{
|
||||
CollisionObject* colObj0 = collisionObjects[i];
|
||||
if (colObj0->m_islandTag1 == islandId)
|
||||
{
|
||||
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
|
||||
{
|
||||
colObj0->SetActivationState( WANTS_DEACTIVATION);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Process the actual simulation, only if not sleeping/deactivated
|
||||
if (islandmanifold.size())
|
||||
{
|
||||
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,58 +0,0 @@
|
||||
/*
|
||||
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 SIMULATION_ISLAND_MANAGER_H
|
||||
#define SIMULATION_ISLAND_MANAGER_H
|
||||
|
||||
#include "CollisionDispatch/UnionFind.h"
|
||||
#include "CollisionCreateFunc.h"
|
||||
|
||||
class CollisionWorld;
|
||||
class Dispatcher;
|
||||
|
||||
///SimulationIslandManager creates and handles simulation islands, using UnionFind
|
||||
class SimulationIslandManager
|
||||
{
|
||||
UnionFind m_unionFind;
|
||||
|
||||
public:
|
||||
SimulationIslandManager();
|
||||
|
||||
|
||||
void InitUnionFind(int n);
|
||||
|
||||
|
||||
UnionFind& GetUnionFind() { return m_unionFind;}
|
||||
|
||||
virtual void UpdateActivationState(CollisionWorld* colWorld,Dispatcher* dispatcher);
|
||||
virtual void StoreIslandActivationState(CollisionWorld* world);
|
||||
|
||||
|
||||
void FindUnions(Dispatcher* dispatcher);
|
||||
|
||||
|
||||
|
||||
struct IslandCallback
|
||||
{
|
||||
virtual ~IslandCallback() {};
|
||||
|
||||
virtual void ProcessIsland(class PersistentManifold** manifolds,int numManifolds) = 0;
|
||||
};
|
||||
|
||||
void BuildAndProcessIslands(Dispatcher* dispatcher,CollisionObjectArray& collisionObjects, IslandCallback* callback);
|
||||
|
||||
};
|
||||
|
||||
#endif //SIMULATION_ISLAND_MANAGER_H
|
||||
108
extern/bullet/Bullet/CollisionDispatch/UnionFind.cpp
vendored
108
extern/bullet/Bullet/CollisionDispatch/UnionFind.cpp
vendored
@@ -1,108 +0,0 @@
|
||||
/*
|
||||
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 "UnionFind.h"
|
||||
#include <assert.h>
|
||||
|
||||
|
||||
int UnionFind::find(int x)
|
||||
{
|
||||
assert(x < m_N);
|
||||
assert(x >= 0);
|
||||
|
||||
while (x != m_id[x])
|
||||
{
|
||||
//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
|
||||
#define USE_PATH_COMPRESSION 1
|
||||
#ifdef USE_PATH_COMPRESSION
|
||||
//
|
||||
m_id[x] = m_id[m_id[x]];
|
||||
#endif //
|
||||
x = m_id[x];
|
||||
assert(x < m_N);
|
||||
assert(x >= 0);
|
||||
|
||||
}
|
||||
return x;
|
||||
}
|
||||
|
||||
UnionFind::~UnionFind()
|
||||
{
|
||||
Free();
|
||||
|
||||
}
|
||||
|
||||
UnionFind::UnionFind()
|
||||
:m_id(0),
|
||||
m_sz(0),
|
||||
m_N(0)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void UnionFind::Allocate(int N)
|
||||
{
|
||||
if (m_N < N)
|
||||
{
|
||||
Free();
|
||||
|
||||
m_N = N;
|
||||
m_id = new int[N];
|
||||
m_sz = new int[N];
|
||||
}
|
||||
}
|
||||
void UnionFind::Free()
|
||||
{
|
||||
if (m_N)
|
||||
{
|
||||
m_N=0;
|
||||
delete m_id;
|
||||
delete m_sz;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void UnionFind::reset(int N)
|
||||
{
|
||||
Allocate(N);
|
||||
|
||||
for (int i = 0; i < m_N; i++)
|
||||
{
|
||||
m_id[i] = i; m_sz[i] = 1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int UnionFind ::find(int p, int q)
|
||||
{
|
||||
return (find(p) == find(q));
|
||||
}
|
||||
|
||||
void UnionFind ::unite(int p, int q)
|
||||
{
|
||||
int i = find(p), j = find(q);
|
||||
if (i == j)
|
||||
return;
|
||||
|
||||
//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
|
||||
if (m_sz[i] < m_sz[j])
|
||||
{
|
||||
m_id[i] = j; m_sz[j] += m_sz[i];
|
||||
}
|
||||
else
|
||||
{
|
||||
m_id[j] = i; m_sz[i] += m_sz[j];
|
||||
}
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
/*
|
||||
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 UNION_FIND_H
|
||||
#define UNION_FIND_H
|
||||
|
||||
///UnionFind calculates connected subsets
|
||||
// Implements weighted Quick Union with path compression
|
||||
// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
|
||||
class UnionFind
|
||||
{
|
||||
private:
|
||||
int* m_id;
|
||||
int* m_sz;
|
||||
int m_N;
|
||||
|
||||
public:
|
||||
int find(int x);
|
||||
|
||||
UnionFind();
|
||||
~UnionFind();
|
||||
|
||||
void reset(int N);
|
||||
|
||||
inline int getNumElements() const
|
||||
{
|
||||
return m_N;
|
||||
}
|
||||
inline bool isRoot(int x) const
|
||||
{
|
||||
return (x == m_id[x]);
|
||||
}
|
||||
|
||||
int find(int p, int q);
|
||||
void unite(int p, int q);
|
||||
|
||||
void Allocate(int N);
|
||||
void Free();
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //UNION_FIND_H
|
||||
@@ -1,58 +0,0 @@
|
||||
/*
|
||||
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 "BoxShape.h"
|
||||
|
||||
SimdVector3 BoxShape::GetHalfExtents() const
|
||||
{
|
||||
return m_boxHalfExtents1 * m_localScaling;
|
||||
}
|
||||
//{
|
||||
|
||||
|
||||
void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
|
||||
SimdMatrix3x3 abs_b = t.getBasis().absolute();
|
||||
SimdPoint3 center = t.getOrigin();
|
||||
SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
|
||||
abs_b[1].dot(halfExtents),
|
||||
abs_b[2].dot(halfExtents));
|
||||
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
//float margin = 0.f;
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
|
||||
SimdScalar lx=2.f*(halfExtents.x());
|
||||
SimdScalar ly=2.f*(halfExtents.y());
|
||||
SimdScalar lz=2.f*(halfExtents.z());
|
||||
|
||||
inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
|
||||
inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
|
||||
inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
|
||||
|
||||
|
||||
}
|
||||
|
||||
267
extern/bullet/Bullet/CollisionShapes/BoxShape.h
vendored
267
extern/bullet/Bullet/CollisionShapes/BoxShape.h
vendored
@@ -1,267 +0,0 @@
|
||||
/*
|
||||
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 OBB_BOX_MINKOWSKI_H
|
||||
#define OBB_BOX_MINKOWSKI_H
|
||||
|
||||
#include "PolyhedralConvexShape.h"
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
#include "SimdPoint3.h"
|
||||
#include "SimdMinMax.h"
|
||||
|
||||
///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
|
||||
class BoxShape: public PolyhedralConvexShape
|
||||
{
|
||||
|
||||
SimdVector3 m_boxHalfExtents1;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
virtual ~BoxShape()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
SimdVector3 GetHalfExtents() const;
|
||||
//{ return m_boxHalfExtents1 * m_localScaling;}
|
||||
//const SimdVector3& GetHalfExtents() const{ return m_boxHalfExtents1;}
|
||||
|
||||
|
||||
|
||||
virtual int GetShapeType() const { return BOX_SHAPE_PROXYTYPE;}
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
|
||||
{
|
||||
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
|
||||
SimdVector3 supVertex;
|
||||
supVertex = SimdPoint3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
|
||||
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
|
||||
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
|
||||
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
virtual inline SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
|
||||
{
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
|
||||
halfExtents -= margin;
|
||||
|
||||
return SimdVector3(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
|
||||
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
|
||||
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
|
||||
}
|
||||
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
|
||||
halfExtents -= margin;
|
||||
|
||||
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
const SimdVector3& vec = vectors[i];
|
||||
supportVerticesOut[i].setValue(vec.x() < SimdScalar(0.0f) ? -halfExtents.x() : halfExtents.x(),
|
||||
vec.y() < SimdScalar(0.0f) ? -halfExtents.y() : halfExtents.y(),
|
||||
vec.z() < SimdScalar(0.0f) ? -halfExtents.z() : halfExtents.z());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
BoxShape( const SimdVector3& boxHalfExtents) : m_boxHalfExtents1(boxHalfExtents){};
|
||||
|
||||
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
|
||||
{
|
||||
//this plane might not be aligned...
|
||||
SimdVector4 plane ;
|
||||
GetPlaneEquation(plane,i);
|
||||
planeNormal = SimdVector3(plane.getX(),plane.getY(),plane.getZ());
|
||||
planeSupport = LocalGetSupportingVertex(-planeNormal);
|
||||
}
|
||||
|
||||
|
||||
virtual int GetNumPlanes() const
|
||||
{
|
||||
return 6;
|
||||
}
|
||||
|
||||
virtual int GetNumVertices() const
|
||||
{
|
||||
return 8;
|
||||
}
|
||||
|
||||
virtual int GetNumEdges() const
|
||||
{
|
||||
return 12;
|
||||
}
|
||||
|
||||
|
||||
virtual void GetVertex(int i,SimdVector3& vtx) const
|
||||
{
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
|
||||
vtx = SimdVector3(
|
||||
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
|
||||
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
|
||||
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
|
||||
}
|
||||
|
||||
|
||||
virtual void GetPlaneEquation(SimdVector4& plane,int i) const
|
||||
{
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
plane.setValue(1.f,0.f,0.f);
|
||||
plane[3] = -halfExtents.x();
|
||||
break;
|
||||
case 1:
|
||||
plane.setValue(-1.f,0.f,0.f);
|
||||
plane[3] = -halfExtents.x();
|
||||
break;
|
||||
case 2:
|
||||
plane.setValue(0.f,1.f,0.f);
|
||||
plane[3] = -halfExtents.y();
|
||||
break;
|
||||
case 3:
|
||||
plane.setValue(0.f,-1.f,0.f);
|
||||
plane[3] = -halfExtents.y();
|
||||
break;
|
||||
case 4:
|
||||
plane.setValue(0.f,0.f,1.f);
|
||||
plane[3] = -halfExtents.z();
|
||||
break;
|
||||
case 5:
|
||||
plane.setValue(0.f,0.f,-1.f);
|
||||
plane[3] = -halfExtents.z();
|
||||
break;
|
||||
default:
|
||||
assert(0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
|
||||
//virtual void GetEdge(int i,Edge& edge) const
|
||||
{
|
||||
int edgeVert0 = 0;
|
||||
int edgeVert1 = 0;
|
||||
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
edgeVert0 = 0;
|
||||
edgeVert1 = 1;
|
||||
break;
|
||||
case 1:
|
||||
edgeVert0 = 0;
|
||||
edgeVert1 = 2;
|
||||
break;
|
||||
case 2:
|
||||
edgeVert0 = 1;
|
||||
edgeVert1 = 3;
|
||||
|
||||
break;
|
||||
case 3:
|
||||
edgeVert0 = 2;
|
||||
edgeVert1 = 3;
|
||||
break;
|
||||
case 4:
|
||||
edgeVert0 = 0;
|
||||
edgeVert1 = 4;
|
||||
break;
|
||||
case 5:
|
||||
edgeVert0 = 1;
|
||||
edgeVert1 = 5;
|
||||
|
||||
break;
|
||||
case 6:
|
||||
edgeVert0 = 2;
|
||||
edgeVert1 = 6;
|
||||
break;
|
||||
case 7:
|
||||
edgeVert0 = 3;
|
||||
edgeVert1 = 7;
|
||||
break;
|
||||
case 8:
|
||||
edgeVert0 = 4;
|
||||
edgeVert1 = 5;
|
||||
break;
|
||||
case 9:
|
||||
edgeVert0 = 4;
|
||||
edgeVert1 = 6;
|
||||
break;
|
||||
case 10:
|
||||
edgeVert0 = 5;
|
||||
edgeVert1 = 7;
|
||||
break;
|
||||
case 11:
|
||||
edgeVert0 = 6;
|
||||
edgeVert1 = 7;
|
||||
break;
|
||||
default:
|
||||
ASSERT(0);
|
||||
|
||||
}
|
||||
|
||||
GetVertex(edgeVert0,pa );
|
||||
GetVertex(edgeVert1,pb );
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
|
||||
{
|
||||
SimdVector3 halfExtents = GetHalfExtents();
|
||||
|
||||
//SimdScalar minDist = 2*tolerance;
|
||||
|
||||
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
|
||||
(pt.x() >= (-halfExtents.x()-tolerance)) &&
|
||||
(pt.y() <= (halfExtents.y()+tolerance)) &&
|
||||
(pt.y() >= (-halfExtents.y()-tolerance)) &&
|
||||
(pt.z() <= (halfExtents.z()+tolerance)) &&
|
||||
(pt.z() >= (-halfExtents.z()-tolerance));
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "Box";
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //OBB_BOX_MINKOWSKI_H
|
||||
@@ -1,138 +0,0 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
//#define DISABLE_BVH
|
||||
|
||||
|
||||
#include "CollisionShapes/BvhTriangleMeshShape.h"
|
||||
#include "CollisionShapes/OptimizedBvh.h"
|
||||
|
||||
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
|
||||
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
||||
BvhTriangleMeshShape::BvhTriangleMeshShape(StridingMeshInterface* meshInterface)
|
||||
:TriangleMeshShape(meshInterface)
|
||||
{
|
||||
//construct bvh from meshInterface
|
||||
#ifndef DISABLE_BVH
|
||||
|
||||
m_bvh = new OptimizedBvh();
|
||||
m_bvh->Build(meshInterface);
|
||||
|
||||
#endif //DISABLE_BVH
|
||||
|
||||
}
|
||||
|
||||
BvhTriangleMeshShape::~BvhTriangleMeshShape()
|
||||
{
|
||||
delete m_bvh;
|
||||
}
|
||||
|
||||
//perform bvh tree traversal and report overlapping triangles to 'callback'
|
||||
void BvhTriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
|
||||
#ifdef DISABLE_BVH
|
||||
//brute force traverse all triangles
|
||||
TriangleMeshShape::ProcessAllTriangles(callback,aabbMin,aabbMax);
|
||||
#else
|
||||
|
||||
//first get all the nodes
|
||||
|
||||
|
||||
struct MyNodeOverlapCallback : public NodeOverlapCallback
|
||||
{
|
||||
StridingMeshInterface* m_meshInterface;
|
||||
TriangleCallback* m_callback;
|
||||
SimdVector3 m_triangle[3];
|
||||
|
||||
|
||||
MyNodeOverlapCallback(TriangleCallback* callback,StridingMeshInterface* meshInterface)
|
||||
:m_meshInterface(meshInterface),
|
||||
m_callback(callback)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void ProcessNode(const OptimizedBvhNode* node)
|
||||
{
|
||||
const unsigned char *vertexbase;
|
||||
int numverts;
|
||||
PHY_ScalarType type;
|
||||
int stride;
|
||||
const unsigned char *indexbase;
|
||||
int indexstride;
|
||||
int numfaces;
|
||||
PHY_ScalarType indicestype;
|
||||
|
||||
|
||||
m_meshInterface->getLockedReadOnlyVertexIndexBase(
|
||||
&vertexbase,
|
||||
numverts,
|
||||
type,
|
||||
stride,
|
||||
&indexbase,
|
||||
indexstride,
|
||||
numfaces,
|
||||
indicestype,
|
||||
node->m_subPart);
|
||||
|
||||
int* gfxbase = (int*)(indexbase+node->m_triangleIndex*indexstride);
|
||||
|
||||
const SimdVector3& meshScaling = m_meshInterface->getScaling();
|
||||
for (int j=2;j>=0;j--)
|
||||
{
|
||||
|
||||
int graphicsindex = gfxbase[j];
|
||||
#ifdef DEBUG_TRIANGLE_MESH
|
||||
printf("%d ,",graphicsindex);
|
||||
#endif //DEBUG_TRIANGLE_MESH
|
||||
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
|
||||
|
||||
m_triangle[j] = SimdVector3(
|
||||
graphicsbase[0]*meshScaling.getX(),
|
||||
graphicsbase[1]*meshScaling.getY(),
|
||||
graphicsbase[2]*meshScaling.getZ());
|
||||
#ifdef DEBUG_TRIANGLE_MESH
|
||||
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
|
||||
#endif //DEBUG_TRIANGLE_MESH
|
||||
}
|
||||
|
||||
m_callback->ProcessTriangle(m_triangle,node->m_subPart,node->m_triangleIndex);
|
||||
m_meshInterface->unLockReadOnlyVertexBase(node->m_subPart);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
|
||||
|
||||
m_bvh->ReportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
|
||||
|
||||
|
||||
#endif//DISABLE_BVH
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
void BvhTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
|
||||
{
|
||||
TriangleMeshShape::setLocalScaling(scaling);
|
||||
delete m_bvh;
|
||||
m_bvh = new OptimizedBvh();
|
||||
m_bvh->Build(m_meshInterface);
|
||||
//rebuild the bvh...
|
||||
}
|
||||
}
|
||||
@@ -1,58 +0,0 @@
|
||||
/*
|
||||
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 BVH_TRIANGLE_MESH_SHAPE_H
|
||||
#define BVH_TRIANGLE_MESH_SHAPE_H
|
||||
|
||||
#include "CollisionShapes/TriangleMeshShape.h"
|
||||
#include "CollisionShapes/OptimizedBvh.h"
|
||||
|
||||
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
|
||||
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
||||
class BvhTriangleMeshShape : public TriangleMeshShape
|
||||
{
|
||||
|
||||
OptimizedBvh* m_bvh;
|
||||
|
||||
|
||||
public:
|
||||
BvhTriangleMeshShape(StridingMeshInterface* meshInterface);
|
||||
|
||||
virtual ~BvhTriangleMeshShape();
|
||||
|
||||
|
||||
/*
|
||||
virtual int GetShapeType() const
|
||||
{
|
||||
return TRIANGLE_MESH_SHAPE_PROXYTYPE;
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
virtual void ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const {return "BVHTRIANGLEMESH";}
|
||||
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling);
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BVH_TRIANGLE_MESH_SHAPE_H
|
||||
@@ -1,26 +0,0 @@
|
||||
/*
|
||||
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 COLLISION_MARGIN_H
|
||||
#define COLLISION_MARGIN_H
|
||||
|
||||
//used by Gjk and some other algorithms
|
||||
|
||||
#define CONVEX_DISTANCE_MARGIN 0.04f// 0.1f//;//0.01f
|
||||
|
||||
|
||||
|
||||
#endif //COLLISION_MARGIN_H
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
/*
|
||||
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 "CollisionShapes/CollisionShape.h"
|
||||
|
||||
void CollisionShape::GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const
|
||||
{
|
||||
SimdTransform tr;
|
||||
tr.setIdentity();
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
|
||||
GetAabb(tr,aabbMin,aabbMax);
|
||||
|
||||
radius = (aabbMax-aabbMin).length()*0.5f;
|
||||
center = (aabbMin+aabbMax)*0.5f;
|
||||
}
|
||||
|
||||
float CollisionShape::GetAngularMotionDisc() const
|
||||
{
|
||||
SimdVector3 center;
|
||||
float disc;
|
||||
GetBoundingSphere(center,disc);
|
||||
disc += (center).length();
|
||||
return disc;
|
||||
}
|
||||
|
||||
void CollisionShape::CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax)
|
||||
{
|
||||
//start with static aabb
|
||||
GetAabb(curTrans,temporalAabbMin,temporalAabbMax);
|
||||
|
||||
float temporalAabbMaxx = temporalAabbMax.getX();
|
||||
float temporalAabbMaxy = temporalAabbMax.getY();
|
||||
float temporalAabbMaxz = temporalAabbMax.getZ();
|
||||
float temporalAabbMinx = temporalAabbMin.getX();
|
||||
float temporalAabbMiny = temporalAabbMin.getY();
|
||||
float temporalAabbMinz = temporalAabbMin.getZ();
|
||||
|
||||
// add linear motion
|
||||
SimdVector3 linMotion = linvel*timeStep;
|
||||
//todo: simd would have a vector max/min operation, instead of per-element access
|
||||
if (linMotion.x() > 0.f)
|
||||
temporalAabbMaxx += linMotion.x();
|
||||
else
|
||||
temporalAabbMinx += linMotion.x();
|
||||
if (linMotion.y() > 0.f)
|
||||
temporalAabbMaxy += linMotion.y();
|
||||
else
|
||||
temporalAabbMiny += linMotion.y();
|
||||
if (linMotion.z() > 0.f)
|
||||
temporalAabbMaxz += linMotion.z();
|
||||
else
|
||||
temporalAabbMinz += linMotion.z();
|
||||
|
||||
//add conservative angular motion
|
||||
SimdScalar angularMotion = angvel.length() * GetAngularMotionDisc() * timeStep;
|
||||
SimdVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
|
||||
temporalAabbMin = SimdVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
|
||||
temporalAabbMax = SimdVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
|
||||
|
||||
temporalAabbMin -= angularMotion3d;
|
||||
temporalAabbMax += angularMotion3d;
|
||||
}
|
||||
@@ -1,88 +0,0 @@
|
||||
/*
|
||||
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 COLLISION_SHAPE_H
|
||||
#define COLLISION_SHAPE_H
|
||||
|
||||
#include "SimdTransform.h"
|
||||
#include "SimdVector3.h"
|
||||
#include <SimdMatrix3x3.h>
|
||||
#include "SimdPoint3.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
|
||||
|
||||
///CollisionShape provides generic interface for collidable objects
|
||||
class CollisionShape
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
CollisionShape()
|
||||
:m_tempDebug(0)
|
||||
{
|
||||
}
|
||||
virtual ~CollisionShape()
|
||||
{
|
||||
}
|
||||
|
||||
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
|
||||
|
||||
virtual void GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
|
||||
|
||||
virtual float GetAngularMotionDisc() const;
|
||||
|
||||
virtual int GetShapeType() const=0;
|
||||
|
||||
///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
|
||||
///result is conservative
|
||||
void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
|
||||
|
||||
bool IsPolyhedral() const
|
||||
{
|
||||
return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
|
||||
}
|
||||
|
||||
bool IsConvex() const
|
||||
{
|
||||
return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
|
||||
}
|
||||
bool IsConcave() const
|
||||
{
|
||||
return ((GetShapeType() > CONCAVE_SHAPES_START_HERE) &&
|
||||
(GetShapeType() < CONCAVE_SHAPES_END_HERE));
|
||||
}
|
||||
bool IsCompound() const
|
||||
{
|
||||
return (GetShapeType() == COMPOUND_SHAPE_PROXYTYPE);
|
||||
}
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling) =0;
|
||||
virtual const SimdVector3& getLocalScaling() const =0;
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
|
||||
|
||||
//debugging support
|
||||
virtual char* GetName()const =0 ;
|
||||
const char* GetExtraDebugInfo() const { return m_tempDebug;}
|
||||
void SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
|
||||
const char * m_tempDebug;
|
||||
//endif debugging support
|
||||
|
||||
virtual void SetMargin(float margin) = 0;
|
||||
virtual float GetMargin() const = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //COLLISION_SHAPE_H
|
||||
|
||||
@@ -1,100 +0,0 @@
|
||||
/*
|
||||
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 "CompoundShape.h"
|
||||
|
||||
|
||||
#include "CollisionShape.h"
|
||||
|
||||
|
||||
CompoundShape::CompoundShape()
|
||||
:m_localAabbMin(1e30f,1e30f,1e30f),
|
||||
m_localAabbMax(-1e30f,-1e30f,-1e30f),
|
||||
m_aabbTree(0),
|
||||
m_collisionMargin(0.f),
|
||||
m_localScaling(1.f,1.f,1.f)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
CompoundShape::~CompoundShape()
|
||||
{
|
||||
}
|
||||
|
||||
void CompoundShape::AddChildShape(const SimdTransform& localTransform,CollisionShape* shape)
|
||||
{
|
||||
m_childTransforms.push_back(localTransform);
|
||||
m_childShapes.push_back(shape);
|
||||
|
||||
//extend the local aabbMin/aabbMax
|
||||
SimdVector3 localAabbMin,localAabbMax;
|
||||
shape->GetAabb(localTransform,localAabbMin,localAabbMax);
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
if (m_localAabbMin[i] > localAabbMin[i])
|
||||
{
|
||||
m_localAabbMin[i] = localAabbMin[i];
|
||||
}
|
||||
if (m_localAabbMax[i] < localAabbMax[i])
|
||||
{
|
||||
m_localAabbMax[i] = localAabbMax[i];
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void CompoundShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
|
||||
SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
|
||||
|
||||
SimdMatrix3x3 abs_b = trans.getBasis().absolute();
|
||||
|
||||
SimdPoint3 center = trans(localCenter);
|
||||
|
||||
SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
|
||||
abs_b[1].dot(localHalfExtents),
|
||||
abs_b[2].dot(localHalfExtents));
|
||||
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
|
||||
void CompoundShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
//approximation: take the inertia from the aabb for now
|
||||
SimdTransform ident;
|
||||
ident.setIdentity();
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
GetAabb(ident,aabbMin,aabbMax);
|
||||
|
||||
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
|
||||
|
||||
SimdScalar lx=2.f*(halfExtents.x());
|
||||
SimdScalar ly=2.f*(halfExtents.y());
|
||||
SimdScalar lz=2.f*(halfExtents.z());
|
||||
|
||||
inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
|
||||
inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
|
||||
inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
117
extern/bullet/Bullet/CollisionShapes/CompoundShape.h
vendored
117
extern/bullet/Bullet/CollisionShapes/CompoundShape.h
vendored
@@ -1,117 +0,0 @@
|
||||
/*
|
||||
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 COMPOUND_SHAPE_H
|
||||
#define COMPOUND_SHAPE_H
|
||||
|
||||
#include "CollisionShape.h"
|
||||
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdTransform.h"
|
||||
#include "SimdMatrix3x3.h"
|
||||
#include <vector>
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
class OptimizedBvh;
|
||||
|
||||
/// CompoundShape allows to store multiple other CollisionShapes
|
||||
/// This allows for concave collision objects. This is more general then the Static Concave TriangleMeshShape.
|
||||
class CompoundShape : public CollisionShape
|
||||
{
|
||||
std::vector<SimdTransform> m_childTransforms;
|
||||
std::vector<CollisionShape*> m_childShapes;
|
||||
SimdVector3 m_localAabbMin;
|
||||
SimdVector3 m_localAabbMax;
|
||||
|
||||
OptimizedBvh* m_aabbTree;
|
||||
|
||||
public:
|
||||
CompoundShape();
|
||||
|
||||
virtual ~CompoundShape();
|
||||
|
||||
void AddChildShape(const SimdTransform& localTransform,CollisionShape* shape);
|
||||
|
||||
int GetNumChildShapes() const
|
||||
{
|
||||
return m_childShapes.size();
|
||||
}
|
||||
|
||||
CollisionShape* GetChildShape(int index)
|
||||
{
|
||||
return m_childShapes[index];
|
||||
}
|
||||
const CollisionShape* GetChildShape(int index) const
|
||||
{
|
||||
return m_childShapes[index];
|
||||
}
|
||||
|
||||
SimdTransform GetChildTransform(int index)
|
||||
{
|
||||
return m_childTransforms[index];
|
||||
}
|
||||
const SimdTransform GetChildTransform(int index) const
|
||||
{
|
||||
return m_childTransforms[index];
|
||||
}
|
||||
|
||||
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
virtual const SimdVector3& getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual int GetShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
|
||||
|
||||
virtual void SetMargin(float margin)
|
||||
{
|
||||
m_collisionMargin = margin;
|
||||
}
|
||||
virtual float GetMargin() const
|
||||
{
|
||||
return m_collisionMargin;
|
||||
}
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "Compound";
|
||||
}
|
||||
|
||||
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
|
||||
void CreateAabbTreeFromChildren();
|
||||
|
||||
const OptimizedBvh* GetAabbTree() const
|
||||
{
|
||||
return m_aabbTree;
|
||||
}
|
||||
|
||||
private:
|
||||
SimdScalar m_collisionMargin;
|
||||
protected:
|
||||
SimdVector3 m_localScaling;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //COMPOUND_SHAPE_H
|
||||
@@ -1,28 +0,0 @@
|
||||
|
||||
/*
|
||||
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 "ConcaveShape.h"
|
||||
|
||||
ConcaveShape::ConcaveShape() : m_collisionMargin(0.f)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
ConcaveShape::~ConcaveShape()
|
||||
{
|
||||
|
||||
}
|
||||
@@ -1,51 +0,0 @@
|
||||
/*
|
||||
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 CONCAVE_SHAPE_H
|
||||
#define CONCAVE_SHAPE_H
|
||||
|
||||
#include "CollisionShapes/CollisionShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
#include "TriangleCallback.h"
|
||||
|
||||
|
||||
///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
|
||||
///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
|
||||
class ConcaveShape : public CollisionShape
|
||||
{
|
||||
protected:
|
||||
float m_collisionMargin;
|
||||
|
||||
public:
|
||||
ConcaveShape();
|
||||
|
||||
virtual ~ConcaveShape();
|
||||
|
||||
virtual void ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const = 0;
|
||||
|
||||
virtual float GetMargin() const {
|
||||
return m_collisionMargin;
|
||||
}
|
||||
virtual void SetMargin(float collisionMargin)
|
||||
{
|
||||
m_collisionMargin = collisionMargin;
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //CONCAVE_SHAPE_H
|
||||
100
extern/bullet/Bullet/CollisionShapes/ConeShape.cpp
vendored
100
extern/bullet/Bullet/CollisionShapes/ConeShape.cpp
vendored
@@ -1,100 +0,0 @@
|
||||
/*
|
||||
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 "ConeShape.h"
|
||||
#include "SimdPoint3.h"
|
||||
|
||||
#ifdef WIN32
|
||||
static int coneindices[3] = {1,2,0};
|
||||
#else
|
||||
static int coneindices[3] = {2,1,0};
|
||||
#endif
|
||||
|
||||
ConeShape::ConeShape (SimdScalar radius,SimdScalar height):
|
||||
m_radius (radius),
|
||||
m_height(height)
|
||||
{
|
||||
SimdVector3 halfExtents;
|
||||
m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
|
||||
}
|
||||
|
||||
|
||||
SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
|
||||
{
|
||||
|
||||
float halfHeight = m_height * 0.5f;
|
||||
|
||||
if (v[coneindices[1]] > v.length() * m_sinAngle)
|
||||
{
|
||||
SimdVector3 tmp;
|
||||
|
||||
tmp[coneindices[0]] = 0.f;
|
||||
tmp[coneindices[1]] = halfHeight;
|
||||
tmp[coneindices[2]] = 0.f;
|
||||
return tmp;
|
||||
}
|
||||
else {
|
||||
SimdScalar s = SimdSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
|
||||
if (s > SIMD_EPSILON) {
|
||||
SimdScalar d = m_radius / s;
|
||||
SimdVector3 tmp;
|
||||
tmp[coneindices[0]] = v[coneindices[0]] * d;
|
||||
tmp[coneindices[1]] = -halfHeight;
|
||||
tmp[coneindices[2]] = v[coneindices[2]] * d;
|
||||
return tmp;
|
||||
}
|
||||
else {
|
||||
SimdVector3 tmp;
|
||||
tmp[coneindices[0]] = 0.f;
|
||||
tmp[coneindices[1]] = -halfHeight;
|
||||
tmp[coneindices[2]] = 0.f;
|
||||
return tmp;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
SimdVector3 ConeShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const
|
||||
{
|
||||
return ConeLocalSupport(vec);
|
||||
}
|
||||
|
||||
void ConeShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
const SimdVector3& vec = vectors[i];
|
||||
supportVerticesOut[i] = ConeLocalSupport(vec);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SimdVector3 ConeShape::LocalGetSupportingVertex(const SimdVector3& vec) const
|
||||
{
|
||||
SimdVector3 supVertex = ConeLocalSupport(vec);
|
||||
if ( GetMargin()!=0.f )
|
||||
{
|
||||
SimdVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(-1.f,-1.f,-1.f);
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= GetMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
83
extern/bullet/Bullet/CollisionShapes/ConeShape.h
vendored
83
extern/bullet/Bullet/CollisionShapes/ConeShape.h
vendored
@@ -1,83 +0,0 @@
|
||||
/*
|
||||
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 CONE_MINKOWSKI_H
|
||||
#define CONE_MINKOWSKI_H
|
||||
|
||||
#include "ConvexShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
/// implements cone shape interface
|
||||
class ConeShape : public ConvexShape
|
||||
|
||||
{
|
||||
|
||||
float m_sinAngle;
|
||||
float m_radius;
|
||||
float m_height;
|
||||
|
||||
SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
|
||||
|
||||
|
||||
public:
|
||||
ConeShape (SimdScalar radius,SimdScalar height);
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const;
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
float GetRadius() const { return m_radius;}
|
||||
float GetHeight() const { return m_height;}
|
||||
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
SimdTransform identity;
|
||||
identity.setIdentity();
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
GetAabb(identity,aabbMin,aabbMax);
|
||||
|
||||
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
|
||||
|
||||
float margin = GetMargin();
|
||||
|
||||
SimdScalar lx=2.f*(halfExtents.x()+margin);
|
||||
SimdScalar ly=2.f*(halfExtents.y()+margin);
|
||||
SimdScalar lz=2.f*(halfExtents.z()+margin);
|
||||
const SimdScalar x2 = lx*lx;
|
||||
const SimdScalar y2 = ly*ly;
|
||||
const SimdScalar z2 = lz*lz;
|
||||
const SimdScalar scaledmass = mass * 0.08333333f;
|
||||
|
||||
inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
|
||||
|
||||
// inertia.x() = scaledmass * (y2+z2);
|
||||
// inertia.y() = scaledmass * (x2+z2);
|
||||
// inertia.z() = scaledmass * (x2+y2);
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual int GetShapeType() const { return CONE_SHAPE_PROXYTYPE; }
|
||||
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "Cone";
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif //CONE_MINKOWSKI_H
|
||||
|
||||
@@ -1,160 +0,0 @@
|
||||
/*
|
||||
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 "ConvexHullShape.h"
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
#include "SimdQuaternion.h"
|
||||
|
||||
|
||||
ConvexHullShape ::ConvexHullShape (SimdPoint3* points,int numPoints)
|
||||
{
|
||||
m_points.resize(numPoints);
|
||||
for (int i=0;i<numPoints;i++)
|
||||
m_points[i] = points[i];
|
||||
}
|
||||
|
||||
SimdVector3 ConvexHullShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
|
||||
{
|
||||
SimdVector3 supVec(0.f,0.f,0.f);
|
||||
SimdScalar newDot,maxDot = -1e30f;
|
||||
|
||||
SimdVector3 vec = vec0;
|
||||
SimdScalar lenSqr = vec.length2();
|
||||
if (lenSqr < 0.0001f)
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
float rlen = 1.f / SimdSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
|
||||
for (size_t i=0;i<m_points.size();i++)
|
||||
{
|
||||
SimdPoint3 vtx = m_points[i] * m_localScaling;
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
return supVec;
|
||||
}
|
||||
|
||||
void ConvexHullShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
SimdScalar newDot;
|
||||
//use 'w' component of supportVerticesOut?
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i][3] = -1e30f;
|
||||
}
|
||||
}
|
||||
for (size_t i=0;i<m_points.size();i++)
|
||||
{
|
||||
SimdPoint3 vtx = m_points[i] * m_localScaling;
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
const SimdVector3& vec = vectors[j];
|
||||
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > supportVerticesOut[j][3])
|
||||
{
|
||||
//WARNING: don't swap next lines, the w component would get overwritten!
|
||||
supportVerticesOut[j] = vtx;
|
||||
supportVerticesOut[j][3] = newDot;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
SimdVector3 ConvexHullShape::LocalGetSupportingVertex(const SimdVector3& vec)const
|
||||
{
|
||||
SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( GetMargin()!=0.f )
|
||||
{
|
||||
SimdVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(-1.f,-1.f,-1.f);
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= GetMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
|
||||
//Please note that you can debug-draw ConvexHullShape with the Raytracer Demo
|
||||
int ConvexHullShape::GetNumVertices() const
|
||||
{
|
||||
return m_points.size();
|
||||
}
|
||||
|
||||
int ConvexHullShape::GetNumEdges() const
|
||||
{
|
||||
return m_points.size()*m_points.size();
|
||||
}
|
||||
|
||||
void ConvexHullShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
|
||||
{
|
||||
|
||||
int index0 = i%m_points.size();
|
||||
int index1 = i/m_points.size();
|
||||
pa = m_points[index0]*m_localScaling;
|
||||
pb = m_points[index1]*m_localScaling;
|
||||
}
|
||||
|
||||
void ConvexHullShape::GetVertex(int i,SimdPoint3& vtx) const
|
||||
{
|
||||
vtx = m_points[i]*m_localScaling;
|
||||
}
|
||||
|
||||
int ConvexHullShape::GetNumPlanes() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ConvexHullShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
|
||||
{
|
||||
assert(0);
|
||||
}
|
||||
|
||||
//not yet
|
||||
bool ConvexHullShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
|
||||
{
|
||||
assert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -1,64 +0,0 @@
|
||||
/*
|
||||
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 CONVEX_HULL_SHAPE_H
|
||||
#define CONVEX_HULL_SHAPE_H
|
||||
|
||||
#include "PolyhedralConvexShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
#include <vector>
|
||||
|
||||
///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
|
||||
///No connectivity is needed. LocalGetSupportingVertex iterates linearly though all vertices.
|
||||
///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
|
||||
///(memory is much slower then the cpu)
|
||||
class ConvexHullShape : public PolyhedralConvexShape
|
||||
{
|
||||
std::vector<SimdPoint3> m_points;
|
||||
|
||||
public:
|
||||
ConvexHullShape(SimdPoint3* points,int numPoints);
|
||||
|
||||
void AddPoint(const SimdPoint3& point)
|
||||
{
|
||||
m_points.push_back(point);
|
||||
}
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
|
||||
virtual int GetShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const {return "Convex";}
|
||||
|
||||
|
||||
virtual int GetNumVertices() const;
|
||||
virtual int GetNumEdges() const;
|
||||
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
|
||||
virtual void GetVertex(int i,SimdPoint3& vtx) const;
|
||||
virtual int GetNumPlanes() const;
|
||||
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
|
||||
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //CONVEX_HULL_SHAPE_H
|
||||
|
||||
@@ -1,74 +0,0 @@
|
||||
/*
|
||||
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 "ConvexShape.h"
|
||||
|
||||
ConvexShape::~ConvexShape()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
ConvexShape::ConvexShape()
|
||||
:m_collisionMargin(CONVEX_DISTANCE_MARGIN),
|
||||
m_localScaling(1.f,1.f,1.f)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
void ConvexShape::setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConvexShape::GetAabbSlow(const SimdTransform& trans,SimdVector3&minAabb,SimdVector3&maxAabb) const
|
||||
{
|
||||
|
||||
SimdScalar margin = GetMargin();
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
SimdVector3 vec(0.f,0.f,0.f);
|
||||
vec[i] = 1.f;
|
||||
|
||||
SimdVector3 sv = LocalGetSupportingVertex(vec*trans.getBasis());
|
||||
|
||||
SimdVector3 tmp = trans(sv);
|
||||
maxAabb[i] = tmp[i]+margin;
|
||||
vec[i] = -1.f;
|
||||
tmp = trans(LocalGetSupportingVertex(vec*trans.getBasis()));
|
||||
minAabb[i] = tmp[i]-margin;
|
||||
}
|
||||
};
|
||||
|
||||
SimdVector3 ConvexShape::LocalGetSupportingVertex(const SimdVector3& vec)const
|
||||
{
|
||||
SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( GetMargin()!=0.f )
|
||||
{
|
||||
SimdVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(-1.f,-1.f,-1.f);
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= GetMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,85 +0,0 @@
|
||||
/*
|
||||
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 CONVEX_SHAPE_INTERFACE1
|
||||
#define CONVEX_SHAPE_INTERFACE1
|
||||
|
||||
#include "CollisionShape.h"
|
||||
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdTransform.h"
|
||||
#include "SimdMatrix3x3.h"
|
||||
#include <vector>
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
//todo: get rid of this ConvexCastResult thing!
|
||||
struct ConvexCastResult;
|
||||
|
||||
|
||||
/// ConvexShape is an abstract shape interface.
|
||||
/// The explicit part provides plane-equations, the implicit part provides GetClosestPoint interface.
|
||||
/// used in combination with GJK or ConvexCast
|
||||
class ConvexShape : public CollisionShape
|
||||
{
|
||||
public:
|
||||
ConvexShape();
|
||||
|
||||
virtual ~ConvexShape();
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const= 0;
|
||||
|
||||
//notice that the vectors should be unit length
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const= 0;
|
||||
|
||||
// testing for hullnode code
|
||||
|
||||
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
GetAabbSlow(t,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void GetAabbSlow(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling);
|
||||
virtual const SimdVector3& getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
|
||||
|
||||
virtual void SetMargin(float margin)
|
||||
{
|
||||
m_collisionMargin = margin;
|
||||
}
|
||||
virtual float GetMargin() const
|
||||
{
|
||||
return m_collisionMargin;
|
||||
}
|
||||
private:
|
||||
SimdScalar m_collisionMargin;
|
||||
//local scaling. collisionMargin is not scaled !
|
||||
protected:
|
||||
SimdVector3 m_localScaling;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //CONVEX_SHAPE_INTERFACE1
|
||||
@@ -1,197 +0,0 @@
|
||||
/*
|
||||
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 "ConvexTriangleMeshShape.h"
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
#include "SimdQuaternion.h"
|
||||
#include "CollisionShapes/StridingMeshInterface.h"
|
||||
|
||||
|
||||
ConvexTriangleMeshShape ::ConvexTriangleMeshShape (StridingMeshInterface* meshInterface)
|
||||
:m_stridingMesh(meshInterface)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
|
||||
///but then we are duplicating
|
||||
class LocalSupportVertexCallback: public InternalTriangleIndexCallback
|
||||
{
|
||||
|
||||
SimdVector3 m_supportVertexLocal;
|
||||
public:
|
||||
|
||||
SimdScalar m_maxDot;
|
||||
SimdVector3 m_supportVecLocal;
|
||||
|
||||
LocalSupportVertexCallback(const SimdVector3& supportVecLocal)
|
||||
: m_supportVertexLocal(0.f,0.f,0.f),
|
||||
m_supportVecLocal(supportVecLocal),
|
||||
m_maxDot(-1e30f)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
SimdScalar dot = m_supportVecLocal.dot(triangle[i]);
|
||||
if (dot > m_maxDot)
|
||||
{
|
||||
m_maxDot = dot;
|
||||
m_supportVertexLocal = triangle[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
SimdVector3 GetSupportVertexLocal()
|
||||
{
|
||||
return m_supportVertexLocal;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
SimdVector3 ConvexTriangleMeshShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
|
||||
{
|
||||
SimdVector3 supVec(0.f,0.f,0.f);
|
||||
SimdScalar newDot,maxDot = -1e30f;
|
||||
|
||||
SimdVector3 vec = vec0;
|
||||
SimdScalar lenSqr = vec.length2();
|
||||
if (lenSqr < 0.0001f)
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
float rlen = 1.f / SimdSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
LocalSupportVertexCallback supportCallback(vec);
|
||||
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
|
||||
supVec = supportCallback.GetSupportVertexLocal();
|
||||
|
||||
return supVec;
|
||||
}
|
||||
|
||||
void ConvexTriangleMeshShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
SimdScalar newDot;
|
||||
//use 'w' component of supportVerticesOut?
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i][3] = -1e30f;
|
||||
}
|
||||
}
|
||||
|
||||
//todo: could do the batch inside the callback!
|
||||
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
const SimdVector3& vec = vectors[j];
|
||||
LocalSupportVertexCallback supportCallback(vec);
|
||||
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
|
||||
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
SimdVector3 ConvexTriangleMeshShape::LocalGetSupportingVertex(const SimdVector3& vec)const
|
||||
{
|
||||
SimdVector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( GetMargin()!=0.f )
|
||||
{
|
||||
SimdVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(-1.f,-1.f,-1.f);
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= GetMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
|
||||
//Please note that you can debug-draw ConvexTriangleMeshShape with the Raytracer Demo
|
||||
int ConvexTriangleMeshShape::GetNumVertices() const
|
||||
{
|
||||
//cache this?
|
||||
assert(0);
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int ConvexTriangleMeshShape::GetNumEdges() const
|
||||
{
|
||||
assert(0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ConvexTriangleMeshShape::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
|
||||
{
|
||||
assert(0);
|
||||
}
|
||||
|
||||
void ConvexTriangleMeshShape::GetVertex(int i,SimdPoint3& vtx) const
|
||||
{
|
||||
assert(0);
|
||||
}
|
||||
|
||||
int ConvexTriangleMeshShape::GetNumPlanes() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void ConvexTriangleMeshShape::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const
|
||||
{
|
||||
assert(0);
|
||||
}
|
||||
|
||||
//not yet
|
||||
bool ConvexTriangleMeshShape::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
|
||||
{
|
||||
assert(0);
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConvexTriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_stridingMesh->setScaling(scaling);
|
||||
}
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
#define CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
|
||||
|
||||
#include "PolyhedralConvexShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
#include <vector>
|
||||
|
||||
/// ConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use ConvexHullShape instead.
|
||||
/// It uses the StridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
|
||||
class ConvexTriangleMeshShape : public PolyhedralConvexShape
|
||||
{
|
||||
|
||||
class StridingMeshInterface* m_stridingMesh;
|
||||
|
||||
public:
|
||||
ConvexTriangleMeshShape(StridingMeshInterface* meshInterface);
|
||||
|
||||
class StridingMeshInterface* GetStridingMesh()
|
||||
{
|
||||
return m_stridingMesh;
|
||||
}
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual int GetShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const {return "ConvexTrimesh";}
|
||||
|
||||
virtual int GetNumVertices() const;
|
||||
virtual int GetNumEdges() const;
|
||||
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
|
||||
virtual void GetVertex(int i,SimdPoint3& vtx) const;
|
||||
virtual int GetNumPlanes() const;
|
||||
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const;
|
||||
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
|
||||
|
||||
|
||||
void setLocalScaling(const SimdVector3& scaling);
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
@@ -1,196 +0,0 @@
|
||||
/*
|
||||
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 "CylinderShape.h"
|
||||
#include "SimdPoint3.h"
|
||||
|
||||
CylinderShape::CylinderShape (const SimdVector3& halfExtents)
|
||||
:BoxShape(halfExtents)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
CylinderShapeX::CylinderShapeX (const SimdVector3& halfExtents)
|
||||
:CylinderShape(halfExtents)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents)
|
||||
:CylinderShape(halfExtents)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
inline SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v)
|
||||
{
|
||||
const int cylinderUpAxis = 0;
|
||||
const int XX = 1;
|
||||
const int YY = 0;
|
||||
const int ZZ = 2;
|
||||
|
||||
//mapping depends on how cylinder local orientation is
|
||||
// extents of the cylinder is: X,Y is for radius, and Z for height
|
||||
|
||||
|
||||
float radius = halfExtents[XX];
|
||||
float halfHeight = halfExtents[cylinderUpAxis];
|
||||
|
||||
|
||||
SimdVector3 tmp;
|
||||
SimdScalar d ;
|
||||
|
||||
SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
||||
if (s != SimdScalar(0.0))
|
||||
{
|
||||
d = radius / s;
|
||||
tmp[XX] = v[XX] * d;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = v[ZZ] * d;
|
||||
return tmp;
|
||||
}
|
||||
else
|
||||
{
|
||||
tmp[XX] = radius;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = SimdScalar(0.0);
|
||||
return tmp;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
inline SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v)
|
||||
{
|
||||
|
||||
const int cylinderUpAxis = 1;
|
||||
const int XX = 0;
|
||||
const int YY = 1;
|
||||
const int ZZ = 2;
|
||||
|
||||
|
||||
float radius = halfExtents[XX];
|
||||
float halfHeight = halfExtents[cylinderUpAxis];
|
||||
|
||||
|
||||
SimdVector3 tmp;
|
||||
SimdScalar d ;
|
||||
|
||||
SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
||||
if (s != SimdScalar(0.0))
|
||||
{
|
||||
d = radius / s;
|
||||
tmp[XX] = v[XX] * d;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = v[ZZ] * d;
|
||||
return tmp;
|
||||
}
|
||||
else
|
||||
{
|
||||
tmp[XX] = radius;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = SimdScalar(0.0);
|
||||
return tmp;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
inline SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v)
|
||||
{
|
||||
const int cylinderUpAxis = 2;
|
||||
const int XX = 0;
|
||||
const int YY = 2;
|
||||
const int ZZ = 1;
|
||||
|
||||
//mapping depends on how cylinder local orientation is
|
||||
// extents of the cylinder is: X,Y is for radius, and Z for height
|
||||
|
||||
|
||||
float radius = halfExtents[XX];
|
||||
float halfHeight = halfExtents[cylinderUpAxis];
|
||||
|
||||
|
||||
SimdVector3 tmp;
|
||||
SimdScalar d ;
|
||||
|
||||
SimdScalar s = SimdSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
||||
if (s != SimdScalar(0.0))
|
||||
{
|
||||
d = radius / s;
|
||||
tmp[XX] = v[XX] * d;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = v[ZZ] * d;
|
||||
return tmp;
|
||||
}
|
||||
else
|
||||
{
|
||||
tmp[XX] = radius;
|
||||
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
||||
tmp[ZZ] = SimdScalar(0.0);
|
||||
return tmp;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
SimdVector3 CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
|
||||
{
|
||||
return CylinderLocalSupportX(GetHalfExtents(),vec);
|
||||
}
|
||||
|
||||
|
||||
SimdVector3 CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
|
||||
{
|
||||
return CylinderLocalSupportZ(GetHalfExtents(),vec);
|
||||
}
|
||||
SimdVector3 CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
|
||||
{
|
||||
return CylinderLocalSupportY(GetHalfExtents(),vec);
|
||||
}
|
||||
|
||||
void CylinderShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i] = CylinderLocalSupportY(GetHalfExtents(),vectors[i]);
|
||||
}
|
||||
}
|
||||
|
||||
void CylinderShapeZ::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i] = CylinderLocalSupportZ(GetHalfExtents(),vectors[i]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void CylinderShapeX::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i] = CylinderLocalSupportX(GetHalfExtents(),vectors[i]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
125
extern/bullet/Bullet/CollisionShapes/CylinderShape.h
vendored
125
extern/bullet/Bullet/CollisionShapes/CylinderShape.h
vendored
@@ -1,125 +0,0 @@
|
||||
/*
|
||||
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 CYLINDER_MINKOWSKI_H
|
||||
#define CYLINDER_MINKOWSKI_H
|
||||
|
||||
#include "BoxShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
#include "SimdVector3.h"
|
||||
|
||||
/// implements cylinder shape interface
|
||||
class CylinderShape : public BoxShape
|
||||
|
||||
{
|
||||
|
||||
public:
|
||||
CylinderShape (const SimdVector3& halfExtents);
|
||||
|
||||
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
GetAabbSlow(t,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
|
||||
{
|
||||
|
||||
SimdVector3 supVertex;
|
||||
supVertex = LocalGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
if ( GetMargin()!=0.f )
|
||||
{
|
||||
SimdVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(-1.f,-1.f,-1.f);
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= GetMargin() * vecnorm;
|
||||
}
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
//use box inertia
|
||||
// virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual int GetShapeType() const
|
||||
{
|
||||
return CYLINDER_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
virtual int GetUpAxis() const
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "CylinderY";
|
||||
}
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
class CylinderShapeX : public CylinderShape
|
||||
{
|
||||
public:
|
||||
CylinderShapeX (const SimdVector3& halfExtents);
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
virtual int GetUpAxis() const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
//debugging
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "CylinderX";
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
class CylinderShapeZ : public CylinderShape
|
||||
{
|
||||
public:
|
||||
CylinderShapeZ (const SimdVector3& halfExtents);
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual int GetUpAxis() const
|
||||
{
|
||||
return 2;
|
||||
}
|
||||
//debugging
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "CylinderZ";
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //CYLINDER_MINKOWSKI_H
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
/*
|
||||
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 "EmptyShape.h"
|
||||
|
||||
|
||||
#include "CollisionShape.h"
|
||||
|
||||
|
||||
EmptyShape::EmptyShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
EmptyShape::~EmptyShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void EmptyShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
SimdVector3 margin(GetMargin(),GetMargin(),GetMargin());
|
||||
|
||||
aabbMin = t.getOrigin() - margin;
|
||||
|
||||
aabbMax = t.getOrigin() + margin;
|
||||
|
||||
}
|
||||
|
||||
void EmptyShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
assert(0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,71 +0,0 @@
|
||||
/*
|
||||
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 EMPTY_SHAPE_H
|
||||
#define EMPTY_SHAPE_H
|
||||
|
||||
#include "ConcaveShape.h"
|
||||
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdTransform.h"
|
||||
#include "SimdMatrix3x3.h"
|
||||
#include <vector>
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
|
||||
|
||||
|
||||
/// EmptyShape is a collision shape without actual collision detection.
|
||||
///It can be replaced by another shape during runtime
|
||||
class EmptyShape : public ConcaveShape
|
||||
{
|
||||
public:
|
||||
EmptyShape();
|
||||
|
||||
virtual ~EmptyShape();
|
||||
|
||||
|
||||
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
|
||||
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
virtual const SimdVector3& getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual int GetShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
|
||||
|
||||
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "Empty";
|
||||
}
|
||||
|
||||
|
||||
protected:
|
||||
SimdVector3 m_localScaling;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //EMPTY_SHAPE_H
|
||||
@@ -1,56 +0,0 @@
|
||||
/*
|
||||
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 "MinkowskiSumShape.h"
|
||||
|
||||
|
||||
MinkowskiSumShape::MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB)
|
||||
:m_shapeA(shapeA),
|
||||
m_shapeB(shapeB)
|
||||
{
|
||||
m_transA.setIdentity();
|
||||
m_transB.setIdentity();
|
||||
}
|
||||
|
||||
SimdVector3 MinkowskiSumShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
|
||||
{
|
||||
SimdVector3 supVertexA = m_transA(m_shapeA->LocalGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
|
||||
SimdVector3 supVertexB = m_transB(m_shapeB->LocalGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
|
||||
return supVertexA + supVertexB;
|
||||
}
|
||||
|
||||
void MinkowskiSumShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
//todo: could make recursive use of batching. probably this shape is not used frequently.
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i] = LocalGetSupportingVertexWithoutMargin(vectors[i]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
float MinkowskiSumShape::GetMargin() const
|
||||
{
|
||||
return m_shapeA->GetMargin() + m_shapeB->GetMargin();
|
||||
}
|
||||
|
||||
|
||||
void MinkowskiSumShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
assert(0);
|
||||
inertia.setValue(0,0,0);
|
||||
}
|
||||
@@ -1,62 +0,0 @@
|
||||
/*
|
||||
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 MINKOWSKI_SUM_SHAPE_H
|
||||
#define MINKOWSKI_SUM_SHAPE_H
|
||||
|
||||
#include "ConvexShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
/// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
|
||||
class MinkowskiSumShape : public ConvexShape
|
||||
{
|
||||
|
||||
SimdTransform m_transA;
|
||||
SimdTransform m_transB;
|
||||
ConvexShape* m_shapeA;
|
||||
ConvexShape* m_shapeB;
|
||||
|
||||
public:
|
||||
|
||||
MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB);
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
void SetTransformA(const SimdTransform& transA) { m_transA = transA;}
|
||||
void SetTransformB(const SimdTransform& transB) { m_transB = transB;}
|
||||
|
||||
const SimdTransform& GetTransformA()const { return m_transA;}
|
||||
const SimdTransform& GetTransformB()const { return m_transB;}
|
||||
|
||||
|
||||
virtual int GetShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
|
||||
|
||||
virtual float GetMargin() const;
|
||||
|
||||
const ConvexShape* GetShapeA() const { return m_shapeA;}
|
||||
const ConvexShape* GetShapeB() const { return m_shapeB;}
|
||||
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "MinkowskiSum";
|
||||
}
|
||||
};
|
||||
|
||||
#endif //MINKOWSKI_SUM_SHAPE_H
|
||||
@@ -1,148 +0,0 @@
|
||||
/*
|
||||
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 "MultiSphereShape.h"
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
#include "SimdQuaternion.h"
|
||||
|
||||
MultiSphereShape::MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres)
|
||||
:m_inertiaHalfExtents(inertiaHalfExtents)
|
||||
{
|
||||
m_minRadius = 1e30f;
|
||||
|
||||
m_numSpheres = numSpheres;
|
||||
for (int i=0;i<m_numSpheres;i++)
|
||||
{
|
||||
m_localPositions[i] = positions[i];
|
||||
m_radi[i] = radi[i];
|
||||
if (radi[i] < m_minRadius)
|
||||
m_minRadius = radi[i];
|
||||
}
|
||||
SetMargin(m_minRadius);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
SimdVector3 MultiSphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
|
||||
{
|
||||
int i;
|
||||
SimdVector3 supVec(0,0,0);
|
||||
|
||||
SimdScalar maxDot(-1e30f);
|
||||
|
||||
|
||||
SimdVector3 vec = vec0;
|
||||
SimdScalar lenSqr = vec.length2();
|
||||
if (lenSqr < 0.0001f)
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
float rlen = 1.f / SimdSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
SimdVector3 vtx;
|
||||
SimdScalar newDot;
|
||||
|
||||
const SimdVector3* pos = &m_localPositions[0];
|
||||
const SimdScalar* rad = &m_radi[0];
|
||||
|
||||
for (i=0;i<m_numSpheres;i++)
|
||||
{
|
||||
vtx = (*pos) +vec*((*rad)-m_minRadius);
|
||||
pos++;
|
||||
rad++;
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
|
||||
return supVec;
|
||||
|
||||
}
|
||||
|
||||
void MultiSphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
SimdScalar maxDot(-1e30f);
|
||||
|
||||
const SimdVector3& vec = vectors[j];
|
||||
|
||||
SimdVector3 vtx;
|
||||
SimdScalar newDot;
|
||||
|
||||
const SimdVector3* pos = &m_localPositions[0];
|
||||
const SimdScalar* rad = &m_radi[0];
|
||||
|
||||
for (int i=0;i<m_numSpheres;i++)
|
||||
{
|
||||
vtx = (*pos) +vec*((*rad)-m_minRadius);
|
||||
pos++;
|
||||
rad++;
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supportVerticesOut[j] = vtx;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void MultiSphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
//as an approximation, take the inertia of the box that bounds the spheres
|
||||
|
||||
SimdTransform ident;
|
||||
ident.setIdentity();
|
||||
// SimdVector3 aabbMin,aabbMax;
|
||||
|
||||
// GetAabb(ident,aabbMin,aabbMax);
|
||||
|
||||
SimdVector3 halfExtents = m_inertiaHalfExtents;//(aabbMax - aabbMin)* 0.5f;
|
||||
|
||||
float margin = CONVEX_DISTANCE_MARGIN;
|
||||
|
||||
SimdScalar lx=2.f*(halfExtents[0]+margin);
|
||||
SimdScalar ly=2.f*(halfExtents[1]+margin);
|
||||
SimdScalar lz=2.f*(halfExtents[2]+margin);
|
||||
const SimdScalar x2 = lx*lx;
|
||||
const SimdScalar y2 = ly*ly;
|
||||
const SimdScalar z2 = lz*lz;
|
||||
const SimdScalar scaledmass = mass * 0.08333333f;
|
||||
|
||||
inertia[0] = scaledmass * (y2+z2);
|
||||
inertia[1] = scaledmass * (x2+z2);
|
||||
inertia[2] = scaledmass * (x2+y2);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
/*
|
||||
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 MULTI_SPHERE_MINKOWSKI_H
|
||||
#define MULTI_SPHERE_MINKOWSKI_H
|
||||
|
||||
#include "ConvexShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
#define MAX_NUM_SPHERES 5
|
||||
|
||||
///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
|
||||
class MultiSphereShape : public ConvexShape
|
||||
|
||||
{
|
||||
|
||||
SimdVector3 m_localPositions[MAX_NUM_SPHERES];
|
||||
SimdScalar m_radi[MAX_NUM_SPHERES];
|
||||
SimdVector3 m_inertiaHalfExtents;
|
||||
|
||||
int m_numSpheres;
|
||||
float m_minRadius;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
public:
|
||||
MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres);
|
||||
|
||||
///CollisionShape Interface
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
/// ConvexShape Interface
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
|
||||
virtual int GetShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
|
||||
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "MultiSphere";
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //MULTI_SPHERE_MINKOWSKI_H
|
||||
@@ -1,269 +0,0 @@
|
||||
/*
|
||||
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 "OptimizedBvh.h"
|
||||
#include "StridingMeshInterface.h"
|
||||
#include "AabbUtil2.h"
|
||||
|
||||
|
||||
|
||||
void OptimizedBvh::Build(StridingMeshInterface* triangles)
|
||||
{
|
||||
//int countTriangles = 0;
|
||||
|
||||
|
||||
|
||||
// NodeArray triangleNodes;
|
||||
|
||||
struct NodeTriangleCallback : public InternalTriangleIndexCallback
|
||||
{
|
||||
NodeArray& m_triangleNodes;
|
||||
|
||||
NodeTriangleCallback(NodeArray& triangleNodes)
|
||||
:m_triangleNodes(triangleNodes)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
|
||||
OptimizedBvhNode node;
|
||||
node.m_aabbMin = SimdVector3(1e30f,1e30f,1e30f);
|
||||
node.m_aabbMax = SimdVector3(-1e30f,-1e30f,-1e30f);
|
||||
node.m_aabbMin.setMin(triangle[0]);
|
||||
node.m_aabbMax.setMax(triangle[0]);
|
||||
node.m_aabbMin.setMin(triangle[1]);
|
||||
node.m_aabbMax.setMax(triangle[1]);
|
||||
node.m_aabbMin.setMin(triangle[2]);
|
||||
node.m_aabbMax.setMax(triangle[2]);
|
||||
|
||||
node.m_escapeIndex = -1;
|
||||
node.m_leftChild = 0;
|
||||
node.m_rightChild = 0;
|
||||
|
||||
|
||||
//for child nodes
|
||||
node.m_subPart = partId;
|
||||
node.m_triangleIndex = triangleIndex;
|
||||
|
||||
|
||||
m_triangleNodes.push_back(node);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
NodeTriangleCallback callback(m_leafNodes);
|
||||
|
||||
SimdVector3 aabbMin(-1e30f,-1e30f,-1e30f);
|
||||
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
|
||||
triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
|
||||
|
||||
//now we have an array of leafnodes in m_leafNodes
|
||||
|
||||
m_contiguousNodes = new OptimizedBvhNode[2*m_leafNodes.size()];
|
||||
m_curNodeIndex = 0;
|
||||
|
||||
m_rootNode1 = BuildTree(m_leafNodes,0,m_leafNodes.size());
|
||||
|
||||
|
||||
///create the leafnodes first
|
||||
// OptimizedBvhNode* leafNodes = new OptimizedBvhNode;
|
||||
}
|
||||
|
||||
|
||||
OptimizedBvhNode* OptimizedBvh::BuildTree (NodeArray& leafNodes,int startIndex,int endIndex)
|
||||
{
|
||||
OptimizedBvhNode* internalNode;
|
||||
|
||||
int splitAxis, splitIndex, i;
|
||||
int numIndices =endIndex-startIndex;
|
||||
int curIndex = m_curNodeIndex;
|
||||
|
||||
assert(numIndices>0);
|
||||
|
||||
if (numIndices==1)
|
||||
{
|
||||
return new (&m_contiguousNodes[m_curNodeIndex++]) OptimizedBvhNode(leafNodes[startIndex]);
|
||||
}
|
||||
//calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
|
||||
|
||||
splitAxis = CalcSplittingAxis(leafNodes,startIndex,endIndex);
|
||||
|
||||
splitIndex = SortAndCalcSplittingIndex(leafNodes,startIndex,endIndex,splitAxis);
|
||||
|
||||
internalNode = &m_contiguousNodes[m_curNodeIndex++];
|
||||
|
||||
internalNode->m_aabbMax.setValue(-1e30f,-1e30f,-1e30f);
|
||||
internalNode->m_aabbMin.setValue(1e30f,1e30f,1e30f);
|
||||
|
||||
for (i=startIndex;i<endIndex;i++)
|
||||
{
|
||||
internalNode->m_aabbMax.setMax(leafNodes[i].m_aabbMax);
|
||||
internalNode->m_aabbMin.setMin(leafNodes[i].m_aabbMin);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//internalNode->m_escapeIndex;
|
||||
internalNode->m_leftChild = BuildTree(leafNodes,startIndex,splitIndex);
|
||||
internalNode->m_rightChild = BuildTree(leafNodes,splitIndex,endIndex);
|
||||
|
||||
internalNode->m_escapeIndex = m_curNodeIndex - curIndex;
|
||||
return internalNode;
|
||||
}
|
||||
|
||||
int OptimizedBvh::SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,int endIndex,int splitAxis)
|
||||
{
|
||||
int i;
|
||||
int splitIndex =startIndex;
|
||||
int numIndices = endIndex - startIndex;
|
||||
float splitValue;
|
||||
|
||||
SimdVector3 means(0.f,0.f,0.f);
|
||||
for (i=startIndex;i<endIndex;i++)
|
||||
{
|
||||
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
|
||||
means+=center;
|
||||
}
|
||||
means *= (1.f/(float)numIndices);
|
||||
|
||||
splitValue = means[splitAxis];
|
||||
|
||||
//sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
|
||||
for (i=startIndex;i<endIndex;i++)
|
||||
{
|
||||
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
|
||||
if (center[splitAxis] > splitValue)
|
||||
{
|
||||
//swap
|
||||
OptimizedBvhNode tmp = leafNodes[i];
|
||||
leafNodes[i] = leafNodes[splitIndex];
|
||||
leafNodes[splitIndex] = tmp;
|
||||
splitIndex++;
|
||||
}
|
||||
}
|
||||
if ((splitIndex==startIndex) || (splitIndex == (endIndex-1)))
|
||||
{
|
||||
splitIndex = startIndex+ (numIndices>>1);
|
||||
}
|
||||
return splitIndex;
|
||||
}
|
||||
|
||||
|
||||
int OptimizedBvh::CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endIndex)
|
||||
{
|
||||
int i;
|
||||
|
||||
SimdVector3 means(0.f,0.f,0.f);
|
||||
SimdVector3 variance(0.f,0.f,0.f);
|
||||
int numIndices = endIndex-startIndex;
|
||||
|
||||
for (i=startIndex;i<endIndex;i++)
|
||||
{
|
||||
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
|
||||
means+=center;
|
||||
}
|
||||
means *= (1.f/(float)numIndices);
|
||||
|
||||
for (i=startIndex;i<endIndex;i++)
|
||||
{
|
||||
SimdVector3 center = 0.5f*(leafNodes[i].m_aabbMax+leafNodes[i].m_aabbMin);
|
||||
SimdVector3 diff2 = center-means;
|
||||
diff2 = diff2 * diff2;
|
||||
variance += diff2;
|
||||
}
|
||||
variance *= (1.f/ ((float)numIndices-1) );
|
||||
|
||||
return variance.maxAxis();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void OptimizedBvh::ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
//either choose recursive traversal (WalkTree) or stackless (WalkStacklessTree)
|
||||
|
||||
//WalkTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
|
||||
|
||||
WalkStacklessTree(m_rootNode1,nodeCallback,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
void OptimizedBvh::WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
bool isLeafNode, aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
|
||||
if (aabbOverlap)
|
||||
{
|
||||
isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
|
||||
if (isLeafNode)
|
||||
{
|
||||
nodeCallback->ProcessNode(rootNode);
|
||||
} else
|
||||
{
|
||||
WalkTree(rootNode->m_leftChild,nodeCallback,aabbMin,aabbMax);
|
||||
WalkTree(rootNode->m_rightChild,nodeCallback,aabbMin,aabbMax);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
int maxIterations = 0;
|
||||
|
||||
void OptimizedBvh::WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
int escapeIndex, curIndex = 0;
|
||||
int walkIterations = 0;
|
||||
bool aabbOverlap, isLeafNode;
|
||||
|
||||
while (curIndex < m_curNodeIndex)
|
||||
{
|
||||
//catch bugs in tree data
|
||||
assert (walkIterations < m_curNodeIndex);
|
||||
|
||||
walkIterations++;
|
||||
aabbOverlap = TestAabbAgainstAabb2(aabbMin,aabbMax,rootNode->m_aabbMin,rootNode->m_aabbMax);
|
||||
isLeafNode = (!rootNode->m_leftChild && !rootNode->m_rightChild);
|
||||
|
||||
if (isLeafNode && aabbOverlap)
|
||||
{
|
||||
nodeCallback->ProcessNode(rootNode);
|
||||
}
|
||||
|
||||
if (aabbOverlap || isLeafNode)
|
||||
{
|
||||
rootNode++;
|
||||
curIndex++;
|
||||
} else
|
||||
{
|
||||
escapeIndex = rootNode->m_escapeIndex;
|
||||
rootNode += escapeIndex;
|
||||
curIndex += escapeIndex;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (maxIterations < walkIterations)
|
||||
maxIterations = walkIterations;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void OptimizedBvh::ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
100
extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
vendored
100
extern/bullet/Bullet/CollisionShapes/OptimizedBvh.h
vendored
@@ -1,100 +0,0 @@
|
||||
/*
|
||||
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 OPTIMIZED_BVH_H
|
||||
#define OPTIMIZED_BVH_H
|
||||
#include "SimdVector3.h"
|
||||
#include <vector>
|
||||
|
||||
class StridingMeshInterface;
|
||||
|
||||
/// OptimizedBvhNode contains both internal and leaf node information.
|
||||
/// It hasn't been optimized yet for storage. Some obvious optimizations are:
|
||||
/// Removal of the pointers (can already be done, they are not used for traversal)
|
||||
/// and storing aabbmin/max as quantized integers.
|
||||
/// 'subpart' doesn't need an integer either. It allows to re-use graphics triangle
|
||||
/// meshes stored in a non-uniform way (like batches/subparts of triangle-fans
|
||||
struct OptimizedBvhNode
|
||||
{
|
||||
|
||||
SimdVector3 m_aabbMin;
|
||||
SimdVector3 m_aabbMax;
|
||||
|
||||
//these 2 pointers are obsolete, the stackless traversal just uses the escape index
|
||||
OptimizedBvhNode* m_leftChild;
|
||||
OptimizedBvhNode* m_rightChild;
|
||||
|
||||
int m_escapeIndex;
|
||||
|
||||
//for child nodes
|
||||
int m_subPart;
|
||||
int m_triangleIndex;
|
||||
|
||||
};
|
||||
|
||||
class NodeOverlapCallback
|
||||
{
|
||||
public:
|
||||
virtual ~NodeOverlapCallback() {};
|
||||
|
||||
virtual void ProcessNode(const OptimizedBvhNode* node) = 0;
|
||||
};
|
||||
|
||||
typedef std::vector<OptimizedBvhNode> NodeArray;
|
||||
|
||||
|
||||
///OptimizedBvh store an AABB tree that can be quickly traversed on CPU (and SPU,GPU in future)
|
||||
class OptimizedBvh
|
||||
{
|
||||
OptimizedBvhNode* m_rootNode1;
|
||||
|
||||
OptimizedBvhNode* m_contiguousNodes;
|
||||
int m_curNodeIndex;
|
||||
|
||||
int m_numNodes;
|
||||
|
||||
NodeArray m_leafNodes;
|
||||
|
||||
public:
|
||||
OptimizedBvh() :m_rootNode1(0), m_numNodes(0) { }
|
||||
virtual ~OptimizedBvh() {};
|
||||
|
||||
void Build(StridingMeshInterface* triangles);
|
||||
|
||||
OptimizedBvhNode* BuildTree (NodeArray& leafNodes,int startIndex,int endIndex);
|
||||
|
||||
int CalcSplittingAxis(NodeArray& leafNodes,int startIndex,int endIndex);
|
||||
|
||||
int SortAndCalcSplittingIndex(NodeArray& leafNodes,int startIndex,int endIndex,int splitAxis);
|
||||
|
||||
void WalkTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
void WalkStacklessTree(OptimizedBvhNode* rootNode,NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
//OptimizedBvhNode* GetRootNode() { return m_rootNode1;}
|
||||
|
||||
int GetNumNodes() { return m_numNodes;}
|
||||
|
||||
void ReportAabbOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
void ReportSphereOverlappingNodex(NodeOverlapCallback* nodeCallback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //OPTIMIZED_BVH_H
|
||||
|
||||
@@ -1,113 +0,0 @@
|
||||
/*
|
||||
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 <CollisionShapes/PolyhedralConvexShape.h>
|
||||
|
||||
PolyhedralConvexShape::PolyhedralConvexShape()
|
||||
:m_optionalHull(0)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
SimdVector3 PolyhedralConvexShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec0)const
|
||||
{
|
||||
int i;
|
||||
SimdVector3 supVec(0,0,0);
|
||||
|
||||
SimdScalar maxDot(-1e30f);
|
||||
|
||||
SimdVector3 vec = vec0;
|
||||
SimdScalar lenSqr = vec.length2();
|
||||
if (lenSqr < 0.0001f)
|
||||
{
|
||||
vec.setValue(1,0,0);
|
||||
} else
|
||||
{
|
||||
float rlen = 1.f / SimdSqrt(lenSqr );
|
||||
vec *= rlen;
|
||||
}
|
||||
|
||||
SimdVector3 vtx;
|
||||
SimdScalar newDot;
|
||||
|
||||
for (i=0;i<GetNumVertices();i++)
|
||||
{
|
||||
GetVertex(i,vtx);
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supVec = vtx;
|
||||
}
|
||||
}
|
||||
|
||||
return supVec;
|
||||
|
||||
}
|
||||
|
||||
void PolyhedralConvexShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
int i;
|
||||
|
||||
SimdVector3 vtx;
|
||||
SimdScalar newDot;
|
||||
|
||||
for (int j=0;j<numVectors;j++)
|
||||
{
|
||||
SimdScalar maxDot(-1e30f);
|
||||
|
||||
const SimdVector3& vec = vectors[j];
|
||||
|
||||
for (i=0;i<GetNumVertices();i++)
|
||||
{
|
||||
GetVertex(i,vtx);
|
||||
newDot = vec.dot(vtx);
|
||||
if (newDot > maxDot)
|
||||
{
|
||||
maxDot = newDot;
|
||||
supportVerticesOut[i] = vtx;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void PolyhedralConvexShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
//not yet, return box inertia
|
||||
|
||||
float margin = GetMargin();
|
||||
|
||||
SimdTransform ident;
|
||||
ident.setIdentity();
|
||||
SimdVector3 aabbMin,aabbMax;
|
||||
GetAabb(ident,aabbMin,aabbMax);
|
||||
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
|
||||
|
||||
SimdScalar lx=2.f*(halfExtents.x()+margin);
|
||||
SimdScalar ly=2.f*(halfExtents.y()+margin);
|
||||
SimdScalar lz=2.f*(halfExtents.z()+margin);
|
||||
const SimdScalar x2 = lx*lx;
|
||||
const SimdScalar y2 = ly*ly;
|
||||
const SimdScalar z2 = lz*lz;
|
||||
const SimdScalar scaledmass = mass * 0.08333333f;
|
||||
|
||||
inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
|
||||
|
||||
}
|
||||
|
||||
@@ -1,55 +0,0 @@
|
||||
/*
|
||||
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 BU_SHAPE
|
||||
#define BU_SHAPE
|
||||
|
||||
#include <SimdPoint3.h>
|
||||
#include <SimdMatrix3x3.h>
|
||||
#include <CollisionShapes/ConvexShape.h>
|
||||
|
||||
|
||||
///PolyhedralConvexShape is an interface class for feature based (vertex/edge/face) convex shapes.
|
||||
class PolyhedralConvexShape : public ConvexShape
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
PolyhedralConvexShape();
|
||||
|
||||
//brute force implementations
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
|
||||
|
||||
virtual int GetNumVertices() const = 0 ;
|
||||
virtual int GetNumEdges() const = 0;
|
||||
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const = 0;
|
||||
virtual void GetVertex(int i,SimdPoint3& vtx) const = 0;
|
||||
virtual int GetNumPlanes() const = 0;
|
||||
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i ) const = 0;
|
||||
// virtual int GetIndex(int i) const = 0 ;
|
||||
|
||||
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const = 0;
|
||||
|
||||
/// optional Hull is for optional Separating Axis Test Hull collision detection, see Hull.cpp
|
||||
class Hull* m_optionalHull;
|
||||
|
||||
};
|
||||
|
||||
#endif //BU_SHAPE
|
||||
@@ -1,193 +0,0 @@
|
||||
|
||||
/*
|
||||
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 "Simplex1to4Shape.h"
|
||||
#include "SimdMatrix3x3.h"
|
||||
|
||||
BU_Simplex1to4::BU_Simplex1to4()
|
||||
:m_numVertices(0)
|
||||
{
|
||||
}
|
||||
|
||||
BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0)
|
||||
:m_numVertices(0)
|
||||
{
|
||||
AddVertex(pt0);
|
||||
}
|
||||
|
||||
BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1)
|
||||
:m_numVertices(0)
|
||||
{
|
||||
AddVertex(pt0);
|
||||
AddVertex(pt1);
|
||||
}
|
||||
|
||||
BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2)
|
||||
:m_numVertices(0)
|
||||
{
|
||||
AddVertex(pt0);
|
||||
AddVertex(pt1);
|
||||
AddVertex(pt2);
|
||||
}
|
||||
|
||||
BU_Simplex1to4::BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3)
|
||||
:m_numVertices(0)
|
||||
{
|
||||
AddVertex(pt0);
|
||||
AddVertex(pt1);
|
||||
AddVertex(pt2);
|
||||
AddVertex(pt3);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void BU_Simplex1to4::AddVertex(const SimdPoint3& pt)
|
||||
{
|
||||
m_vertices[m_numVertices++] = pt;
|
||||
}
|
||||
|
||||
|
||||
int BU_Simplex1to4::GetNumVertices() const
|
||||
{
|
||||
return m_numVertices;
|
||||
}
|
||||
|
||||
int BU_Simplex1to4::GetNumEdges() const
|
||||
{
|
||||
//euler formula, F-E+V = 2, so E = F+V-2
|
||||
|
||||
switch (m_numVertices)
|
||||
{
|
||||
case 0:
|
||||
return 0;
|
||||
case 1: return 0;
|
||||
case 2: return 1;
|
||||
case 3: return 3;
|
||||
case 4: return 6;
|
||||
|
||||
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void BU_Simplex1to4::GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
|
||||
{
|
||||
|
||||
switch (m_numVertices)
|
||||
{
|
||||
|
||||
case 2:
|
||||
pa = m_vertices[0];
|
||||
pb = m_vertices[1];
|
||||
break;
|
||||
case 3:
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
pa = m_vertices[0];
|
||||
pb = m_vertices[1];
|
||||
break;
|
||||
case 1:
|
||||
pa = m_vertices[1];
|
||||
pb = m_vertices[2];
|
||||
break;
|
||||
case 2:
|
||||
pa = m_vertices[2];
|
||||
pb = m_vertices[0];
|
||||
break;
|
||||
|
||||
}
|
||||
break;
|
||||
case 4:
|
||||
switch (i)
|
||||
{
|
||||
case 0:
|
||||
pa = m_vertices[0];
|
||||
pb = m_vertices[1];
|
||||
break;
|
||||
case 1:
|
||||
pa = m_vertices[1];
|
||||
pb = m_vertices[2];
|
||||
break;
|
||||
case 2:
|
||||
pa = m_vertices[2];
|
||||
pb = m_vertices[0];
|
||||
break;
|
||||
case 3:
|
||||
pa = m_vertices[0];
|
||||
pb = m_vertices[3];
|
||||
break;
|
||||
case 4:
|
||||
pa = m_vertices[1];
|
||||
pb = m_vertices[3];
|
||||
break;
|
||||
case 5:
|
||||
pa = m_vertices[2];
|
||||
pb = m_vertices[3];
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
void BU_Simplex1to4::GetVertex(int i,SimdPoint3& vtx) const
|
||||
{
|
||||
vtx = m_vertices[i];
|
||||
}
|
||||
|
||||
int BU_Simplex1to4::GetNumPlanes() const
|
||||
{
|
||||
switch (m_numVertices)
|
||||
{
|
||||
case 0:
|
||||
return 0;
|
||||
case 1:
|
||||
return 0;
|
||||
case 2:
|
||||
return 0;
|
||||
case 3:
|
||||
return 2;
|
||||
case 4:
|
||||
return 4;
|
||||
default:
|
||||
{
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void BU_Simplex1to4::GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
int BU_Simplex1to4::GetIndex(int i) const
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
bool BU_Simplex1to4::IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -1,75 +0,0 @@
|
||||
/*
|
||||
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 BU_SIMPLEX_1TO4_SHAPE
|
||||
#define BU_SIMPLEX_1TO4_SHAPE
|
||||
|
||||
|
||||
#include <CollisionShapes/PolyhedralConvexShape.h>
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h"
|
||||
|
||||
|
||||
///BU_Simplex1to4 implements feature based and implicit simplex of up to 4 vertices (tetrahedron, triangle, line, vertex).
|
||||
class BU_Simplex1to4 : public PolyhedralConvexShape
|
||||
{
|
||||
protected:
|
||||
|
||||
int m_numVertices;
|
||||
SimdPoint3 m_vertices[4];
|
||||
|
||||
public:
|
||||
BU_Simplex1to4();
|
||||
|
||||
BU_Simplex1to4(const SimdPoint3& pt0);
|
||||
BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1);
|
||||
BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2);
|
||||
BU_Simplex1to4(const SimdPoint3& pt0,const SimdPoint3& pt1,const SimdPoint3& pt2,const SimdPoint3& pt3);
|
||||
|
||||
|
||||
void Reset()
|
||||
{
|
||||
m_numVertices = 0;
|
||||
}
|
||||
|
||||
|
||||
virtual int GetShapeType() const{ return TETRAHEDRAL_SHAPE_PROXYTYPE; }
|
||||
|
||||
void AddVertex(const SimdPoint3& pt);
|
||||
|
||||
//PolyhedralConvexShape interface
|
||||
|
||||
virtual int GetNumVertices() const;
|
||||
|
||||
virtual int GetNumEdges() const;
|
||||
|
||||
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const;
|
||||
|
||||
virtual void GetVertex(int i,SimdPoint3& vtx) const;
|
||||
|
||||
virtual int GetNumPlanes() const;
|
||||
|
||||
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const;
|
||||
|
||||
virtual int GetIndex(int i) const;
|
||||
|
||||
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const;
|
||||
|
||||
|
||||
///GetName is for debugging
|
||||
virtual char* GetName()const { return "BU_Simplex1to4";}
|
||||
|
||||
};
|
||||
|
||||
#endif //BU_SIMPLEX_1TO4_SHAPE
|
||||
@@ -1,74 +0,0 @@
|
||||
/*
|
||||
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 "SphereShape.h"
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
#include "SimdQuaternion.h"
|
||||
|
||||
|
||||
SphereShape ::SphereShape (SimdScalar radius)
|
||||
: m_radius(radius)
|
||||
{
|
||||
}
|
||||
|
||||
SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
|
||||
{
|
||||
return SimdVector3(0.f,0.f,0.f);
|
||||
}
|
||||
|
||||
void SphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
supportVerticesOut[i].setValue(0.f,0.f,0.f);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
|
||||
{
|
||||
SimdVector3 supVertex;
|
||||
supVertex = LocalGetSupportingVertexWithoutMargin(vec);
|
||||
|
||||
SimdVector3 vecnorm = vec;
|
||||
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
|
||||
{
|
||||
vecnorm.setValue(-1.f,-1.f,-1.f);
|
||||
}
|
||||
vecnorm.normalize();
|
||||
supVertex+= GetMargin() * vecnorm;
|
||||
return supVertex;
|
||||
}
|
||||
|
||||
|
||||
//broken due to scaling
|
||||
void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
const SimdVector3& center = t.getOrigin();
|
||||
SimdVector3 extent(GetMargin(),GetMargin(),GetMargin());
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
SimdScalar elem = 0.4f * mass * GetMargin()*GetMargin();
|
||||
inertia[0] = inertia[1] = inertia[2] = elem;
|
||||
|
||||
}
|
||||
|
||||
@@ -1,64 +0,0 @@
|
||||
/*
|
||||
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 SPHERE_MINKOWSKI_H
|
||||
#define SPHERE_MINKOWSKI_H
|
||||
|
||||
#include "ConvexShape.h"
|
||||
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||||
|
||||
///SphereShape implements an implicit (getSupportingVertex) Sphere
|
||||
class SphereShape : public ConvexShape
|
||||
|
||||
{
|
||||
SimdScalar m_radius;
|
||||
|
||||
public:
|
||||
SphereShape (SimdScalar radius);
|
||||
|
||||
|
||||
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
|
||||
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||||
//notice that the vectors should be unit length
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
virtual int GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
|
||||
|
||||
SimdScalar GetRadius() const { return m_radius;}
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const {return "SPHERE";}
|
||||
|
||||
virtual void SetMargin(float margin)
|
||||
{
|
||||
ConvexShape::SetMargin(margin);
|
||||
}
|
||||
virtual float GetMargin() const
|
||||
{
|
||||
//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
|
||||
//this means, non-uniform scaling is not supported anymore
|
||||
return m_localScaling[0] * m_radius + ConvexShape::GetMargin();
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //SPHERE_MINKOWSKI_H
|
||||
@@ -1,100 +0,0 @@
|
||||
/*
|
||||
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 "StaticPlaneShape.h"
|
||||
|
||||
#include "SimdTransformUtil.h"
|
||||
|
||||
|
||||
StaticPlaneShape::StaticPlaneShape(const SimdVector3& planeNormal,SimdScalar planeConstant)
|
||||
:m_planeNormal(planeNormal),
|
||||
m_planeConstant(planeConstant),
|
||||
m_localScaling(0.f,0.f,0.f)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
StaticPlaneShape::~StaticPlaneShape()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
void StaticPlaneShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
SimdVector3 infvec (1e30f,1e30f,1e30f);
|
||||
|
||||
SimdVector3 center = m_planeNormal*m_planeConstant;
|
||||
aabbMin = center + infvec*m_planeNormal;
|
||||
aabbMax = aabbMin;
|
||||
aabbMin.setMin(center - infvec*m_planeNormal);
|
||||
aabbMax.setMax(center - infvec*m_planeNormal);
|
||||
|
||||
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
|
||||
aabbMax.setValue(1e30f,1e30f,1e30f);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void StaticPlaneShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
|
||||
SimdVector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
|
||||
SimdScalar radius = halfExtents.length();
|
||||
SimdVector3 center = (aabbMax + aabbMin) * 0.5f;
|
||||
|
||||
//this is where the triangles are generated, given AABB and plane equation (normal/constant)
|
||||
|
||||
SimdVector3 tangentDir0,tangentDir1;
|
||||
|
||||
//tangentDir0/tangentDir1 can be precalculated
|
||||
SimdPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
|
||||
|
||||
SimdVector3 supVertex0,supVertex1;
|
||||
|
||||
SimdVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
|
||||
|
||||
SimdVector3 triangle[3];
|
||||
triangle[0] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
|
||||
triangle[1] = projectedCenter + tangentDir0*radius - tangentDir1*radius;
|
||||
triangle[2] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
|
||||
|
||||
callback->ProcessTriangle(triangle,0,0);
|
||||
|
||||
triangle[0] = projectedCenter - tangentDir0*radius - tangentDir1*radius;
|
||||
triangle[1] = projectedCenter - tangentDir0*radius + tangentDir1*radius;
|
||||
triangle[2] = projectedCenter + tangentDir0*radius + tangentDir1*radius;
|
||||
|
||||
callback->ProcessTriangle(triangle,0,1);
|
||||
|
||||
}
|
||||
|
||||
void StaticPlaneShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
//moving concave objects not supported
|
||||
|
||||
inertia.setValue(0.f,0.f,0.f);
|
||||
}
|
||||
|
||||
void StaticPlaneShape::setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_localScaling = scaling;
|
||||
}
|
||||
const SimdVector3& StaticPlaneShape::getLocalScaling() const
|
||||
{
|
||||
return m_localScaling;
|
||||
}
|
||||
@@ -1,61 +0,0 @@
|
||||
/*
|
||||
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 STATIC_PLANE_SHAPE_H
|
||||
#define STATIC_PLANE_SHAPE_H
|
||||
|
||||
#include "CollisionShapes/ConcaveShape.h"
|
||||
|
||||
|
||||
///StaticPlaneShape simulates an 'infinite' plane by dynamically reporting triangles approximated by intersection of the plane with the AABB.
|
||||
///Assumed is that the other objects is not also infinite, so a reasonable sized AABB.
|
||||
class StaticPlaneShape : public ConcaveShape
|
||||
{
|
||||
protected:
|
||||
SimdVector3 m_localAabbMin;
|
||||
SimdVector3 m_localAabbMax;
|
||||
|
||||
SimdVector3 m_planeNormal;
|
||||
SimdVector3 m_localScaling;
|
||||
SimdScalar m_planeConstant;
|
||||
|
||||
public:
|
||||
StaticPlaneShape(const SimdVector3& planeNormal,SimdScalar planeConstant);
|
||||
|
||||
virtual ~StaticPlaneShape();
|
||||
|
||||
|
||||
virtual int GetShapeType() const
|
||||
{
|
||||
return STATIC_PLANE_PROXYTYPE;
|
||||
}
|
||||
|
||||
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
virtual void ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling);
|
||||
virtual const SimdVector3& getLocalScaling() const;
|
||||
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const {return "STATICPLANE";}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //STATIC_PLANE_SHAPE_H
|
||||
@@ -1,85 +0,0 @@
|
||||
/*
|
||||
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 "StridingMeshInterface.h"
|
||||
|
||||
StridingMeshInterface::~StridingMeshInterface()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
void StridingMeshInterface::InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
|
||||
SimdVector3 meshScaling = getScaling();
|
||||
|
||||
int numtotalphysicsverts = 0;
|
||||
int part,graphicssubparts = getNumSubParts();
|
||||
for (part=0;part<graphicssubparts ;part++)
|
||||
{
|
||||
const unsigned char * vertexbase;
|
||||
const unsigned char * indexbase;
|
||||
int indexstride;
|
||||
PHY_ScalarType type;
|
||||
PHY_ScalarType gfxindextype;
|
||||
int stride,numverts,numtriangles;
|
||||
getLockedReadOnlyVertexIndexBase(&vertexbase,numverts,type,stride,&indexbase,indexstride,numtriangles,gfxindextype,part);
|
||||
|
||||
numtotalphysicsverts+=numtriangles*3; //upper bound
|
||||
|
||||
|
||||
int gfxindex;
|
||||
SimdVector3 triangle[3];
|
||||
|
||||
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
|
||||
{
|
||||
|
||||
int graphicsindex=0;
|
||||
|
||||
#ifdef DEBUG_TRIANGLE_MESH
|
||||
printf("triangle indices:\n");
|
||||
#endif //DEBUG_TRIANGLE_MESH
|
||||
ASSERT(gfxindextype == PHY_INTEGER);
|
||||
int* gfxbase = (int*)(indexbase+gfxindex*indexstride);
|
||||
|
||||
for (int j=2;j>=0;j--)
|
||||
{
|
||||
|
||||
graphicsindex = gfxbase[j];
|
||||
#ifdef DEBUG_TRIANGLE_MESH
|
||||
printf("%d ,",graphicsindex);
|
||||
#endif //DEBUG_TRIANGLE_MESH
|
||||
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
|
||||
|
||||
triangle[j] = SimdVector3(
|
||||
graphicsbase[0]*meshScaling.getX(),
|
||||
graphicsbase[1]*meshScaling.getY(),
|
||||
graphicsbase[2]*meshScaling.getZ());
|
||||
#ifdef DEBUG_TRIANGLE_MESH
|
||||
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
|
||||
#endif //DEBUG_TRIANGLE_MESH
|
||||
}
|
||||
|
||||
|
||||
//check aabb in triangle-space, before doing this
|
||||
callback->InternalProcessTriangleIndex(triangle,part,gfxindex);
|
||||
|
||||
}
|
||||
|
||||
unLockReadOnlyVertexBase(part);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,87 +0,0 @@
|
||||
/*
|
||||
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 STRIDING_MESHINTERFACE_H
|
||||
#define STRIDING_MESHINTERFACE_H
|
||||
|
||||
#include "SimdVector3.h"
|
||||
#include "TriangleCallback.h"
|
||||
|
||||
/// PHY_ScalarType enumerates possible scalar types.
|
||||
/// See the StridingMeshInterface for its use
|
||||
typedef enum PHY_ScalarType {
|
||||
PHY_FLOAT,
|
||||
PHY_DOUBLE,
|
||||
PHY_INTEGER,
|
||||
PHY_SHORT,
|
||||
PHY_FIXEDPOINT88
|
||||
} PHY_ScalarType;
|
||||
|
||||
/// StridingMeshInterface is the interface class for high performance access to triangle meshes
|
||||
/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
|
||||
class StridingMeshInterface
|
||||
{
|
||||
protected:
|
||||
|
||||
SimdVector3 m_scaling;
|
||||
|
||||
public:
|
||||
StridingMeshInterface() :m_scaling(1.f,1.f,1.f)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
virtual ~StridingMeshInterface();
|
||||
|
||||
|
||||
|
||||
void InternalProcessAllTriangles(InternalTriangleIndexCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
|
||||
/// get read and write access to a subpart of a triangle mesh
|
||||
/// this subpart has a continuous array of vertices and indices
|
||||
/// in this way the mesh can be handled as chunks of memory with striding
|
||||
/// very similar to OpenGL vertexarray support
|
||||
/// make a call to unLockVertexBase when the read and write access is finished
|
||||
virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0)=0;
|
||||
|
||||
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const=0;
|
||||
|
||||
/// unLockVertexBase finishes the access to a subpart of the triangle mesh
|
||||
/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
|
||||
virtual void unLockVertexBase(int subpart)=0;
|
||||
|
||||
virtual void unLockReadOnlyVertexBase(int subpart) const=0;
|
||||
|
||||
|
||||
/// getNumSubParts returns the number of seperate subparts
|
||||
/// each subpart has a continuous array of vertices and indices
|
||||
virtual int getNumSubParts() const=0;
|
||||
|
||||
virtual void preallocateVertices(int numverts)=0;
|
||||
virtual void preallocateIndices(int numindices)=0;
|
||||
|
||||
const SimdVector3& getScaling() const {
|
||||
return m_scaling;
|
||||
}
|
||||
void setScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_scaling = scaling;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //STRIDING_MESHINTERFACE_H
|
||||
@@ -1,28 +0,0 @@
|
||||
/*
|
||||
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 "TriangleCallback.h"
|
||||
|
||||
TriangleCallback::~TriangleCallback()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
InternalTriangleIndexCallback::~InternalTriangleIndexCallback()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
@@ -1,40 +0,0 @@
|
||||
/*
|
||||
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 TRIANGLE_CALLBACK_H
|
||||
#define TRIANGLE_CALLBACK_H
|
||||
|
||||
#include "SimdVector3.h"
|
||||
|
||||
|
||||
class TriangleCallback
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~TriangleCallback();
|
||||
virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex) = 0;
|
||||
};
|
||||
|
||||
class InternalTriangleIndexCallback
|
||||
{
|
||||
public:
|
||||
|
||||
virtual ~InternalTriangleIndexCallback();
|
||||
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex) = 0;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //TRIANGLE_CALLBACK_H
|
||||
@@ -1,65 +0,0 @@
|
||||
/*
|
||||
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 "TriangleIndexVertexArray.h"
|
||||
|
||||
TriangleIndexVertexArray::TriangleIndexVertexArray(int numTriangles,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride)
|
||||
{
|
||||
IndexedMesh mesh;
|
||||
|
||||
mesh.m_numTriangles = numTriangles;
|
||||
mesh.m_triangleIndexBase = triangleIndexBase;
|
||||
mesh.m_triangleIndexStride = triangleIndexStride;
|
||||
mesh.m_numVertices = numVertices;
|
||||
mesh.m_vertexBase = vertexBase;
|
||||
mesh.m_vertexStride = vertexStride;
|
||||
|
||||
AddIndexedMesh(mesh);
|
||||
|
||||
}
|
||||
|
||||
void TriangleIndexVertexArray::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
|
||||
{
|
||||
ASSERT(subpart< getNumSubParts() );
|
||||
|
||||
IndexedMesh& mesh = m_indexedMeshes[subpart];
|
||||
|
||||
numverts = mesh.m_numVertices;
|
||||
(*vertexbase) = (unsigned char *) mesh.m_vertexBase;
|
||||
type = PHY_FLOAT;
|
||||
vertexStride = mesh.m_vertexStride;
|
||||
|
||||
numfaces = mesh.m_numTriangles;
|
||||
|
||||
(*indexbase) = (unsigned char *)mesh.m_triangleIndexBase;
|
||||
indexstride = mesh.m_triangleIndexStride;
|
||||
indicestype = PHY_INTEGER;
|
||||
}
|
||||
|
||||
void TriangleIndexVertexArray::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
|
||||
{
|
||||
const IndexedMesh& mesh = m_indexedMeshes[subpart];
|
||||
|
||||
numverts = mesh.m_numVertices;
|
||||
(*vertexbase) = (const unsigned char *)mesh.m_vertexBase;
|
||||
type = PHY_FLOAT;
|
||||
vertexStride = mesh.m_vertexStride;
|
||||
|
||||
numfaces = mesh.m_numTriangles;
|
||||
(*indexbase) = (const unsigned char *)mesh.m_triangleIndexBase;
|
||||
indexstride = mesh.m_triangleIndexStride;
|
||||
indicestype = PHY_INTEGER;
|
||||
}
|
||||
|
||||
@@ -1,78 +0,0 @@
|
||||
/*
|
||||
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 "StridingMeshInterface.h"
|
||||
#include <vector>
|
||||
|
||||
///IndexedMesh indexes into existing vertex and index arrays, in a similar way OpenGL glDrawElements
|
||||
///instead of the number of indices, we pass the number of triangles
|
||||
///todo: explain with pictures
|
||||
struct IndexedMesh
|
||||
{
|
||||
int m_numTriangles;
|
||||
int* m_triangleIndexBase;
|
||||
int m_triangleIndexStride;
|
||||
int m_numVertices;
|
||||
float* m_vertexBase;
|
||||
int m_vertexStride;
|
||||
};
|
||||
|
||||
///TriangleIndexVertexArray allows to use multiple meshes, by indexing into existing triangle/index arrays.
|
||||
///Additional meshes can be added using AddIndexedMesh
|
||||
///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
|
||||
///So keep those arrays around during the lifetime of this TriangleIndexVertexArray.
|
||||
class TriangleIndexVertexArray : public StridingMeshInterface
|
||||
{
|
||||
std::vector<IndexedMesh> m_indexedMeshes;
|
||||
|
||||
|
||||
public:
|
||||
|
||||
|
||||
|
||||
TriangleIndexVertexArray()
|
||||
{
|
||||
}
|
||||
|
||||
//just to be backwards compatible
|
||||
TriangleIndexVertexArray(int numTriangleIndices,int* triangleIndexBase,int triangleIndexStride,int numVertices,float* vertexBase,int vertexStride);
|
||||
|
||||
void AddIndexedMesh(const IndexedMesh& mesh)
|
||||
{
|
||||
m_indexedMeshes.push_back(mesh);
|
||||
}
|
||||
|
||||
|
||||
virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
|
||||
|
||||
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& vertexStride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
|
||||
|
||||
/// unLockVertexBase finishes the access to a subpart of the triangle mesh
|
||||
/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
|
||||
virtual void unLockVertexBase(int subpart) {}
|
||||
|
||||
virtual void unLockReadOnlyVertexBase(int subpart) const {}
|
||||
|
||||
/// getNumSubParts returns the number of seperate subparts
|
||||
/// each subpart has a continuous array of vertices and indices
|
||||
virtual int getNumSubParts() const {
|
||||
return (int)m_indexedMeshes.size();
|
||||
}
|
||||
|
||||
virtual void preallocateVertices(int numverts){}
|
||||
virtual void preallocateIndices(int numindices){}
|
||||
|
||||
};
|
||||
|
||||
@@ -1,61 +0,0 @@
|
||||
/*
|
||||
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 "TriangleMesh.h"
|
||||
#include <assert.h>
|
||||
|
||||
static int myindices[3] = {0,1,2};
|
||||
|
||||
TriangleMesh::TriangleMesh ()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void TriangleMesh::getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart)
|
||||
{
|
||||
numverts = 3;
|
||||
*vertexbase = (unsigned char*)&m_triangles[subpart];
|
||||
type = PHY_FLOAT;
|
||||
stride = sizeof(SimdVector3);
|
||||
|
||||
|
||||
numfaces = 1;
|
||||
*indexbase = (unsigned char*) &myindices[0];
|
||||
indicestype = PHY_INTEGER;
|
||||
indexstride = sizeof(int);
|
||||
|
||||
}
|
||||
|
||||
void TriangleMesh::getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart) const
|
||||
{
|
||||
numverts = 3;
|
||||
*vertexbase = (unsigned char*)&m_triangles[subpart];
|
||||
type = PHY_FLOAT;
|
||||
stride = sizeof(SimdVector3);
|
||||
|
||||
|
||||
numfaces = 1;
|
||||
*indexbase = (unsigned char*) &myindices[0];
|
||||
indicestype = PHY_INTEGER;
|
||||
indexstride = sizeof(int);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
int TriangleMesh::getNumSubParts() const
|
||||
{
|
||||
return m_triangles.size();
|
||||
}
|
||||
@@ -1,73 +0,0 @@
|
||||
/*
|
||||
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 TRIANGLE_MESH_H
|
||||
#define TRIANGLE_MESH_H
|
||||
|
||||
#include "CollisionShapes/StridingMeshInterface.h"
|
||||
#include <vector>
|
||||
#include <SimdVector3.h>
|
||||
|
||||
struct MyTriangle
|
||||
{
|
||||
SimdVector3 m_vert0;
|
||||
SimdVector3 m_vert1;
|
||||
SimdVector3 m_vert2;
|
||||
};
|
||||
|
||||
///TriangleMesh provides storage for a concave triangle mesh. It can be used as data for the TriangleMeshShape.
|
||||
class TriangleMesh : public StridingMeshInterface
|
||||
{
|
||||
std::vector<MyTriangle> m_triangles;
|
||||
|
||||
|
||||
public:
|
||||
TriangleMesh ();
|
||||
|
||||
void AddTriangle(const SimdVector3& vertex0,const SimdVector3& vertex1,const SimdVector3& vertex2)
|
||||
{
|
||||
MyTriangle tri;
|
||||
tri.m_vert0 = vertex0;
|
||||
tri.m_vert1 = vertex1;
|
||||
tri.m_vert2 = vertex2;
|
||||
m_triangles.push_back(tri);
|
||||
}
|
||||
|
||||
|
||||
//StridingMeshInterface interface implementation
|
||||
|
||||
virtual void getLockedVertexIndexBase(unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0);
|
||||
|
||||
virtual void getLockedReadOnlyVertexIndexBase(const unsigned char **vertexbase, int& numverts,PHY_ScalarType& type, int& stride,const unsigned char **indexbase,int & indexstride,int& numfaces,PHY_ScalarType& indicestype,int subpart=0) const;
|
||||
|
||||
/// unLockVertexBase finishes the access to a subpart of the triangle mesh
|
||||
/// make a call to unLockVertexBase when the read and write access (using getLockedVertexIndexBase) is finished
|
||||
virtual void unLockVertexBase(int subpart) {}
|
||||
|
||||
virtual void unLockReadOnlyVertexBase(int subpart) const {}
|
||||
|
||||
/// getNumSubParts returns the number of seperate subparts
|
||||
/// each subpart has a continuous array of vertices and indices
|
||||
virtual int getNumSubParts() const;
|
||||
|
||||
virtual void preallocateVertices(int numverts){}
|
||||
virtual void preallocateIndices(int numindices){}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //TRIANGLE_MESH_H
|
||||
|
||||
@@ -1,164 +0,0 @@
|
||||
/*
|
||||
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 "TriangleMeshShape.h"
|
||||
#include "SimdVector3.h"
|
||||
#include "SimdQuaternion.h"
|
||||
#include "StridingMeshInterface.h"
|
||||
#include "AabbUtil2.h"
|
||||
#include "CollisionShapes/CollisionMargin.h"
|
||||
|
||||
#include "stdio.h"
|
||||
|
||||
TriangleMeshShape::TriangleMeshShape(StridingMeshInterface* meshInterface)
|
||||
: m_meshInterface(meshInterface)
|
||||
{
|
||||
RecalcLocalAabb();
|
||||
}
|
||||
|
||||
|
||||
TriangleMeshShape::~TriangleMeshShape()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void TriangleMeshShape::GetAabb(const SimdTransform& trans,SimdVector3& aabbMin,SimdVector3& aabbMax) const
|
||||
{
|
||||
|
||||
SimdVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
|
||||
SimdVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
|
||||
|
||||
SimdMatrix3x3 abs_b = trans.getBasis().absolute();
|
||||
|
||||
SimdPoint3 center = trans(localCenter);
|
||||
|
||||
SimdVector3 extent = SimdVector3(abs_b[0].dot(localHalfExtents),
|
||||
abs_b[1].dot(localHalfExtents),
|
||||
abs_b[2].dot(localHalfExtents));
|
||||
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
|
||||
|
||||
aabbMin = center - extent;
|
||||
aabbMax = center + extent;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
class LocalAabbCalculator : public TriangleCallback
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
SimdVector3 m_localAabbMin;
|
||||
SimdVector3 m_localAabbMax;
|
||||
|
||||
LocalAabbCalculator()
|
||||
: m_localAabbMin(1e30f,1e30f,1e30f), m_localAabbMax(-1e30f,-1e30f,-1e30f)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void ProcessTriangle( SimdVector3* triangle,int partId, int triangleIndex)
|
||||
{
|
||||
for (int i=0;i<3;i++)
|
||||
{
|
||||
m_localAabbMin.setMin(triangle[i]);
|
||||
m_localAabbMax.setMax(triangle[i]);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
void TriangleMeshShape::RecalcLocalAabb()
|
||||
{
|
||||
|
||||
LocalAabbCalculator aabbCalculator;
|
||||
SimdVector3 aabbMax(1e30f,1e30f,1e30f);
|
||||
|
||||
NonVirtualProcessAllTriangles(&aabbCalculator,-aabbMax,aabbMax);
|
||||
SimdVector3 marginVec(m_collisionMargin,m_collisionMargin,m_collisionMargin);
|
||||
m_localAabbMax = aabbCalculator.m_localAabbMax + marginVec;
|
||||
m_localAabbMin = aabbCalculator.m_localAabbMin - marginVec;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void TriangleMeshShape::setLocalScaling(const SimdVector3& scaling)
|
||||
{
|
||||
m_meshInterface->setScaling(scaling);
|
||||
RecalcLocalAabb();
|
||||
}
|
||||
|
||||
const SimdVector3& TriangleMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_meshInterface->getScaling();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//#define DEBUG_TRIANGLE_MESH
|
||||
|
||||
void TriangleMeshShape::NonVirtualProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
struct FilteredCallback : public InternalTriangleIndexCallback
|
||||
{
|
||||
TriangleCallback* m_callback;
|
||||
SimdVector3 m_aabbMin;
|
||||
SimdVector3 m_aabbMax;
|
||||
|
||||
FilteredCallback(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
|
||||
:m_callback(callback),
|
||||
m_aabbMin(aabbMin),
|
||||
m_aabbMax(aabbMax)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void InternalProcessTriangleIndex(SimdVector3* triangle,int partId,int triangleIndex)
|
||||
{
|
||||
if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
|
||||
{
|
||||
//check aabb in triangle-space, before doing this
|
||||
m_callback->ProcessTriangle(triangle,partId,triangleIndex);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
FilteredCallback filterCallback(callback,aabbMin,aabbMax);
|
||||
|
||||
m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void TriangleMeshShape::ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const
|
||||
{
|
||||
NonVirtualProcessAllTriangles(callback,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
void TriangleMeshShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
//moving concave objects not supported
|
||||
assert(0);
|
||||
inertia.setValue(0.f,0.f,0.f);
|
||||
}
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
/*
|
||||
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 TRIANGLE_MESH_SHAPE_H
|
||||
#define TRIANGLE_MESH_SHAPE_H
|
||||
|
||||
#include "CollisionShapes/ConcaveShape.h"
|
||||
#include "CollisionShapes/StridingMeshInterface.h"
|
||||
|
||||
|
||||
///Concave triangle mesh. Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
||||
class TriangleMeshShape : public ConcaveShape
|
||||
{
|
||||
protected:
|
||||
StridingMeshInterface* m_meshInterface;
|
||||
SimdVector3 m_localAabbMin;
|
||||
SimdVector3 m_localAabbMax;
|
||||
|
||||
|
||||
public:
|
||||
TriangleMeshShape(StridingMeshInterface* meshInterface);
|
||||
|
||||
virtual ~TriangleMeshShape();
|
||||
|
||||
void RecalcLocalAabb();
|
||||
|
||||
virtual int GetShapeType() const
|
||||
{
|
||||
return TRIANGLE_MESH_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
|
||||
|
||||
void NonVirtualProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
virtual void ProcessAllTriangles(TriangleCallback* callback,const SimdVector3& aabbMin,const SimdVector3& aabbMax) const;
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||||
|
||||
virtual void setLocalScaling(const SimdVector3& scaling);
|
||||
virtual const SimdVector3& getLocalScaling() const;
|
||||
|
||||
|
||||
//debugging
|
||||
virtual char* GetName()const {return "TRIANGLEMESH";}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //TRIANGLE_MESH_SHAPE_H
|
||||
164
extern/bullet/Bullet/CollisionShapes/TriangleShape.h
vendored
164
extern/bullet/Bullet/CollisionShapes/TriangleShape.h
vendored
@@ -1,164 +0,0 @@
|
||||
/*
|
||||
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 OBB_TRIANGLE_MINKOWSKI_H
|
||||
#define OBB_TRIANGLE_MINKOWSKI_H
|
||||
|
||||
#include "ConvexShape.h"
|
||||
#include "CollisionShapes/BoxShape.h"
|
||||
|
||||
class TriangleShape : public PolyhedralConvexShape
|
||||
{
|
||||
|
||||
|
||||
public:
|
||||
|
||||
SimdVector3 m_vertices1[3];
|
||||
|
||||
|
||||
virtual int GetNumVertices() const
|
||||
{
|
||||
return 3;
|
||||
}
|
||||
|
||||
const SimdVector3& GetVertexPtr(int index) const
|
||||
{
|
||||
return m_vertices1[index];
|
||||
}
|
||||
virtual void GetVertex(int index,SimdVector3& vert) const
|
||||
{
|
||||
vert = m_vertices1[index];
|
||||
}
|
||||
virtual int GetShapeType() const
|
||||
{
|
||||
return TRIANGLE_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
virtual int GetNumEdges() const
|
||||
{
|
||||
return 3;
|
||||
}
|
||||
|
||||
virtual void GetEdge(int i,SimdPoint3& pa,SimdPoint3& pb) const
|
||||
{
|
||||
GetVertex(i,pa);
|
||||
GetVertex((i+1)%3,pb);
|
||||
}
|
||||
|
||||
virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax)const
|
||||
{
|
||||
// ASSERT(0);
|
||||
GetAabbSlow(t,aabbMin,aabbMax);
|
||||
}
|
||||
|
||||
SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& dir)const
|
||||
{
|
||||
SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
|
||||
return m_vertices1[dots.maxAxis()];
|
||||
|
||||
}
|
||||
|
||||
virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
|
||||
{
|
||||
for (int i=0;i<numVectors;i++)
|
||||
{
|
||||
const SimdVector3& dir = vectors[i];
|
||||
SimdVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
|
||||
supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
TriangleShape(const SimdVector3& p0,const SimdVector3& p1,const SimdVector3& p2)
|
||||
{
|
||||
m_vertices1[0] = p0;
|
||||
m_vertices1[1] = p1;
|
||||
m_vertices1[2] = p2;
|
||||
}
|
||||
|
||||
|
||||
|
||||
virtual void GetPlane(SimdVector3& planeNormal,SimdPoint3& planeSupport,int i) const
|
||||
{
|
||||
GetPlaneEquation(i,planeNormal,planeSupport);
|
||||
}
|
||||
|
||||
virtual int GetNumPlanes() const
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
|
||||
void CalcNormal(SimdVector3& normal) const
|
||||
{
|
||||
normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
|
||||
normal.normalize();
|
||||
}
|
||||
|
||||
virtual void GetPlaneEquation(int i, SimdVector3& planeNormal,SimdPoint3& planeSupport) const
|
||||
{
|
||||
CalcNormal(planeNormal);
|
||||
planeSupport = m_vertices1[0];
|
||||
}
|
||||
|
||||
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
|
||||
{
|
||||
ASSERT(0);
|
||||
inertia.setValue(0.f,0.f,0.f);
|
||||
}
|
||||
|
||||
virtual bool IsInside(const SimdPoint3& pt,SimdScalar tolerance) const
|
||||
{
|
||||
SimdVector3 normal;
|
||||
CalcNormal(normal);
|
||||
//distance to plane
|
||||
SimdScalar dist = pt.dot(normal);
|
||||
SimdScalar planeconst = m_vertices1[0].dot(normal);
|
||||
dist -= planeconst;
|
||||
if (dist >= -tolerance && dist <= tolerance)
|
||||
{
|
||||
//inside check on edge-planes
|
||||
int i;
|
||||
for (i=0;i<3;i++)
|
||||
{
|
||||
SimdPoint3 pa,pb;
|
||||
GetEdge(i,pa,pb);
|
||||
SimdVector3 edge = pb-pa;
|
||||
SimdVector3 edgeNormal = edge.cross(normal);
|
||||
edgeNormal.normalize();
|
||||
SimdScalar dist = pt.dot( edgeNormal);
|
||||
SimdScalar edgeConst = pa.dot(edgeNormal);
|
||||
dist -= edgeConst;
|
||||
if (dist < -tolerance)
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
//debugging
|
||||
virtual char* GetName()const
|
||||
{
|
||||
return "Triangle";
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //OBB_TRIANGLE_MINKOWSKI_H
|
||||
|
||||
746
extern/bullet/Bullet/Doxyfile
vendored
746
extern/bullet/Bullet/Doxyfile
vendored
@@ -1,746 +0,0 @@
|
||||
# Doxyfile 1.2.4
|
||||
|
||||
# This file describes the settings to be used by doxygen for a project
|
||||
#
|
||||
# All text after a hash (#) is considered a comment and will be ignored
|
||||
# The format is:
|
||||
# TAG = value [value, ...]
|
||||
# For lists items can also be appended using:
|
||||
# TAG += value [value, ...]
|
||||
# Values that contain spaces should be placed between quotes (" ")
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# General configuration options
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
|
||||
# by quotes) that should identify the project.
|
||||
PROJECT_NAME = "Bullet Continuous Collision Detection Library"
|
||||
|
||||
# The PROJECT_NUMBER tag can be used to enter a project or revision number.
|
||||
# This could be handy for archiving the generated documentation or
|
||||
# if some version control system is used.
|
||||
|
||||
PROJECT_NUMBER =
|
||||
|
||||
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
|
||||
# base path where the generated documentation will be put.
|
||||
# If a relative path is entered, it will be relative to the location
|
||||
# where doxygen was started. If left blank the current directory will be used.
|
||||
|
||||
OUTPUT_DIRECTORY =
|
||||
|
||||
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
|
||||
# documentation generated by doxygen is written. Doxygen will use this
|
||||
# information to generate all constant output in the proper language.
|
||||
# The default language is English, other supported languages are:
|
||||
# Dutch, French, Italian, Czech, Swedish, German, Finnish, Japanese,
|
||||
# Korean, Hungarian, Norwegian, Spanish, Romanian, Russian, Croatian,
|
||||
# Polish, Portuguese and Slovene.
|
||||
|
||||
OUTPUT_LANGUAGE = English
|
||||
|
||||
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
|
||||
# documentation are documented, even if no documentation was available.
|
||||
# Private class members and static file members will be hidden unless
|
||||
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
|
||||
|
||||
EXTRACT_ALL = YES
|
||||
|
||||
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
|
||||
# will be included in the documentation.
|
||||
|
||||
EXTRACT_PRIVATE = YES
|
||||
|
||||
# If the EXTRACT_STATIC tag is set to YES all static members of a file
|
||||
# will be included in the documentation.
|
||||
|
||||
EXTRACT_STATIC = YES
|
||||
|
||||
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
|
||||
# undocumented members of documented classes, files or namespaces.
|
||||
# If set to NO (the default) these members will be included in the
|
||||
# various overviews, but no documentation section is generated.
|
||||
# This option has no effect if EXTRACT_ALL is enabled.
|
||||
|
||||
HIDE_UNDOC_MEMBERS = NO
|
||||
|
||||
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
|
||||
# undocumented classes that are normally visible in the class hierarchy.
|
||||
# If set to NO (the default) these class will be included in the various
|
||||
# overviews. This option has no effect if EXTRACT_ALL is enabled.
|
||||
|
||||
HIDE_UNDOC_CLASSES = NO
|
||||
|
||||
# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
|
||||
# include brief member descriptions after the members that are listed in
|
||||
# the file and class documentation (similar to JavaDoc).
|
||||
# Set to NO to disable this.
|
||||
|
||||
BRIEF_MEMBER_DESC = YES
|
||||
|
||||
# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
|
||||
# the brief description of a member or function before the detailed description.
|
||||
# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
|
||||
# brief descriptions will be completely suppressed.
|
||||
|
||||
REPEAT_BRIEF = YES
|
||||
|
||||
# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
|
||||
# Doxygen will generate a detailed section even if there is only a brief
|
||||
# description.
|
||||
|
||||
ALWAYS_DETAILED_SEC = NO
|
||||
|
||||
# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
|
||||
# path before files name in the file list and in the header files. If set
|
||||
# to NO the shortest path that makes the file name unique will be used.
|
||||
|
||||
FULL_PATH_NAMES = NO
|
||||
|
||||
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
|
||||
# can be used to strip a user defined part of the path. Stripping is
|
||||
# only done if one of the specified strings matches the left-hand part of
|
||||
# the path. It is allowed to use relative paths in the argument list.
|
||||
|
||||
STRIP_FROM_PATH =
|
||||
|
||||
# The INTERNAL_DOCS tag determines if documentation
|
||||
# that is typed after a \internal command is included. If the tag is set
|
||||
# to NO (the default) then the documentation will be excluded.
|
||||
# Set it to YES to include the internal documentation.
|
||||
|
||||
INTERNAL_DOCS = NO
|
||||
|
||||
# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
|
||||
# generate a class diagram (in Html and LaTeX) for classes with base or
|
||||
# super classes. Setting the tag to NO turns the diagrams off.
|
||||
|
||||
CLASS_DIAGRAMS = YES
|
||||
|
||||
# If the SOURCE_BROWSER tag is set to YES then a list of source files will
|
||||
# be generated. Documented entities will be cross-referenced with these sources.
|
||||
|
||||
SOURCE_BROWSER = YES
|
||||
|
||||
# Setting the INLINE_SOURCES tag to YES will include the body
|
||||
# of functions and classes directly in the documentation.
|
||||
|
||||
INLINE_SOURCES = NO
|
||||
|
||||
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
|
||||
# doxygen to hide any special comment blocks from generated source code
|
||||
# fragments. Normal C and C++ comments will always remain visible.
|
||||
|
||||
STRIP_CODE_COMMENTS = YES
|
||||
|
||||
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
|
||||
# file names in lower case letters. If set to YES upper case letters are also
|
||||
# allowed. This is useful if you have classes or files whose names only differ
|
||||
# in case and if your file system supports case sensitive file names. Windows
|
||||
# users are adviced to set this option to NO.
|
||||
|
||||
CASE_SENSE_NAMES = YES
|
||||
|
||||
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
|
||||
# will show members with their full class and namespace scopes in the
|
||||
# documentation. If set to YES the scope will be hidden.
|
||||
|
||||
HIDE_SCOPE_NAMES = NO
|
||||
|
||||
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
|
||||
# will generate a verbatim copy of the header file for each class for
|
||||
# which an include is specified. Set to NO to disable this.
|
||||
|
||||
VERBATIM_HEADERS = YES
|
||||
|
||||
# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
|
||||
# will put list of the files that are included by a file in the documentation
|
||||
# of that file.
|
||||
|
||||
SHOW_INCLUDE_FILES = YES
|
||||
|
||||
# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
|
||||
# will interpret the first line (until the first dot) of a JavaDoc-style
|
||||
# comment as the brief description. If set to NO, the JavaDoc
|
||||
# comments will behave just like the Qt-style comments (thus requiring an
|
||||
# explict @brief command for a brief description.
|
||||
|
||||
JAVADOC_AUTOBRIEF = YES
|
||||
|
||||
# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
|
||||
# member inherits the documentation from any documented member that it
|
||||
# reimplements.
|
||||
|
||||
INHERIT_DOCS = YES
|
||||
|
||||
# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
|
||||
# is inserted in the documentation for inline members.
|
||||
|
||||
INLINE_INFO = YES
|
||||
|
||||
# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
|
||||
# will sort the (detailed) documentation of file and class members
|
||||
# alphabetically by member name. If set to NO the members will appear in
|
||||
# declaration order.
|
||||
|
||||
SORT_MEMBER_DOCS = YES
|
||||
|
||||
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
|
||||
# tag is set to YES, then doxygen will reuse the documentation of the first
|
||||
# member in the group (if any) for the other members of the group. By default
|
||||
# all members of a group must be documented explicitly.
|
||||
|
||||
DISTRIBUTE_GROUP_DOC = NO
|
||||
|
||||
# The TAB_SIZE tag can be used to set the number of spaces in a tab.
|
||||
# Doxygen uses this value to replace tabs by spaces in code fragments.
|
||||
|
||||
TAB_SIZE = 8
|
||||
|
||||
# The ENABLE_SECTIONS tag can be used to enable conditional
|
||||
# documentation sections, marked by \if sectionname ... \endif.
|
||||
|
||||
ENABLED_SECTIONS =
|
||||
|
||||
# The GENERATE_TODOLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the todo list. This list is created by putting \todo
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TODOLIST = YES
|
||||
|
||||
# The GENERATE_TESTLIST tag can be used to enable (YES) or
|
||||
# disable (NO) the test list. This list is created by putting \test
|
||||
# commands in the documentation.
|
||||
|
||||
GENERATE_TESTLIST = YES
|
||||
|
||||
# This tag can be used to specify a number of aliases that acts
|
||||
# as commands in the documentation. An alias has the form "name=value".
|
||||
# For example adding "sideeffect=\par Side Effects:\n" will allow you to
|
||||
# put the command \sideeffect (or @sideeffect) in the documentation, which
|
||||
# will result in a user defined paragraph with heading "Side Effects:".
|
||||
# You can put \n's in the value part of an alias to insert newlines.
|
||||
|
||||
ALIASES =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to warning and progress messages
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The QUIET tag can be used to turn on/off the messages that are generated
|
||||
# by doxygen. Possible values are YES and NO. If left blank NO is used.
|
||||
|
||||
QUIET = NO
|
||||
|
||||
# The WARNINGS tag can be used to turn on/off the warning messages that are
|
||||
# generated by doxygen. Possible values are YES and NO. If left blank
|
||||
# NO is used.
|
||||
|
||||
WARNINGS = YES
|
||||
|
||||
# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
|
||||
# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
|
||||
# automatically be disabled.
|
||||
|
||||
WARN_IF_UNDOCUMENTED = YES
|
||||
|
||||
# The WARN_FORMAT tag determines the format of the warning messages that
|
||||
# doxygen can produce. The string should contain the $file, $line, and $text
|
||||
# tags, which will be replaced by the file and line number from which the
|
||||
# warning originated and the warning text.
|
||||
|
||||
WARN_FORMAT = "$file:$line: $text"
|
||||
|
||||
# The WARN_LOGFILE tag can be used to specify a file to which warning
|
||||
# and error messages should be written. If left blank the output is written
|
||||
# to stderr.
|
||||
|
||||
WARN_LOGFILE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the input files
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The INPUT tag can be used to specify the files and/or directories that contain
|
||||
# documented source files. You may enter file names like "myfile.cpp" or
|
||||
# directories like "/usr/src/myproject". Separate the files or directories
|
||||
# with spaces.
|
||||
|
||||
INPUT = .
|
||||
|
||||
|
||||
# If the value of the INPUT tag contains directories, you can use the
|
||||
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank all files are included.
|
||||
|
||||
FILE_PATTERNS = *.h *.cpp *.c
|
||||
|
||||
# The RECURSIVE tag can be used to turn specify whether or not subdirectories
|
||||
# should be searched for input files as well. Possible values are YES and NO.
|
||||
# If left blank NO is used.
|
||||
|
||||
RECURSIVE = YES
|
||||
|
||||
# The EXCLUDE tag can be used to specify files and/or directories that should
|
||||
# excluded from the INPUT source files. This way you can easily exclude a
|
||||
# subdirectory from a directory tree whose root is specified with the INPUT tag.
|
||||
|
||||
EXCLUDE =
|
||||
|
||||
# If the value of the INPUT tag contains directories, you can use the
|
||||
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
|
||||
# certain files from those directories.
|
||||
|
||||
EXCLUDE_PATTERNS =
|
||||
|
||||
# The EXAMPLE_PATH tag can be used to specify one or more files or
|
||||
# directories that contain example code fragments that are included (see
|
||||
# the \include command).
|
||||
|
||||
EXAMPLE_PATH =
|
||||
|
||||
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
|
||||
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
|
||||
# and *.h) to filter out the source-files in the directories. If left
|
||||
# blank all files are included.
|
||||
|
||||
EXAMPLE_PATTERNS =
|
||||
|
||||
# The IMAGE_PATH tag can be used to specify one or more files or
|
||||
# directories that contain image that are included in the documentation (see
|
||||
# the \image command).
|
||||
|
||||
IMAGE_PATH =
|
||||
|
||||
# The INPUT_FILTER tag can be used to specify a program that doxygen should
|
||||
# invoke to filter for each input file. Doxygen will invoke the filter program
|
||||
# by executing (via popen()) the command <filter> <input-file>, where <filter>
|
||||
# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
|
||||
# input file. Doxygen will then use the output that the filter program writes
|
||||
# to standard output.
|
||||
|
||||
INPUT_FILTER =
|
||||
|
||||
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
|
||||
# INPUT_FILTER) will be used to filter the input files when producing source
|
||||
# files to browse.
|
||||
|
||||
FILTER_SOURCE_FILES = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the alphabetical class index
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
|
||||
# of all compounds will be generated. Enable this if the project
|
||||
# contains a lot of classes, structs, unions or interfaces.
|
||||
|
||||
ALPHABETICAL_INDEX = NO
|
||||
|
||||
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
|
||||
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
|
||||
# in which this list will be split (can be a number in the range [1..20])
|
||||
|
||||
COLS_IN_ALPHA_INDEX = 5
|
||||
|
||||
# In case all classes in a project start with a common prefix, all
|
||||
# classes will be put under the same header in the alphabetical index.
|
||||
# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
|
||||
# should be ignored while generating the index headers.
|
||||
|
||||
IGNORE_PREFIX =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the HTML output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
|
||||
# generate HTML output.
|
||||
|
||||
GENERATE_HTML = YES
|
||||
|
||||
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `html' will be used as the default path.
|
||||
|
||||
HTML_OUTPUT = html
|
||||
|
||||
# The HTML_HEADER tag can be used to specify a personal HTML header for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard header.
|
||||
|
||||
HTML_HEADER =
|
||||
|
||||
# The HTML_FOOTER tag can be used to specify a personal HTML footer for
|
||||
# each generated HTML page. If it is left blank doxygen will generate a
|
||||
# standard footer.
|
||||
|
||||
HTML_FOOTER =
|
||||
|
||||
# The HTML_STYLESHEET tag can be used to specify a user defined cascading
|
||||
# style sheet that is used by each HTML page. It can be used to
|
||||
# fine-tune the look of the HTML output. If the tag is left blank doxygen
|
||||
# will generate a default style sheet
|
||||
|
||||
HTML_STYLESHEET =
|
||||
|
||||
# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
|
||||
# files or namespaces will be aligned in HTML using tables. If set to
|
||||
# NO a bullet list will be used.
|
||||
|
||||
HTML_ALIGN_MEMBERS = YES
|
||||
|
||||
# If the GENERATE_HTMLHELP tag is set to YES, additional index files
|
||||
# will be generated that can be used as input for tools like the
|
||||
# Microsoft HTML help workshop to generate a compressed HTML help file (.chm)
|
||||
# of the generated HTML documentation.
|
||||
|
||||
GENERATE_HTMLHELP = NO
|
||||
|
||||
# The DISABLE_INDEX tag can be used to turn on/off the condensed index at
|
||||
# top of each HTML page. The value NO (the default) enables the index and
|
||||
# the value YES disables it.
|
||||
|
||||
DISABLE_INDEX = NO
|
||||
|
||||
# This tag can be used to set the number of enum values (range [1..20])
|
||||
# that doxygen will group on one line in the generated HTML documentation.
|
||||
|
||||
ENUM_VALUES_PER_LINE = 4
|
||||
|
||||
# If the GENERATE_TREEVIEW tag is set to YES, a side pannel will be
|
||||
# generated containing a tree-like index structure (just like the one that
|
||||
# is generated for HTML Help). For this to work a browser that supports
|
||||
# JavaScript and frames is required (for instance Netscape 4.0+
|
||||
# or Internet explorer 4.0+).
|
||||
|
||||
GENERATE_TREEVIEW = NO
|
||||
|
||||
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
|
||||
# used to set the initial width (in pixels) of the frame in which the tree
|
||||
# is shown.
|
||||
|
||||
TREEVIEW_WIDTH = 250
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the LaTeX output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
|
||||
# generate Latex output.
|
||||
|
||||
GENERATE_LATEX = NO
|
||||
|
||||
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `latex' will be used as the default path.
|
||||
|
||||
LATEX_OUTPUT = latex
|
||||
|
||||
# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
|
||||
# LaTeX documents. This may be useful for small projects and may help to
|
||||
# save some trees in general.
|
||||
|
||||
COMPACT_LATEX = NO
|
||||
|
||||
# The PAPER_TYPE tag can be used to set the paper type that is used
|
||||
# by the printer. Possible values are: a4, a4wide, letter, legal and
|
||||
# executive. If left blank a4wide will be used.
|
||||
|
||||
PAPER_TYPE = a4wide
|
||||
|
||||
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
|
||||
# packages that should be included in the LaTeX output.
|
||||
|
||||
EXTRA_PACKAGES =
|
||||
|
||||
# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
|
||||
# the generated latex document. The header should contain everything until
|
||||
# the first chapter. If it is left blank doxygen will generate a
|
||||
# standard header. Notice: only use this tag if you know what you are doing!
|
||||
|
||||
LATEX_HEADER =
|
||||
|
||||
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
|
||||
# is prepared for conversion to pdf (using ps2pdf). The pdf file will
|
||||
# contain links (just like the HTML output) instead of page references
|
||||
# This makes the output suitable for online browsing using a pdf viewer.
|
||||
|
||||
PDF_HYPERLINKS = NO
|
||||
|
||||
# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
|
||||
# plain latex in the generated Makefile. Set this option to YES to get a
|
||||
# higher quality PDF documentation.
|
||||
|
||||
USE_PDFLATEX = NO
|
||||
|
||||
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
|
||||
# command to the generated LaTeX files. This will instruct LaTeX to keep
|
||||
# running if errors occur, instead of asking the user for help.
|
||||
# This option is also used when generating formulas in HTML.
|
||||
|
||||
LATEX_BATCHMODE = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the RTF output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
|
||||
# The RTF output is optimised for Word 97 and may not look very pretty with
|
||||
# other RTF readers or editors.
|
||||
|
||||
GENERATE_RTF = NO
|
||||
|
||||
# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `rtf' will be used as the default path.
|
||||
|
||||
RTF_OUTPUT = rtf
|
||||
|
||||
# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
|
||||
# RTF documents. This may be useful for small projects and may help to
|
||||
# save some trees in general.
|
||||
|
||||
COMPACT_RTF = NO
|
||||
|
||||
# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
|
||||
# will contain hyperlink fields. The RTF file will
|
||||
# contain links (just like the HTML output) instead of page references.
|
||||
# This makes the output suitable for online browsing using a WORD or other.
|
||||
# programs which support those fields.
|
||||
# Note: wordpad (write) and others do not support links.
|
||||
|
||||
RTF_HYPERLINKS = NO
|
||||
|
||||
# Load stylesheet definitions from file. Syntax is similar to doxygen's
|
||||
# config file, i.e. a series of assigments. You only have to provide
|
||||
# replacements, missing definitions are set to their default value.
|
||||
|
||||
RTF_STYLESHEET_FILE =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the man page output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
|
||||
# generate man pages
|
||||
|
||||
GENERATE_MAN = NO
|
||||
|
||||
# The MAN_OUTPUT tag is used to specify where the man pages will be put.
|
||||
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
|
||||
# put in front of it. If left blank `man' will be used as the default path.
|
||||
|
||||
MAN_OUTPUT = man
|
||||
|
||||
# The MAN_EXTENSION tag determines the extension that is added to
|
||||
# the generated man pages (default is the subroutine's section .3)
|
||||
|
||||
MAN_EXTENSION = .3
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# configuration options related to the XML output
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the GENERATE_XML tag is set to YES Doxygen will
|
||||
# generate an XML file that captures the structure of
|
||||
# the code including all documentation. Warning: This feature
|
||||
# is still experimental and very incomplete.
|
||||
|
||||
GENERATE_XML = NO
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration options related to the preprocessor
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
|
||||
# evaluate all C-preprocessor directives found in the sources and include
|
||||
# files.
|
||||
|
||||
ENABLE_PREPROCESSING = YES
|
||||
|
||||
# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
|
||||
# names in the source code. If set to NO (the default) only conditional
|
||||
# compilation will be performed. Macro expansion can be done in a controlled
|
||||
# way by setting EXPAND_ONLY_PREDEF to YES.
|
||||
|
||||
MACRO_EXPANSION = NO
|
||||
|
||||
# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
|
||||
# then the macro expansion is limited to the macros specified with the
|
||||
# PREDEFINED and EXPAND_AS_PREDEFINED tags.
|
||||
|
||||
EXPAND_ONLY_PREDEF = NO
|
||||
|
||||
# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
|
||||
# in the INCLUDE_PATH (see below) will be search if a #include is found.
|
||||
|
||||
SEARCH_INCLUDES = YES
|
||||
|
||||
# The INCLUDE_PATH tag can be used to specify one or more directories that
|
||||
# contain include files that are not input files but should be processed by
|
||||
# the preprocessor.
|
||||
|
||||
INCLUDE_PATH = ../../generic/extern
|
||||
|
||||
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
|
||||
# patterns (like *.h and *.hpp) to filter out the header-files in the
|
||||
# directories. If left blank, the patterns specified with FILE_PATTERNS will
|
||||
# be used.
|
||||
|
||||
INCLUDE_FILE_PATTERNS =
|
||||
|
||||
# The PREDEFINED tag can be used to specify one or more macro names that
|
||||
# are defined before the preprocessor is started (similar to the -D option of
|
||||
# gcc). The argument of the tag is a list of macros of the form: name
|
||||
# or name=definition (no spaces). If the definition and the = are
|
||||
# omitted =1 is assumed.
|
||||
|
||||
PREDEFINED =
|
||||
|
||||
# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then
|
||||
# this tag can be used to specify a list of macro names that should be expanded.
|
||||
# The macro definition that is found in the sources will be used.
|
||||
# Use the PREDEFINED tag if you want to use a different macro definition.
|
||||
|
||||
EXPAND_AS_DEFINED =
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration::addtions related to external references
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The TAGFILES tag can be used to specify one or more tagfiles.
|
||||
|
||||
TAGFILES =
|
||||
|
||||
# When a file name is specified after GENERATE_TAGFILE, doxygen will create
|
||||
# a tag file that is based on the input files it reads.
|
||||
|
||||
GENERATE_TAGFILE =
|
||||
|
||||
# If the ALLEXTERNALS tag is set to YES all external classes will be listed
|
||||
# in the class index. If set to NO only the inherited external classes
|
||||
# will be listed.
|
||||
|
||||
ALLEXTERNALS = NO
|
||||
|
||||
# The PERL_PATH should be the absolute path and name of the perl script
|
||||
# interpreter (i.e. the result of `which perl').
|
||||
|
||||
PERL_PATH = /usr/bin/perl
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration options related to the dot tool
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
|
||||
# available from the path. This tool is part of Graphviz, a graph visualization
|
||||
# toolkit from AT&T and Lucent Bell Labs. The other options in this section
|
||||
# have no effect if this option is set to NO (the default)
|
||||
|
||||
HAVE_DOT = YES
|
||||
|
||||
# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect inheritance relations. Setting this tag to YES will force the
|
||||
# the CLASS_DIAGRAMS tag to NO.
|
||||
|
||||
CLASS_GRAPH = YES
|
||||
|
||||
# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
|
||||
# will generate a graph for each documented class showing the direct and
|
||||
# indirect implementation dependencies (inheritance, containment, and
|
||||
# class references variables) of the class with other documented classes.
|
||||
|
||||
COLLABORATION_GRAPH = YES
|
||||
|
||||
# If the ENABLE_PREPROCESSING, INCLUDE_GRAPH, and HAVE_DOT tags are set to
|
||||
# YES then doxygen will generate a graph for each documented file showing
|
||||
# the direct and indirect include dependencies of the file with other
|
||||
# documented files.
|
||||
|
||||
INCLUDE_GRAPH = YES
|
||||
|
||||
# If the ENABLE_PREPROCESSING, INCLUDED_BY_GRAPH, and HAVE_DOT tags are set to
|
||||
# YES then doxygen will generate a graph for each documented header file showing
|
||||
# the documented files that directly or indirectly include this file
|
||||
|
||||
INCLUDED_BY_GRAPH = YES
|
||||
|
||||
# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
|
||||
# will graphical hierarchy of all classes instead of a textual one.
|
||||
|
||||
GRAPHICAL_HIERARCHY = YES
|
||||
|
||||
# The tag DOT_PATH can be used to specify the path where the dot tool can be
|
||||
# found. If left blank, it is assumed the dot tool can be found on the path.
|
||||
|
||||
DOT_PATH =
|
||||
|
||||
# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width
|
||||
# (in pixels) of the graphs generated by dot. If a graph becomes larger than
|
||||
# this value, doxygen will try to truncate the graph, so that it fits within
|
||||
# the specified constraint. Beware that most browsers cannot cope with very
|
||||
# large images.
|
||||
|
||||
MAX_DOT_GRAPH_WIDTH = 1024
|
||||
|
||||
# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height
|
||||
# (in pixels) of the graphs generated by dot. If a graph becomes larger than
|
||||
# this value, doxygen will try to truncate the graph, so that it fits within
|
||||
# the specified constraint. Beware that most browsers cannot cope with very
|
||||
# large images.
|
||||
|
||||
MAX_DOT_GRAPH_HEIGHT = 1024
|
||||
|
||||
# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
|
||||
# generate a legend page explaining the meaning of the various boxes and
|
||||
# arrows in the dot generated graphs.
|
||||
|
||||
GENERATE_LEGEND = YES
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# Configuration::addtions related to the search engine
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
# The SEARCHENGINE tag specifies whether or not a search engine should be
|
||||
# used. If set to NO the values of all tags below this one will be ignored.
|
||||
|
||||
SEARCHENGINE = NO
|
||||
|
||||
# The CGI_NAME tag should be the name of the CGI script that
|
||||
# starts the search engine (doxysearch) with the correct parameters.
|
||||
# A script with this name will be generated by doxygen.
|
||||
|
||||
CGI_NAME = search.cgi
|
||||
|
||||
# The CGI_URL tag should be the absolute URL to the directory where the
|
||||
# cgi binaries are located. See the documentation of your http daemon for
|
||||
# details.
|
||||
|
||||
CGI_URL =
|
||||
|
||||
# The DOC_URL tag should be the absolute URL to the directory where the
|
||||
# documentation is located. If left blank the absolute path to the
|
||||
# documentation, with file:// prepended to it, will be used.
|
||||
|
||||
DOC_URL =
|
||||
|
||||
# The DOC_ABSPATH tag should be the absolute path to the directory where the
|
||||
# documentation is located. If left blank the directory on the local machine
|
||||
# will be used.
|
||||
|
||||
DOC_ABSPATH =
|
||||
|
||||
# The BIN_ABSPATH tag must point to the directory where the doxysearch binary
|
||||
# is installed.
|
||||
|
||||
BIN_ABSPATH = c:\program files\doxygen\bin
|
||||
|
||||
# The EXT_DOC_PATHS tag can be used to specify one or more paths to
|
||||
# documentation generated for other projects. This allows doxysearch to search
|
||||
# the documentation for these projects as well.
|
||||
|
||||
EXT_DOC_PATHS =
|
||||
68
extern/bullet/Bullet/Makefile
vendored
68
extern/bullet/Bullet/Makefile
vendored
@@ -1,68 +0,0 @@
|
||||
#
|
||||
# $Id$
|
||||
#
|
||||
# ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or
|
||||
# modify it under the terms of the GNU General Public License
|
||||
# as published by the Free Software Foundation; either version 2
|
||||
# of the License, or (at your option) any later version. The Blender
|
||||
# Foundation also sells licenses for use in proprietary software under
|
||||
# the Blender License. See http://www.blender.org/BL/ for information
|
||||
# about this.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful,
|
||||
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
# GNU General Public License for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License
|
||||
# along with this program; if not, write to the Free Software Foundation,
|
||||
# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
||||
#
|
||||
# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
|
||||
# All rights reserved.
|
||||
#
|
||||
# The Original Code is: all of this file.
|
||||
#
|
||||
# Contributor(s): none yet.
|
||||
#
|
||||
# ***** END GPL/BL DUAL LICENSE BLOCK *****
|
||||
# opennl intern Makefile
|
||||
#
|
||||
|
||||
LIBNAME = bullet
|
||||
SOURCEDIR = extern/bullet/Bullet
|
||||
DIR = $(OCGDIR)/$(SOURCEDIR)
|
||||
|
||||
CCSRCS = $(wildcard BroadphaseCollision/*.cpp)
|
||||
CCSRCS += $(wildcard NarrowPhaseCollision/*.cpp)
|
||||
CCSRCS += $(wildcard CollisionShapes/*.cpp)
|
||||
CCSRCS += $(wildcard CollisionDispatch/*.cpp)
|
||||
|
||||
CPPFLAGS += -DUSE_DOUBLES -DQHULL -D_LIB
|
||||
CPPFLAGS += -I../Bullet -I../BulletDynamics -I../LinearMath
|
||||
|
||||
all debug:: objdirs
|
||||
|
||||
include nan_compile.mk
|
||||
|
||||
.PHONY: objdirs clean
|
||||
objdirs:
|
||||
@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)
|
||||
@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)BroadphaseCollision
|
||||
@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)NarrowPhaseCollision
|
||||
@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)CollisionShapes
|
||||
@$(MAKE) makedir DIR=$(DIR)/$(DEBUG_DIR)CollisionDispatch
|
||||
|
||||
optclean::
|
||||
@-[ ! -d $(DIR)/BroadphaseCollision ] || (cd $(DIR)/BroadphaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@-[ ! -d $(DIR)/NarrowPhaseCollision ] || (cd $(DIR)/NarrowPhaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@-[ ! -d $(DIR)/CollisionShapes ] || (cd $(DIR)/CollisionShapes && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@-[ ! -d $(DIR)/CollisionDispatch ] || (cd $(DIR)/CollisionDispatch && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
|
||||
debugclean::
|
||||
@-[ ! -d $(DIR)/debug/BroadphaseCollision ] || (cd $(DIR)/debug/BroadphaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@-[ ! -d $(DIR)/debug/NarrowPhaseCollision ] || (cd $(DIR)/debug/NarrowPhaseCollision && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@-[ ! -d $(DIR)/debug/CollisionShapes ] || (cd $(DIR)/debug/CollisionShapes && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@-[ ! -d $(DIR)/debug/CollisionDispatch ] || (cd $(DIR)/debug/CollisionDispatch && $(RM) *.o *.a *.d *.res ii_files/*.ii *.class *.h)
|
||||
@@ -1,360 +0,0 @@
|
||||
/*
|
||||
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 "BU_AlgebraicPolynomialSolver.h"
|
||||
#include <math.h>
|
||||
#include <SimdMinMax.h>
|
||||
|
||||
int BU_AlgebraicPolynomialSolver::Solve2Quadratic(SimdScalar p, SimdScalar q)
|
||||
{
|
||||
|
||||
SimdScalar basic_h_local;
|
||||
SimdScalar basic_h_local_delta;
|
||||
|
||||
basic_h_local = p * 0.5f;
|
||||
basic_h_local_delta = basic_h_local * basic_h_local - q;
|
||||
if (basic_h_local_delta > 0.0f) {
|
||||
basic_h_local_delta = SimdSqrt(basic_h_local_delta);
|
||||
m_roots[0] = - basic_h_local + basic_h_local_delta;
|
||||
m_roots[1] = - basic_h_local - basic_h_local_delta;
|
||||
return 2;
|
||||
}
|
||||
else if (SimdGreaterEqual(basic_h_local_delta, SIMD_EPSILON)) {
|
||||
m_roots[0] = - basic_h_local;
|
||||
return 1;
|
||||
}
|
||||
else {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int BU_AlgebraicPolynomialSolver::Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c)
|
||||
{
|
||||
SimdScalar radical = b * b - 4.0f * a * c;
|
||||
if(radical >= 0.f)
|
||||
{
|
||||
SimdScalar sqrtRadical = SimdSqrt(radical);
|
||||
SimdScalar idenom = 1.0f/(2.0f * a);
|
||||
m_roots[0]=(-b + sqrtRadical) * idenom;
|
||||
m_roots[1]=(-b - sqrtRadical) * idenom;
|
||||
return 2;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
#define cubic_rt(x) \
|
||||
((x) > 0.0f ? SimdPow((SimdScalar)(x), 0.333333333333333333333333f) : \
|
||||
((x) < 0.0f ? -SimdPow((SimdScalar)-(x), 0.333333333333333333333333f) : 0.0f))
|
||||
|
||||
|
||||
|
||||
/* */
|
||||
/* this function solves the following cubic equation: */
|
||||
/* */
|
||||
/* 3 2 */
|
||||
/* lead * x + a * x + b * x + c = 0. */
|
||||
/* */
|
||||
/* it returns the number of different roots found, and stores the roots in */
|
||||
/* roots[0,2]. it returns -1 for a degenerate equation 0 = 0. */
|
||||
/* */
|
||||
int BU_AlgebraicPolynomialSolver::Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c)
|
||||
{
|
||||
SimdScalar p, q, r;
|
||||
SimdScalar delta, u, phi;
|
||||
SimdScalar dummy;
|
||||
|
||||
if (lead != 1.0) {
|
||||
/* */
|
||||
/* transform into normal form: x^3 + a x^2 + b x + c = 0 */
|
||||
/* */
|
||||
if (SimdEqual(lead, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* we have a x^2 + b x + c = 0 */
|
||||
/* */
|
||||
if (SimdEqual(a, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* we have b x + c = 0 */
|
||||
/* */
|
||||
if (SimdEqual(b, SIMD_EPSILON)) {
|
||||
if (SimdEqual(c, SIMD_EPSILON)) {
|
||||
return -1;
|
||||
}
|
||||
else {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
else {
|
||||
m_roots[0] = -c / b;
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
else {
|
||||
p = c / a;
|
||||
q = b / a;
|
||||
return Solve2QuadraticFull(a,b,c);
|
||||
}
|
||||
}
|
||||
else {
|
||||
a = a / lead;
|
||||
b = b / lead;
|
||||
c = c / lead;
|
||||
}
|
||||
}
|
||||
|
||||
/* */
|
||||
/* we substitute x = y - a / 3 in order to eliminate the quadric term. */
|
||||
/* we get x^3 + p x + q = 0 */
|
||||
/* */
|
||||
a /= 3.0f;
|
||||
u = a * a;
|
||||
p = b / 3.0f - u;
|
||||
q = a * (2.0f * u - b) + c;
|
||||
|
||||
/* */
|
||||
/* now use Cardano's formula */
|
||||
/* */
|
||||
if (SimdEqual(p, SIMD_EPSILON)) {
|
||||
if (SimdEqual(q, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* one triple root */
|
||||
/* */
|
||||
m_roots[0] = -a;
|
||||
return 1;
|
||||
}
|
||||
else {
|
||||
/* */
|
||||
/* one real and two complex roots */
|
||||
/* */
|
||||
m_roots[0] = cubic_rt(-q) - a;
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
|
||||
q /= 2.0f;
|
||||
delta = p * p * p + q * q;
|
||||
if (delta > 0.0f) {
|
||||
/* */
|
||||
/* one real and two complex roots. note that v = -p / u. */
|
||||
/* */
|
||||
u = -q + SimdSqrt(delta);
|
||||
u = cubic_rt(u);
|
||||
m_roots[0] = u - p / u - a;
|
||||
return 1;
|
||||
}
|
||||
else if (delta < 0.0) {
|
||||
/* */
|
||||
/* Casus irreducibilis: we have three real roots */
|
||||
/* */
|
||||
r = SimdSqrt(-p);
|
||||
p *= -r;
|
||||
r *= 2.0;
|
||||
phi = SimdAcos(-q / p) / 3.0f;
|
||||
dummy = SIMD_2_PI / 3.0f;
|
||||
m_roots[0] = r * SimdCos(phi) - a;
|
||||
m_roots[1] = r * SimdCos(phi + dummy) - a;
|
||||
m_roots[2] = r * SimdCos(phi - dummy) - a;
|
||||
return 3;
|
||||
}
|
||||
else {
|
||||
/* */
|
||||
/* one single and one SimdScalar root */
|
||||
/* */
|
||||
r = cubic_rt(-q);
|
||||
m_roots[0] = 2.0f * r - a;
|
||||
m_roots[1] = -r - a;
|
||||
return 2;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* */
|
||||
/* this function solves the following quartic equation: */
|
||||
/* */
|
||||
/* 4 3 2 */
|
||||
/* lead * x + a * x + b * x + c * x + d = 0. */
|
||||
/* */
|
||||
/* it returns the number of different roots found, and stores the roots in */
|
||||
/* roots[0,3]. it returns -1 for a degenerate equation 0 = 0. */
|
||||
/* */
|
||||
int BU_AlgebraicPolynomialSolver::Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d)
|
||||
{
|
||||
SimdScalar p, q ,r;
|
||||
SimdScalar u, v, w;
|
||||
int i, num_roots, num_tmp;
|
||||
//SimdScalar tmp[2];
|
||||
|
||||
if (lead != 1.0) {
|
||||
/* */
|
||||
/* transform into normal form: x^4 + a x^3 + b x^2 + c x + d = 0 */
|
||||
/* */
|
||||
if (SimdEqual(lead, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* we have a x^3 + b x^2 + c x + d = 0 */
|
||||
/* */
|
||||
if (SimdEqual(a, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* we have b x^2 + c x + d = 0 */
|
||||
/* */
|
||||
if (SimdEqual(b, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* we have c x + d = 0 */
|
||||
/* */
|
||||
if (SimdEqual(c, SIMD_EPSILON)) {
|
||||
if (SimdEqual(d, SIMD_EPSILON)) {
|
||||
return -1;
|
||||
}
|
||||
else {
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
else {
|
||||
m_roots[0] = -d / c;
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
else {
|
||||
p = c / b;
|
||||
q = d / b;
|
||||
return Solve2QuadraticFull(b,c,d);
|
||||
|
||||
}
|
||||
}
|
||||
else {
|
||||
return Solve3Cubic(1.0, b / a, c / a, d / a);
|
||||
}
|
||||
}
|
||||
else {
|
||||
a = a / lead;
|
||||
b = b / lead;
|
||||
c = c / lead;
|
||||
d = d / lead;
|
||||
}
|
||||
}
|
||||
|
||||
/* */
|
||||
/* we substitute x = y - a / 4 in order to eliminate the cubic term. */
|
||||
/* we get: y^4 + p y^2 + q y + r = 0. */
|
||||
/* */
|
||||
a /= 4.0f;
|
||||
p = b - 6.0f * a * a;
|
||||
q = a * (8.0f * a * a - 2.0f * b) + c;
|
||||
r = a * (a * (b - 3.f * a * a) - c) + d;
|
||||
if (SimdEqual(q, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* biquadratic equation: y^4 + p y^2 + r = 0. */
|
||||
/* */
|
||||
num_roots = Solve2Quadratic(p, r);
|
||||
if (num_roots > 0) {
|
||||
if (m_roots[0] > 0.0f) {
|
||||
if (num_roots > 1) {
|
||||
if ((m_roots[1] > 0.0f) && (m_roots[1] != m_roots[0])) {
|
||||
u = SimdSqrt(m_roots[1]);
|
||||
m_roots[2] = u - a;
|
||||
m_roots[3] = -u - a;
|
||||
u = SimdSqrt(m_roots[0]);
|
||||
m_roots[0] = u - a;
|
||||
m_roots[1] = -u - a;
|
||||
return 4;
|
||||
}
|
||||
else {
|
||||
u = SimdSqrt(m_roots[0]);
|
||||
m_roots[0] = u - a;
|
||||
m_roots[1] = -u - a;
|
||||
return 2;
|
||||
}
|
||||
}
|
||||
else {
|
||||
u = SimdSqrt(m_roots[0]);
|
||||
m_roots[0] = u - a;
|
||||
m_roots[1] = -u - a;
|
||||
return 2;
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
else if (SimdEqual(r, SIMD_EPSILON)) {
|
||||
/* */
|
||||
/* no absolute term: y (y^3 + p y + q) = 0. */
|
||||
/* */
|
||||
num_roots = Solve3Cubic(1.0, 0.0, p, q);
|
||||
for (i = 0; i < num_roots; ++i) m_roots[i] -= a;
|
||||
if (num_roots != -1) {
|
||||
m_roots[num_roots] = -a;
|
||||
++num_roots;
|
||||
}
|
||||
else {
|
||||
m_roots[0] = -a;
|
||||
num_roots = 1;;
|
||||
}
|
||||
return num_roots;
|
||||
}
|
||||
else {
|
||||
/* */
|
||||
/* we solve the resolvent cubic equation */
|
||||
/* */
|
||||
num_roots = Solve3Cubic(1.0f, -0.5f * p, -r, 0.5f * r * p - 0.125f * q * q);
|
||||
if (num_roots == -1) {
|
||||
num_roots = 1;
|
||||
m_roots[0] = 0.0f;
|
||||
}
|
||||
|
||||
/* */
|
||||
/* build two quadric equations */
|
||||
/* */
|
||||
w = m_roots[0];
|
||||
u = w * w - r;
|
||||
v = 2.0f * w - p;
|
||||
|
||||
if (SimdEqual(u, SIMD_EPSILON))
|
||||
u = 0.0;
|
||||
else if (u > 0.0f)
|
||||
u = SimdSqrt(u);
|
||||
else
|
||||
return 0;
|
||||
|
||||
if (SimdEqual(v, SIMD_EPSILON))
|
||||
v = 0.0;
|
||||
else if (v > 0.0f)
|
||||
v = SimdSqrt(v);
|
||||
else
|
||||
return 0;
|
||||
|
||||
if (q < 0.0f) v = -v;
|
||||
w -= u;
|
||||
num_roots=Solve2Quadratic(v, w);
|
||||
for (i = 0; i < num_roots; ++i)
|
||||
{
|
||||
m_roots[i] -= a;
|
||||
}
|
||||
w += 2.0f *u;
|
||||
SimdScalar tmp[2];
|
||||
tmp[0] = m_roots[0];
|
||||
tmp[1] = m_roots[1];
|
||||
|
||||
num_tmp = Solve2Quadratic(-v, w);
|
||||
for (i = 0; i < num_tmp; ++i)
|
||||
{
|
||||
m_roots[i + num_roots] = tmp[i] - a;
|
||||
m_roots[i]=tmp[i];
|
||||
}
|
||||
|
||||
return (num_tmp + num_roots);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,45 +0,0 @@
|
||||
/*
|
||||
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 BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
|
||||
#define BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
|
||||
|
||||
#include "BU_PolynomialSolverInterface.h"
|
||||
|
||||
/// BU_AlgebraicPolynomialSolver implements polynomial root finding by analytically solving algebraic equations.
|
||||
/// Polynomials up to 4rd degree are supported, Cardano's formula is used for 3rd degree
|
||||
class BU_AlgebraicPolynomialSolver : public BUM_PolynomialSolverInterface
|
||||
{
|
||||
public:
|
||||
BU_AlgebraicPolynomialSolver() {};
|
||||
|
||||
int Solve2Quadratic(SimdScalar p, SimdScalar q);
|
||||
int Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c);
|
||||
int Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c);
|
||||
int Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d);
|
||||
|
||||
|
||||
SimdScalar GetRoot(int i) const
|
||||
{
|
||||
return m_roots[i];
|
||||
}
|
||||
|
||||
private:
|
||||
SimdScalar m_roots[4];
|
||||
|
||||
};
|
||||
|
||||
#endif //BU_ALGEBRAIC_POLYNOMIAL_SOLVER_H
|
||||
@@ -1,25 +0,0 @@
|
||||
/*
|
||||
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 "BU_Collidable.h"
|
||||
#include "CollisionShapes/CollisionShape.h"
|
||||
#include <SimdTransform.h>
|
||||
#include "BU_MotionStateInterface.h"
|
||||
|
||||
BU_Collidable::BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape,void* userPointer )
|
||||
:m_motionState(motion),m_shape(shape),m_userPointer(userPointer)
|
||||
{
|
||||
}
|
||||
@@ -1,57 +0,0 @@
|
||||
/*
|
||||
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 BU_COLLIDABLE
|
||||
#define BU_COLLIDABLE
|
||||
|
||||
|
||||
class PolyhedralConvexShape;
|
||||
class BU_MotionStateInterface;
|
||||
#include <SimdPoint3.h>
|
||||
|
||||
class BU_Collidable
|
||||
{
|
||||
public:
|
||||
BU_Collidable(BU_MotionStateInterface& motion,PolyhedralConvexShape& shape, void* userPointer);
|
||||
|
||||
void* GetUserPointer() const
|
||||
{
|
||||
return m_userPointer;
|
||||
}
|
||||
|
||||
BU_MotionStateInterface& GetMotionState()
|
||||
{
|
||||
return m_motionState;
|
||||
}
|
||||
inline const BU_MotionStateInterface& GetMotionState() const
|
||||
{
|
||||
return m_motionState;
|
||||
}
|
||||
|
||||
inline const PolyhedralConvexShape& GetShape() const
|
||||
{
|
||||
return m_shape;
|
||||
};
|
||||
|
||||
|
||||
private:
|
||||
BU_MotionStateInterface& m_motionState;
|
||||
PolyhedralConvexShape& m_shape;
|
||||
void* m_userPointer;
|
||||
|
||||
};
|
||||
|
||||
#endif //BU_COLLIDABLE
|
||||
@@ -1,581 +0,0 @@
|
||||
/*
|
||||
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 "BU_CollisionPair.h"
|
||||
#include "NarrowPhaseCollision/BU_VertexPoly.h"
|
||||
#include "NarrowPhaseCollision/BU_EdgeEdge.h"
|
||||
#include "BU_Collidable.h"
|
||||
|
||||
|
||||
#include "BU_MotionStateInterface.h"
|
||||
#include "CollisionShapes/PolyhedralConvexShape.h"
|
||||
#include <SimdMinMax.h>
|
||||
#include "SimdTransformUtil.h"
|
||||
|
||||
|
||||
|
||||
BU_CollisionPair::BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance)
|
||||
: m_convexA(convexA),m_convexB(convexB),m_screwing(SimdVector3(0,0,0),SimdVector3(0,0,0)),
|
||||
m_tolerance(tolerance)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
// if there exists a time-of-impact between any feature_pair (edgeA,edgeB),
|
||||
// (vertexA,faceB) or (vertexB,faceA) in [0..1], report true and smallest time
|
||||
|
||||
|
||||
/*
|
||||
bool BU_CollisionPair::GetTimeOfImpact(const SimdVector3& linearMotionA,const SimdQuaternion& angularMotionA,const SimdVector3& linearMotionB,const SimdQuaternion& angularMotionB, SimdScalar& toi,SimdTransform& impactTransA,SimdTransform& impactTransB)
|
||||
|
||||
*/
|
||||
|
||||
bool BU_CollisionPair::calcTimeOfImpact(
|
||||
const SimdTransform& fromA,
|
||||
const SimdTransform& toA,
|
||||
const SimdTransform& fromB,
|
||||
const SimdTransform& toB,
|
||||
CastResult& result)
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
SimdVector3 linvelA,angvelA;
|
||||
SimdVector3 linvelB,angvelB;
|
||||
|
||||
SimdTransformUtil::CalculateVelocity(fromA,toA,1.f,linvelA,angvelA);
|
||||
SimdTransformUtil::CalculateVelocity(fromB,toB,1.f,linvelB,angvelB);
|
||||
|
||||
|
||||
SimdVector3 linearMotionA = toA.getOrigin() - fromA.getOrigin();
|
||||
SimdQuaternion angularMotionA(0,0,0,1.f);
|
||||
SimdVector3 linearMotionB = toB.getOrigin() - fromB.getOrigin();
|
||||
SimdQuaternion angularMotionB(0,0,0,1);
|
||||
|
||||
|
||||
|
||||
result.m_fraction = 1.f;
|
||||
|
||||
SimdTransform impactTransA;
|
||||
SimdTransform impactTransB;
|
||||
|
||||
int index=0;
|
||||
|
||||
SimdScalar toiUnscaled=result.m_fraction;
|
||||
const SimdScalar toiUnscaledLimit = result.m_fraction;
|
||||
|
||||
SimdTransform a2w;
|
||||
a2w = fromA;
|
||||
SimdTransform b2w = fromB;
|
||||
|
||||
/* debugging code
|
||||
{
|
||||
const int numvertsB = m_convexB->GetNumVertices();
|
||||
for (int v=0;v<numvertsB;v++)
|
||||
{
|
||||
SimdPoint3 pt;
|
||||
m_convexB->GetVertex(v,pt);
|
||||
pt = b2w * pt;
|
||||
char buf[1000];
|
||||
|
||||
if (pt.y() < 0.)
|
||||
{
|
||||
sprintf(buf,"PRE ERROR (%d) %.20E %.20E %.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
} else
|
||||
{
|
||||
sprintf(buf,"PRE %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
SimdTransform b2wp = b2w;
|
||||
|
||||
b2wp.setOrigin(b2w.getOrigin() + linearMotionB);
|
||||
b2wp.setRotation( b2w.getRotation() + angularMotionB);
|
||||
|
||||
impactTransB = b2wp;
|
||||
|
||||
SimdTransform a2wp;
|
||||
a2wp.setOrigin(a2w.getOrigin()+ linearMotionA);
|
||||
a2wp.setRotation(a2w.getRotation()+angularMotionA);
|
||||
|
||||
impactTransA = a2wp;
|
||||
|
||||
SimdTransform a2winv;
|
||||
a2winv = a2w.inverse();
|
||||
|
||||
SimdTransform b2wpinv;
|
||||
b2wpinv = b2wp.inverse();
|
||||
|
||||
SimdTransform b2winv;
|
||||
b2winv = b2w.inverse();
|
||||
|
||||
SimdTransform a2wpinv;
|
||||
a2wpinv = a2wp.inverse();
|
||||
|
||||
//Redon's version with concatenated transforms
|
||||
|
||||
SimdTransform relative;
|
||||
|
||||
relative = b2w * b2wpinv * a2wp * a2winv;
|
||||
|
||||
//relative = a2winv * a2wp * b2wpinv * b2w;
|
||||
|
||||
SimdQuaternion qrel;
|
||||
relative.getBasis().getRotation(qrel);
|
||||
|
||||
SimdVector3 linvel = relative.getOrigin();
|
||||
|
||||
if (linvel.length() < SCREWEPSILON)
|
||||
{
|
||||
linvel.setValue(0.,0.,0.);
|
||||
}
|
||||
SimdVector3 angvel;
|
||||
angvel[0] = 2.f * SimdAsin (qrel[0]);
|
||||
angvel[1] = 2.f * SimdAsin (qrel[1]);
|
||||
angvel[2] = 2.f * SimdAsin (qrel[2]);
|
||||
|
||||
if (angvel.length() < SCREWEPSILON)
|
||||
{
|
||||
angvel.setValue(0.f,0.f,0.f);
|
||||
}
|
||||
|
||||
//Redon's version with concatenated transforms
|
||||
m_screwing = BU_Screwing(linvel,angvel);
|
||||
|
||||
SimdTransform w2s;
|
||||
m_screwing.LocalMatrix(w2s);
|
||||
|
||||
SimdTransform s2w;
|
||||
s2w = w2s.inverse();
|
||||
|
||||
//impactTransA = a2w;
|
||||
//impactTransB = b2w;
|
||||
|
||||
bool hit = false;
|
||||
|
||||
if (SimdFuzzyZero(m_screwing.GetS()) && SimdFuzzyZero(m_screwing.GetW()))
|
||||
{
|
||||
//W = 0 , S = 0 , no collision
|
||||
//toi = 0;
|
||||
/*
|
||||
{
|
||||
const int numvertsB = m_convexB->GetNumVertices();
|
||||
for (int v=0;v<numvertsB;v++)
|
||||
{
|
||||
SimdPoint3 pt;
|
||||
m_convexB->GetVertex(v,pt);
|
||||
pt = impactTransB * pt;
|
||||
char buf[1000];
|
||||
|
||||
if (pt.y() < 0.)
|
||||
{
|
||||
sprintf(buf,"EARLY POST ERROR (%d) %.20E,%.20E,%.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
}
|
||||
else
|
||||
{
|
||||
sprintf(buf,"EARLY POST %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
return false;//don't continue moving within epsilon
|
||||
}
|
||||
|
||||
#define EDGEEDGE
|
||||
#ifdef EDGEEDGE
|
||||
|
||||
BU_EdgeEdge edgeEdge;
|
||||
|
||||
//for all edged in A check agains all edges in B
|
||||
for (int ea = 0;ea < m_convexA->GetNumEdges();ea++)
|
||||
{
|
||||
SimdPoint3 pA0,pA1;
|
||||
|
||||
m_convexA->GetEdge(ea,pA0,pA1);
|
||||
|
||||
pA0= a2w * pA0;//in world space
|
||||
pA0 = w2s * pA0;//in screwing space
|
||||
|
||||
pA1= a2w * pA1;//in world space
|
||||
pA1 = w2s * pA1;//in screwing space
|
||||
|
||||
int numedgesB = m_convexB->GetNumEdges();
|
||||
for (int eb = 0; eb < numedgesB;eb++)
|
||||
{
|
||||
{
|
||||
SimdPoint3 pB0,pB1;
|
||||
m_convexB->GetEdge(eb,pB0,pB1);
|
||||
|
||||
pB0= b2w * pB0;//in world space
|
||||
pB0 = w2s * pB0;//in screwing space
|
||||
|
||||
pB1= b2w * pB1;//in world space
|
||||
pB1 = w2s * pB1;//in screwing space
|
||||
|
||||
|
||||
SimdScalar lambda,mu;
|
||||
|
||||
toiUnscaled = 1.;
|
||||
|
||||
SimdVector3 edgeDirA(pA1-pA0);
|
||||
SimdVector3 edgeDirB(pB1-pB0);
|
||||
|
||||
if (edgeEdge.GetTimeOfImpact(m_screwing,pA0,edgeDirA,pB0,edgeDirB,toiUnscaled,lambda,mu))
|
||||
{
|
||||
//printf("edgeedge potential hit\n");
|
||||
if (toiUnscaled>=0)
|
||||
{
|
||||
if (toiUnscaled < toiUnscaledLimit)
|
||||
{
|
||||
|
||||
//inside check is already done by checking the mu and gamma !
|
||||
|
||||
SimdPoint3 vtx = pA0+lambda * (pA1-pA0);
|
||||
SimdPoint3 hitpt = m_screwing.InBetweenPosition(vtx,toiUnscaled);
|
||||
|
||||
SimdPoint3 hitptWorld = s2w * hitpt;
|
||||
{
|
||||
|
||||
if (toiUnscaled < result.m_fraction)
|
||||
result.m_fraction = toiUnscaled;
|
||||
|
||||
hit = true;
|
||||
|
||||
SimdVector3 hitNormal = edgeDirB.cross(edgeDirA);
|
||||
|
||||
hitNormal = m_screwing.InBetweenVector(hitNormal,toiUnscaled);
|
||||
|
||||
|
||||
hitNormal.normalize();
|
||||
|
||||
//an approximated normal can be calculated by taking the cross product of both edges
|
||||
//take care of the sign !
|
||||
|
||||
SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
|
||||
|
||||
SimdScalar dist = m_screwing.GetU().dot(hitNormalWorld);
|
||||
if (dist > 0)
|
||||
hitNormalWorld *= -1;
|
||||
|
||||
//todo: this is the wrong point, because b2winv is still at begin of motion
|
||||
// not at time-of-impact location!
|
||||
//bhitpt = b2winv * hitptWorld;
|
||||
|
||||
// m_manifold.SetContactPoint(BUM_FeatureEdgeEdge,index,ea,eb,hitptWorld,hitNormalWorld);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
index++;
|
||||
}
|
||||
};
|
||||
#endif //EDGEEDGE
|
||||
|
||||
#define VERTEXFACE
|
||||
#ifdef VERTEXFACE
|
||||
|
||||
// for all vertices in A, for each face in B,do vertex-face
|
||||
{
|
||||
const int numvertsA = m_convexA->GetNumVertices();
|
||||
for (int v=0;v<numvertsA;v++)
|
||||
//int v=3;
|
||||
|
||||
{
|
||||
SimdPoint3 vtx;
|
||||
m_convexA->GetVertex(v,vtx);
|
||||
|
||||
vtx = a2w * vtx;//in world space
|
||||
vtx = w2s * vtx;//in screwing space
|
||||
|
||||
const int numplanesB = m_convexB->GetNumPlanes();
|
||||
|
||||
for (int p = 0 ; p < numplanesB; p++)
|
||||
//int p=2;
|
||||
{
|
||||
|
||||
{
|
||||
|
||||
SimdVector3 planeNorm;
|
||||
SimdPoint3 planeSupport;
|
||||
|
||||
m_convexB->GetPlane(planeNorm,planeSupport,p);
|
||||
|
||||
|
||||
planeSupport = b2w * planeSupport;//transform to world space
|
||||
SimdVector3 planeNormWorld = b2w.getBasis() * planeNorm;
|
||||
|
||||
planeSupport = w2s * planeSupport ; //transform to screwing space
|
||||
planeNorm = w2s.getBasis() * planeNormWorld;
|
||||
|
||||
planeNorm.normalize();
|
||||
|
||||
SimdScalar d = planeSupport.dot(planeNorm);
|
||||
|
||||
SimdVector4 planeEq(planeNorm[0],planeNorm[1],planeNorm[2],d);
|
||||
|
||||
BU_VertexPoly vtxApolyB;
|
||||
|
||||
toiUnscaled = 1.;
|
||||
|
||||
if ((p==2) && (v==6))
|
||||
{
|
||||
// printf("%f toiUnscaled\n",toiUnscaled);
|
||||
|
||||
}
|
||||
if (vtxApolyB.GetTimeOfImpact(m_screwing,vtx,planeEq,toiUnscaled,false))
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
if (toiUnscaled >= 0. )
|
||||
{
|
||||
//not only collect the first point, get every contactpoint, later we have to check the
|
||||
//manifold properly!
|
||||
|
||||
if (toiUnscaled <= toiUnscaledLimit)
|
||||
{
|
||||
// printf("toiUnscaled %f\n",toiUnscaled );
|
||||
|
||||
SimdPoint3 hitpt = m_screwing.InBetweenPosition(vtx,toiUnscaled);
|
||||
SimdVector3 hitNormal = m_screwing.InBetweenVector(planeNorm ,toiUnscaled);
|
||||
|
||||
SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
|
||||
SimdPoint3 hitptWorld = s2w * hitpt;
|
||||
|
||||
|
||||
hitpt = b2winv * hitptWorld;
|
||||
//vertex has to be 'within' the facet's boundary
|
||||
if (m_convexB->IsInside(hitpt,m_tolerance))
|
||||
{
|
||||
// m_manifold.SetContactPoint(BUM_FeatureVertexFace, index,v,p,hitptWorld,hitNormalWorld);
|
||||
|
||||
if (toiUnscaled < result.m_fraction)
|
||||
result.m_fraction= toiUnscaled;
|
||||
hit = true;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
index++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
// for all vertices in B, for each face in A,do vertex-face
|
||||
//copy and pasted from all verts A -> all planes B so potential typos!
|
||||
//todo: make this into one method with a kind of 'swapped' logic
|
||||
//
|
||||
{
|
||||
const int numvertsB = m_convexB->GetNumVertices();
|
||||
for (int v=0;v<numvertsB;v++)
|
||||
//int v=0;
|
||||
|
||||
{
|
||||
SimdPoint3 vtx;
|
||||
m_convexB->GetVertex(v,vtx);
|
||||
|
||||
vtx = b2w * vtx;//in world space
|
||||
/*
|
||||
|
||||
char buf[1000];
|
||||
|
||||
if (vtx.y() < 0.)
|
||||
{
|
||||
sprintf(buf,"ERROR !!!!!!!!!\n",v,vtx.x(),vtx.y(),vtx.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
}
|
||||
sprintf(buf,"vertexWorld(%d) = (%.20E,%.20E,%.20E)\n",v,vtx.x(),vtx.y(),vtx.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
|
||||
*/
|
||||
vtx = w2s * vtx;//in screwing space
|
||||
|
||||
const int numplanesA = m_convexA->GetNumPlanes();
|
||||
|
||||
for (int p = 0 ; p < numplanesA; p++)
|
||||
//int p=2;
|
||||
{
|
||||
|
||||
{
|
||||
SimdVector3 planeNorm;
|
||||
SimdPoint3 planeSupport;
|
||||
|
||||
m_convexA->GetPlane(planeNorm,planeSupport,p);
|
||||
|
||||
|
||||
planeSupport = a2w * planeSupport;//transform to world space
|
||||
SimdVector3 planeNormWorld = a2w.getBasis() * planeNorm;
|
||||
|
||||
planeSupport = w2s * planeSupport ; //transform to screwing space
|
||||
planeNorm = w2s.getBasis() * planeNormWorld;
|
||||
|
||||
planeNorm.normalize();
|
||||
|
||||
SimdScalar d = planeSupport.dot(planeNorm);
|
||||
|
||||
SimdVector4 planeEq(planeNorm[0],planeNorm[1],planeNorm[2],d);
|
||||
|
||||
BU_VertexPoly vtxBpolyA;
|
||||
|
||||
toiUnscaled = 1.;
|
||||
|
||||
if (vtxBpolyA.GetTimeOfImpact(m_screwing,vtx,planeEq,toiUnscaled,true))
|
||||
{
|
||||
if (toiUnscaled>=0.)
|
||||
{
|
||||
if (toiUnscaled < toiUnscaledLimit)
|
||||
{
|
||||
SimdPoint3 hitpt = m_screwing.InBetweenPosition( vtx , -toiUnscaled);
|
||||
SimdVector3 hitNormal = m_screwing.InBetweenVector(-planeNorm ,-toiUnscaled);
|
||||
//SimdScalar len = hitNormal.length()-1;
|
||||
|
||||
//assert( SimdFuzzyZero(len) );
|
||||
|
||||
|
||||
SimdVector3 hitNormalWorld = s2w.getBasis() * hitNormal ;
|
||||
SimdPoint3 hitptWorld = s2w * hitpt;
|
||||
hitpt = a2winv * hitptWorld;
|
||||
|
||||
|
||||
//vertex has to be 'within' the facet's boundary
|
||||
if (m_convexA->IsInside(hitpt,m_tolerance))
|
||||
{
|
||||
|
||||
// m_manifold.SetContactPoint(BUM_FeatureFaceVertex,index,p,v,hitptWorld,hitNormalWorld);
|
||||
if (toiUnscaled <result.m_fraction)
|
||||
result.m_fraction = toiUnscaled;
|
||||
hit = true;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
index++;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
#endif// VERTEXFACE
|
||||
|
||||
//the manifold now consists of all points/normals generated by feature-pairs that have a time-of-impact within this frame
|
||||
//in addition there are contact points from previous frames
|
||||
//we have to cleanup the manifold, using an additional epsilon/tolerance
|
||||
//as long as the distance from the contactpoint (in worldspace) to both objects is within this epsilon we keep the point
|
||||
//else throw it away
|
||||
|
||||
|
||||
if (hit)
|
||||
{
|
||||
|
||||
//try to avoid numerical drift on close contact
|
||||
|
||||
if (result.m_fraction < 0.00001)
|
||||
{
|
||||
// printf("toiUnscaledMin< 0.00001\n");
|
||||
impactTransA = a2w;
|
||||
impactTransB = b2w;
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
//SimdScalar vel = linearMotionB.length();
|
||||
|
||||
//todo: check this margin
|
||||
result.m_fraction *= 0.99f;
|
||||
|
||||
//move B to new position
|
||||
impactTransB.setOrigin(b2w.getOrigin()+ result.m_fraction*linearMotionB);
|
||||
SimdQuaternion ornB = b2w.getRotation()+angularMotionB*result.m_fraction;
|
||||
ornB.normalize();
|
||||
impactTransB.setRotation(ornB);
|
||||
|
||||
//now transform A
|
||||
SimdTransform a2s,a2b;
|
||||
a2s.mult( w2s , a2w);
|
||||
a2s= m_screwing.InBetweenTransform(a2s,result.m_fraction);
|
||||
a2s.multInverseLeft(w2s,a2s);
|
||||
a2b.multInverseLeft(b2w, a2s);
|
||||
|
||||
//transform by motion B
|
||||
impactTransA.mult(impactTransB, a2b);
|
||||
//normalize rotation
|
||||
SimdQuaternion orn;
|
||||
impactTransA.getBasis().getRotation(orn);
|
||||
orn.normalize();
|
||||
impactTransA.setBasis(SimdMatrix3x3(orn));
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
{
|
||||
const int numvertsB = m_convexB->GetNumVertices();
|
||||
for (int v=0;v<numvertsB;v++)
|
||||
{
|
||||
SimdPoint3 pt;
|
||||
m_convexB->GetVertex(v,pt);
|
||||
pt = impactTransB * pt;
|
||||
char buf[1000];
|
||||
|
||||
if (pt.y() < 0.)
|
||||
{
|
||||
sprintf(buf,"POST ERROR (%d) %.20E,%.20E,%.20E!!!!!!!!!\n",v,pt.x(),pt.y(),pt.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
}
|
||||
else
|
||||
{
|
||||
sprintf(buf,"POST %d = %.20E,%.20E,%.20E\n",v,pt.x(),pt.y(),pt.z());
|
||||
if (debugFile)
|
||||
fwrite(buf,1,strlen(buf),debugFile);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
return hit;
|
||||
}
|
||||
|
||||
|
||||
@@ -1,54 +0,0 @@
|
||||
/*
|
||||
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 BU_COLLISIONPAIR
|
||||
#define BU_COLLISIONPAIR
|
||||
|
||||
#include <NarrowPhaseCollision/BU_Screwing.h>
|
||||
#include <NarrowPhaseCollision/ConvexCast.h>
|
||||
|
||||
|
||||
#include <SimdQuaternion.h>
|
||||
|
||||
class PolyhedralConvexShape;
|
||||
|
||||
|
||||
///BU_CollisionPair implements collision algorithm for algebraic time of impact calculation of feature based shapes.
|
||||
class BU_CollisionPair : public ConvexCast
|
||||
{
|
||||
|
||||
public:
|
||||
BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance=0.2f);
|
||||
//toi
|
||||
|
||||
virtual bool calcTimeOfImpact(
|
||||
const SimdTransform& fromA,
|
||||
const SimdTransform& toA,
|
||||
const SimdTransform& fromB,
|
||||
const SimdTransform& toB,
|
||||
CastResult& result);
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
const PolyhedralConvexShape* m_convexA;
|
||||
const PolyhedralConvexShape* m_convexB;
|
||||
BU_Screwing m_screwing;
|
||||
SimdScalar m_tolerance;
|
||||
|
||||
};
|
||||
#endif //BU_COLLISIONPAIR
|
||||
@@ -1,578 +0,0 @@
|
||||
/*
|
||||
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 "BU_EdgeEdge.h"
|
||||
#include "BU_Screwing.h"
|
||||
#include <SimdPoint3.h>
|
||||
#include <SimdPoint3.h>
|
||||
|
||||
//#include "BU_IntervalArithmeticPolynomialSolver.h"
|
||||
#include "BU_AlgebraicPolynomialSolver.h"
|
||||
|
||||
#define USE_ALGEBRAIC
|
||||
#ifdef USE_ALGEBRAIC
|
||||
#define BU_Polynomial BU_AlgebraicPolynomialSolver
|
||||
#else
|
||||
#define BU_Polynomial BU_IntervalArithmeticPolynomialSolver
|
||||
#endif
|
||||
|
||||
BU_EdgeEdge::BU_EdgeEdge()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
bool BU_EdgeEdge::GetTimeOfImpact(
|
||||
const BU_Screwing& screwAB,
|
||||
const SimdPoint3& a,//edge in object A
|
||||
const SimdVector3& u,
|
||||
const SimdPoint3& c,//edge in object B
|
||||
const SimdVector3& v,
|
||||
SimdScalar &minTime,
|
||||
SimdScalar &lambda1,
|
||||
SimdScalar& mu1
|
||||
|
||||
)
|
||||
{
|
||||
bool hit=false;
|
||||
|
||||
SimdScalar lambda;
|
||||
SimdScalar mu;
|
||||
|
||||
const SimdScalar w=screwAB.GetW();
|
||||
const SimdScalar s=screwAB.GetS();
|
||||
|
||||
if (SimdFuzzyZero(s) &&
|
||||
SimdFuzzyZero(w))
|
||||
{
|
||||
//no motion, no collision
|
||||
return false;
|
||||
}
|
||||
|
||||
if (SimdFuzzyZero(w) )
|
||||
{
|
||||
//pure translation W=0, S <> 0
|
||||
//no trig, f(t)=t
|
||||
SimdScalar det = u.y()*v.x()-u.x()*v.y();
|
||||
if (!SimdFuzzyZero(det))
|
||||
{
|
||||
lambda = (a.x()*v.y() - c.x() * v.y() - v.x() * a.y() + v.x() * c.y()) / det;
|
||||
mu = (u.y() * a.x() - u.y() * c.x() - u.x() * a.y() + u.x() * c.y()) / det;
|
||||
|
||||
if (mu >=0 && mu <= 1 && lambda >= 0 && lambda <= 1)
|
||||
{
|
||||
// single potential collision is
|
||||
SimdScalar t = (c.z()-a.z()+mu*v.z()-lambda*u.z())/s;
|
||||
//if this is on the edge, and time t within [0..1] report hit
|
||||
if (t>=0 && t <= minTime)
|
||||
{
|
||||
hit = true;
|
||||
lambda1 = lambda;
|
||||
mu1 = mu;
|
||||
minTime=t;
|
||||
}
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
//parallel case, not yet
|
||||
}
|
||||
} else
|
||||
{
|
||||
if (SimdFuzzyZero(s) )
|
||||
{
|
||||
if (SimdFuzzyZero(u.z()) )
|
||||
{
|
||||
if (SimdFuzzyZero(v.z()) )
|
||||
{
|
||||
//u.z()=0,v.z()=0
|
||||
if (SimdFuzzyZero(a.z()-c.z()))
|
||||
{
|
||||
//printf("NOT YET planar problem, 4 vertex=edge cases\n");
|
||||
|
||||
} else
|
||||
{
|
||||
//printf("parallel but distinct planes, no collision\n");
|
||||
return false;
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
SimdScalar mu = (a.z() - c.z())/v.z();
|
||||
if (0<=mu && mu <= 1)
|
||||
{
|
||||
// printf("NOT YET//u.z()=0,v.z()<>0\n");
|
||||
} else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
} else
|
||||
{
|
||||
//u.z()<>0
|
||||
|
||||
if (SimdFuzzyZero(v.z()) )
|
||||
{
|
||||
//printf("u.z()<>0,v.z()=0\n");
|
||||
lambda = (c.z() - a.z())/u.z();
|
||||
if (0<=lambda && lambda <= 1)
|
||||
{
|
||||
//printf("u.z()<>0,v.z()=0\n");
|
||||
SimdPoint3 rotPt(a.x()+lambda * u.x(), a.y()+lambda * u.y(),0.f);
|
||||
SimdScalar r2 = rotPt.length2();//px*px + py*py;
|
||||
|
||||
//either y=a*x+b, or x = a*x+b...
|
||||
//depends on whether value v.x() is zero or not
|
||||
SimdScalar aa;
|
||||
SimdScalar bb;
|
||||
|
||||
if (SimdFuzzyZero(v.x()))
|
||||
{
|
||||
aa = v.x()/v.y();
|
||||
bb= c.x()+ (-c.y() /v.y()) *v.x();
|
||||
} else
|
||||
{
|
||||
//line is c+mu*v;
|
||||
//x = c.x()+mu*v.x();
|
||||
//mu = ((x-c.x())/v.x());
|
||||
//y = c.y()+((x-c.x())/v.x())*v.y();
|
||||
//y = c.y()+ (-c.x() /v.x()) *v.y() + (x /v.x()) *v.y();
|
||||
//y = a*x+b,where a = v.y()/v.x(), b= c.y()+ (-c.x() /v.x()) *v.y();
|
||||
aa = v.y()/v.x();
|
||||
bb= c.y()+ (-c.x() /v.x()) *v.y();
|
||||
}
|
||||
|
||||
SimdScalar disc = aa*aa*r2 + r2 - bb*bb;
|
||||
if (disc <0)
|
||||
{
|
||||
//edge doesn't intersect the circle (motion of the vertex)
|
||||
return false;
|
||||
}
|
||||
SimdScalar rad = SimdSqrt(r2);
|
||||
|
||||
if (SimdFuzzyZero(disc))
|
||||
{
|
||||
SimdPoint3 intersectPt;
|
||||
|
||||
SimdScalar mu;
|
||||
//intersectionPoint edge with circle;
|
||||
if (SimdFuzzyZero(v.x()))
|
||||
{
|
||||
intersectPt.setY( (-2*aa*bb)/(2*(aa*aa+1)));
|
||||
intersectPt.setX( aa*intersectPt.y()+bb );
|
||||
mu = ((intersectPt.y()-c.y())/v.y());
|
||||
} else
|
||||
{
|
||||
intersectPt.setX((-2*aa*bb)/(2*(aa*aa+1)));
|
||||
intersectPt.setY(aa*intersectPt.x()+bb);
|
||||
mu = ((intersectPt.getX()-c.getX())/v.getX());
|
||||
|
||||
}
|
||||
|
||||
if (0 <= mu && mu <= 1)
|
||||
{
|
||||
hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
|
||||
}
|
||||
//only one solution
|
||||
} else
|
||||
{
|
||||
//two points...
|
||||
//intersectionPoint edge with circle;
|
||||
SimdPoint3 intersectPt;
|
||||
//intersectionPoint edge with circle;
|
||||
if (SimdFuzzyZero(v.x()))
|
||||
{
|
||||
SimdScalar mu;
|
||||
|
||||
intersectPt.setY((-2.f*aa*bb+2.f*SimdSqrt(disc))/(2.f*(aa*aa+1.f)));
|
||||
intersectPt.setX(aa*intersectPt.y()+bb);
|
||||
mu = ((intersectPt.getY()-c.getY())/v.getY());
|
||||
if (0.f <= mu && mu <= 1.f)
|
||||
{
|
||||
hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
|
||||
}
|
||||
intersectPt.setY((-2.f*aa*bb-2.f*SimdSqrt(disc))/(2.f*(aa*aa+1.f)));
|
||||
intersectPt.setX(aa*intersectPt.y()+bb);
|
||||
mu = ((intersectPt.getY()-c.getY())/v.getY());
|
||||
if (0 <= mu && mu <= 1)
|
||||
{
|
||||
hit = hit || Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
SimdScalar mu;
|
||||
|
||||
intersectPt.setX((-2.f*aa*bb+2.f*SimdSqrt(disc))/(2*(aa*aa+1.f)));
|
||||
intersectPt.setY(aa*intersectPt.x()+bb);
|
||||
mu = ((intersectPt.getX()-c.getX())/v.getX());
|
||||
if (0 <= mu && mu <= 1)
|
||||
{
|
||||
hit = Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
|
||||
}
|
||||
intersectPt.setX((-2.f*aa*bb-2.f*SimdSqrt(disc))/(2.f*(aa*aa+1.f)));
|
||||
intersectPt.setY(aa*intersectPt.x()+bb);
|
||||
mu = ((intersectPt.getX()-c.getX())/v.getX());
|
||||
if (0.f <= mu && mu <= 1.f)
|
||||
{
|
||||
hit = hit || Calc2DRotationPointPoint(rotPt,rad,screwAB.GetW(),intersectPt,minTime);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
//int k=0;
|
||||
|
||||
} else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
//u.z()<>0,v.z()<>0
|
||||
//printf("general case with s=0\n");
|
||||
hit = GetTimeOfImpactGeneralCase(screwAB,a,u,c,v,minTime,lambda,mu);
|
||||
if (hit)
|
||||
{
|
||||
lambda1 = lambda;
|
||||
mu1 = mu;
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else
|
||||
{
|
||||
//printf("general case, W<>0,S<>0\n");
|
||||
hit = GetTimeOfImpactGeneralCase(screwAB,a,u,c,v,minTime,lambda,mu);
|
||||
if (hit)
|
||||
{
|
||||
lambda1 = lambda;
|
||||
mu1 = mu;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//W <> 0,pure rotation
|
||||
}
|
||||
|
||||
return hit;
|
||||
}
|
||||
|
||||
|
||||
bool BU_EdgeEdge::GetTimeOfImpactGeneralCase(
|
||||
const BU_Screwing& screwAB,
|
||||
const SimdPoint3& a,//edge in object A
|
||||
const SimdVector3& u,
|
||||
const SimdPoint3& c,//edge in object B
|
||||
const SimdVector3& v,
|
||||
SimdScalar &minTime,
|
||||
SimdScalar &lambda,
|
||||
SimdScalar& mu
|
||||
|
||||
)
|
||||
{
|
||||
bool hit = false;
|
||||
|
||||
SimdScalar coefs[4]={0.f,0.f,0.f,0.f};
|
||||
BU_Polynomial polynomialSolver;
|
||||
int numroots = 0;
|
||||
|
||||
//SimdScalar eps=1e-15f;
|
||||
//SimdScalar eps2=1e-20f;
|
||||
SimdScalar s=screwAB.GetS();
|
||||
SimdScalar w = screwAB.GetW();
|
||||
|
||||
SimdScalar ax = a.x();
|
||||
SimdScalar ay = a.y();
|
||||
SimdScalar az = a.z();
|
||||
SimdScalar cx = c.x();
|
||||
SimdScalar cy = c.y();
|
||||
SimdScalar cz = c.z();
|
||||
SimdScalar vx = v.x();
|
||||
SimdScalar vy = v.y();
|
||||
SimdScalar vz = v.z();
|
||||
SimdScalar ux = u.x();
|
||||
SimdScalar uy = u.y();
|
||||
SimdScalar uz = u.z();
|
||||
|
||||
|
||||
if (!SimdFuzzyZero(v.z()))
|
||||
{
|
||||
|
||||
//Maple Autogenerated C code
|
||||
SimdScalar t1,t2,t3,t4,t7,t8,t10;
|
||||
SimdScalar t13,t14,t15,t16,t17,t18,t19,t20;
|
||||
SimdScalar t21,t22,t23,t24,t25,t26,t27,t28,t29,t30;
|
||||
SimdScalar t31,t32,t33,t34,t35,t36,t39,t40;
|
||||
SimdScalar t41,t43,t48;
|
||||
SimdScalar t63;
|
||||
|
||||
SimdScalar aa,bb,cc,dd;//the coefficients
|
||||
|
||||
t1 = v.y()*s; t2 = t1*u.x();
|
||||
t3 = v.x()*s;
|
||||
t4 = t3*u.y();
|
||||
t7 = SimdTan(w/2.0f);
|
||||
t8 = 1.0f/t7;
|
||||
t10 = 1.0f/v.z();
|
||||
aa = (t2-t4)*t8*t10;
|
||||
t13 = a.x()*t7;
|
||||
t14 = u.z()*v.y();
|
||||
t15 = t13*t14;
|
||||
t16 = u.x()*v.z();
|
||||
t17 = a.y()*t7;
|
||||
t18 = t16*t17;
|
||||
t19 = u.y()*v.z();
|
||||
t20 = t13*t19;
|
||||
t21 = v.y()*u.x();
|
||||
t22 = c.z()*t7;
|
||||
t23 = t21*t22;
|
||||
t24 = v.x()*a.z();
|
||||
t25 = t7*u.y();
|
||||
t26 = t24*t25;
|
||||
t27 = c.y()*t7;
|
||||
t28 = t16*t27;
|
||||
t29 = a.z()*t7;
|
||||
t30 = t21*t29;
|
||||
t31 = u.z()*v.x();
|
||||
t32 = t31*t27;
|
||||
t33 = t31*t17;
|
||||
t34 = c.x()*t7;
|
||||
t35 = t34*t19;
|
||||
t36 = t34*t14;
|
||||
t39 = v.x()*c.z();
|
||||
t40 = t39*t25;
|
||||
t41 = 2.0f*t1*u.y()-t15+t18-t20-t23-t26+t28+t30+t32+t33-t35-t36+2.0f*t3*u.x()+t40;
|
||||
bb = t41*t8*t10;
|
||||
t43 = t7*u.x();
|
||||
t48 = u.y()*v.y();
|
||||
cc = (-2.0f*t39*t43+2.0f*t24*t43+t4-2.0f*t48*t22+2.0f*t34*t16-2.0f*t31*t13-t2
|
||||
-2.0f*t17*t14+2.0f*t19*t27+2.0f*t48*t29)*t8*t10;
|
||||
t63 = -t36+t26+t32-t40+t23+t35-t20+t18-t28-t33+t15-t30;
|
||||
dd = t63*t8*t10;
|
||||
|
||||
coefs[0]=aa;
|
||||
coefs[1]=bb;
|
||||
coefs[2]=cc;
|
||||
coefs[3]=dd;
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
SimdScalar t1,t2,t3,t4,t7,t8,t10;
|
||||
SimdScalar t13,t14,t15,t16,t17,t18,t19,t20;
|
||||
SimdScalar t21,t22,t23,t24,t25,t26,t27,t28,t29,t30;
|
||||
SimdScalar t31,t32,t33,t34,t35,t36,t37,t38,t57;
|
||||
SimdScalar p1,p2,p3,p4;
|
||||
|
||||
t1 = uy*s;
|
||||
t2 = t1*vx;
|
||||
t3 = ux*s;
|
||||
t4 = t3*vy;
|
||||
t7 = SimdTan(w/2.0f);
|
||||
t8 = 1/t7;
|
||||
t10 = 1/uz;
|
||||
t13 = ux*az;
|
||||
t14 = t7*vy;
|
||||
t15 = t13*t14;
|
||||
t16 = ax*t7;
|
||||
t17 = uy*vz;
|
||||
t18 = t16*t17;
|
||||
t19 = cx*t7;
|
||||
t20 = t19*t17;
|
||||
t21 = vy*uz;
|
||||
t22 = t19*t21;
|
||||
t23 = ay*t7;
|
||||
t24 = vx*uz;
|
||||
t25 = t23*t24;
|
||||
t26 = uy*cz;
|
||||
t27 = t7*vx;
|
||||
t28 = t26*t27;
|
||||
t29 = t16*t21;
|
||||
t30 = cy*t7;
|
||||
t31 = ux*vz;
|
||||
t32 = t30*t31;
|
||||
t33 = ux*cz;
|
||||
t34 = t33*t14;
|
||||
t35 = t23*t31;
|
||||
t36 = t30*t24;
|
||||
t37 = uy*az;
|
||||
t38 = t37*t27;
|
||||
|
||||
p4 = (-t2+t4)*t8*t10;
|
||||
p3 = 2.0f*t1*vy+t15-t18-t20-t22+t25+t28-t29+t32-t34+t35+t36-t38+2.0f*t3*vx;
|
||||
p2 = -2.0f*t33*t27-2.0f*t26*t14-2.0f*t23*t21+2.0f*t37*t14+2.0f*t30*t17+2.0f*t13
|
||||
*t27+t2-t4+2.0f*t19*t31-2.0f*t16*t24;
|
||||
t57 = -t22+t29+t36-t25-t32+t34+t35-t28-t15+t20-t18+t38;
|
||||
p1 = t57*t8*t10;
|
||||
|
||||
coefs[0] = p4;
|
||||
coefs[1] = p3;
|
||||
coefs[2] = p2;
|
||||
coefs[1] = p1;
|
||||
|
||||
}
|
||||
|
||||
numroots = polynomialSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
|
||||
|
||||
for (int i=0;i<numroots;i++)
|
||||
{
|
||||
//SimdScalar tau = roots[i];//polynomialSolver.GetRoot(i);
|
||||
SimdScalar tau = polynomialSolver.GetRoot(i);
|
||||
|
||||
//check whether mu and lambda are in range [0..1]
|
||||
|
||||
if (!SimdFuzzyZero(v.z()))
|
||||
{
|
||||
SimdScalar A1=(ux-ux*tau*tau-2.f*tau*uy)-((1.f+tau*tau)*vx*uz/vz);
|
||||
SimdScalar B1=((1.f+tau*tau)*(cx*SimdTan(1.f/2.f*w)*vz+
|
||||
vx*az*SimdTan(1.f/2.f*w)-vx*cz*SimdTan(1.f/2.f*w)+
|
||||
vx*s*tau)/SimdTan(1.f/2.f*w)/vz)-(ax-ax*tau*tau-2.f*tau*ay);
|
||||
lambda = B1/A1;
|
||||
|
||||
mu = (a.z()-c.z()+lambda*u.z()+(s*tau)/(SimdTan(w/2.f)))/v.z();
|
||||
|
||||
|
||||
//double check in original equation
|
||||
|
||||
SimdScalar lhs = (a.x()+lambda*u.x())
|
||||
*((1.f-tau*tau)/(1.f+tau*tau))-
|
||||
(a.y()+lambda*u.y())*((2.f*tau)/(1.f+tau*tau));
|
||||
|
||||
lhs = lambda*((ux-ux*tau*tau-2.f*tau*uy)-((1.f+tau*tau)*vx*uz/vz));
|
||||
|
||||
SimdScalar rhs = c.x()+mu*v.x();
|
||||
|
||||
rhs = ((1.f+tau*tau)*(cx*SimdTan(1.f/2.f*w)*vz+vx*az*SimdTan(1.f/2.f*w)-
|
||||
vx*cz*SimdTan(1.f/2.f*w)+vx*s*tau)/(SimdTan(1.f/2.f*w)*vz))-
|
||||
|
||||
(ax-ax*tau*tau-2.f*tau*ay);
|
||||
|
||||
/*SimdScalar res = coefs[0]*tau*tau*tau+
|
||||
coefs[1]*tau*tau+
|
||||
coefs[2]*tau+
|
||||
coefs[3];*/
|
||||
|
||||
//lhs should be rhs !
|
||||
|
||||
if (0.<= mu && mu <=1 && 0.<=lambda && lambda <= 1)
|
||||
{
|
||||
|
||||
} else
|
||||
{
|
||||
//skip this solution, not really touching
|
||||
continue;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
SimdScalar t = 2.f*SimdAtan(tau)/screwAB.GetW();
|
||||
//tau = tan (wt/2) so 2*atan (tau)/w
|
||||
if (t>=0.f && t<minTime)
|
||||
{
|
||||
#ifdef STATS_EDGE_EDGE
|
||||
printf(" ax = %12.12f\n ay = %12.12f\n az = %12.12f\n",a.x(),a.y(),a.z());
|
||||
printf(" ux = %12.12f\n uy = %12.12f\n uz = %12.12f\n",u.x(),u.y(),u.z());
|
||||
printf(" cx = %12.12f\n cy = %12.12f\n cz = %12.12f\n",c.x(),c.y(),c.z());
|
||||
printf(" vx = %12.12f\n vy = %12.12f\n vz = %12.12f\n",v.x(),v.y(),v.z());
|
||||
printf(" s = %12.12f\n w = %12.12f\n", s, w);
|
||||
|
||||
printf(" tau = %12.12f \n lambda = %12.12f \n mu = %f\n",tau,lambda,mu);
|
||||
printf(" ---------------------------------------------\n");
|
||||
|
||||
#endif
|
||||
|
||||
// v,u,a,c,s,w
|
||||
|
||||
// BU_IntervalArithmeticPolynomialSolver iaSolver;
|
||||
// int numroots2 = iaSolver.Solve3Cubic(coefs[0],coefs[1],coefs[2],coefs[3]);
|
||||
|
||||
minTime = t;
|
||||
hit = true;
|
||||
}
|
||||
}
|
||||
|
||||
return hit;
|
||||
}
|
||||
|
||||
|
||||
//C -S
|
||||
//S C
|
||||
|
||||
bool BU_EdgeEdge::Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime)
|
||||
{
|
||||
bool hit = false;
|
||||
|
||||
// now calculate the planeEquation for the vertex motion,
|
||||
// and check if the intersectionpoint is at the positive side
|
||||
SimdPoint3 rotPt1(SimdCos(rotW)*rotPt.x()-SimdSin(rotW)*rotPt.y(),
|
||||
SimdSin(rotW)*rotPt.x()+SimdCos(rotW)*rotPt.y(),
|
||||
0.f);
|
||||
|
||||
SimdVector3 rotVec = rotPt1-rotPt;
|
||||
|
||||
SimdVector3 planeNormal( -rotVec.y() , rotVec.x() ,0.f);
|
||||
|
||||
//SimdPoint3 pt(a.x(),a.y());//for sake of readability,could write dot directly
|
||||
SimdScalar planeD = planeNormal.dot(rotPt1);
|
||||
|
||||
SimdScalar dist = (planeNormal.dot(intersectPt)-planeD);
|
||||
hit = (dist >= -0.001);
|
||||
|
||||
//if (hit)
|
||||
{
|
||||
// minTime = 0;
|
||||
//calculate the time of impact, using the fact of
|
||||
//toi = alpha / screwAB.getW();
|
||||
// cos (alpha) = adjacent/hypothenuse;
|
||||
//adjacent = dotproduct(ipedge,point);
|
||||
//hypothenuse = sqrt(r2);
|
||||
SimdScalar adjacent = intersectPt.dot(rotPt)/rotRadius;
|
||||
SimdScalar hypo = rotRadius;
|
||||
SimdScalar alpha = SimdAcos(adjacent/hypo);
|
||||
SimdScalar t = alpha / rotW;
|
||||
if (t >= 0 && t < minTime)
|
||||
{
|
||||
hit = true;
|
||||
minTime = t;
|
||||
} else
|
||||
{
|
||||
hit = false;
|
||||
}
|
||||
|
||||
}
|
||||
return hit;
|
||||
}
|
||||
|
||||
bool BU_EdgeEdge::GetTimeOfImpactVertexEdge(
|
||||
const BU_Screwing& screwAB,
|
||||
const SimdPoint3& a,//edge in object A
|
||||
const SimdVector3& u,
|
||||
const SimdPoint3& c,//edge in object B
|
||||
const SimdVector3& v,
|
||||
SimdScalar &minTime,
|
||||
SimdScalar &lamda,
|
||||
SimdScalar& mu
|
||||
|
||||
)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
@@ -1,76 +0,0 @@
|
||||
/*
|
||||
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 BU_EDGEEDGE
|
||||
#define BU_EDGEEDGE
|
||||
|
||||
class BU_Screwing;
|
||||
#include <SimdTransform.h>
|
||||
#include <SimdPoint3.h>
|
||||
#include <SimdVector3.h>
|
||||
|
||||
//class BUM_Point2;
|
||||
|
||||
#include <SimdScalar.h>
|
||||
|
||||
///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
|
||||
class BU_EdgeEdge
|
||||
{
|
||||
public:
|
||||
|
||||
|
||||
BU_EdgeEdge();
|
||||
bool GetTimeOfImpact(
|
||||
const BU_Screwing& screwAB,
|
||||
const SimdPoint3& a,//edge in object A
|
||||
const SimdVector3& u,
|
||||
const SimdPoint3& c,//edge in object B
|
||||
const SimdVector3& v,
|
||||
SimdScalar &minTime,
|
||||
SimdScalar &lamda,
|
||||
SimdScalar& mu
|
||||
);
|
||||
private:
|
||||
|
||||
bool Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime);
|
||||
bool GetTimeOfImpactGeneralCase(
|
||||
const BU_Screwing& screwAB,
|
||||
const SimdPoint3& a,//edge in object A
|
||||
const SimdVector3& u,
|
||||
const SimdPoint3& c,//edge in object B
|
||||
const SimdVector3& v,
|
||||
SimdScalar &minTime,
|
||||
SimdScalar &lamda,
|
||||
SimdScalar& mu
|
||||
|
||||
);
|
||||
|
||||
|
||||
bool GetTimeOfImpactVertexEdge(
|
||||
const BU_Screwing& screwAB,
|
||||
const SimdPoint3& a,//edge in object A
|
||||
const SimdVector3& u,
|
||||
const SimdPoint3& c,//edge in object B
|
||||
const SimdVector3& v,
|
||||
SimdScalar &minTime,
|
||||
SimdScalar &lamda,
|
||||
SimdScalar& mu
|
||||
|
||||
);
|
||||
|
||||
};
|
||||
|
||||
#endif //BU_EDGEEDGE
|
||||
@@ -1,50 +0,0 @@
|
||||
/*
|
||||
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 BU_MOTIONSTATE
|
||||
#define BU_MOTIONSTATE
|
||||
|
||||
|
||||
#include <SimdTransform.h>
|
||||
#include <SimdPoint3.h>
|
||||
#include <SimdQuaternion.h>
|
||||
|
||||
class BU_MotionStateInterface
|
||||
{
|
||||
public:
|
||||
virtual ~BU_MotionStateInterface(){};
|
||||
|
||||
virtual void SetTransform(const SimdTransform& trans) = 0;
|
||||
virtual void GetTransform(SimdTransform& trans) const = 0;
|
||||
|
||||
virtual void SetPosition(const SimdPoint3& position) = 0;
|
||||
virtual void GetPosition(SimdPoint3& position) const = 0;
|
||||
|
||||
virtual void SetOrientation(const SimdQuaternion& orientation) = 0;
|
||||
virtual void GetOrientation(SimdQuaternion& orientation) const = 0;
|
||||
|
||||
virtual void SetBasis(const SimdMatrix3x3& basis) = 0;
|
||||
virtual void GetBasis(SimdMatrix3x3& basis) const = 0;
|
||||
|
||||
virtual void SetLinearVelocity(const SimdVector3& linvel) = 0;
|
||||
virtual void GetLinearVelocity(SimdVector3& linvel) const = 0;
|
||||
|
||||
virtual void GetAngularVelocity(SimdVector3& angvel) const = 0;
|
||||
virtual void SetAngularVelocity(const SimdVector3& angvel) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //BU_MOTIONSTATE
|
||||
@@ -1,39 +0,0 @@
|
||||
/*
|
||||
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 BUM_POLYNOMIAL_SOLVER_INTERFACE
|
||||
#define BUM_POLYNOMIAL_SOLVER_INTERFACE
|
||||
|
||||
#include <SimdScalar.h>
|
||||
//
|
||||
//BUM_PolynomialSolverInterface is interface class for polynomial root finding.
|
||||
//The number of roots is returned as a result, query GetRoot to get the actual solution.
|
||||
//
|
||||
class BUM_PolynomialSolverInterface
|
||||
{
|
||||
public:
|
||||
virtual ~BUM_PolynomialSolverInterface() {};
|
||||
|
||||
|
||||
// virtual int Solve2QuadraticFull(SimdScalar a,SimdScalar b, SimdScalar c) = 0;
|
||||
|
||||
virtual int Solve3Cubic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c) = 0;
|
||||
|
||||
virtual int Solve4Quartic(SimdScalar lead, SimdScalar a, SimdScalar b, SimdScalar c, SimdScalar d) = 0;
|
||||
|
||||
virtual SimdScalar GetRoot(int i) const = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //BUM_POLYNOMIAL_SOLVER_INTERFACE
|
||||
@@ -1,200 +0,0 @@
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Stephane Redon / 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 "BU_Screwing.h"
|
||||
|
||||
|
||||
BU_Screwing::BU_Screwing(const SimdVector3& relLinVel,const SimdVector3& relAngVel) {
|
||||
|
||||
|
||||
const SimdScalar dx=relLinVel[0];
|
||||
const SimdScalar dy=relLinVel[1];
|
||||
const SimdScalar dz=relLinVel[2];
|
||||
const SimdScalar wx=relAngVel[0];
|
||||
const SimdScalar wy=relAngVel[1];
|
||||
const SimdScalar wz=relAngVel[2];
|
||||
|
||||
// Compute the screwing parameters :
|
||||
// w : total amount of rotation
|
||||
// s : total amount of translation
|
||||
// u : vector along the screwing axis (||u||=1)
|
||||
// o : point on the screwing axis
|
||||
|
||||
m_w=SimdSqrt(wx*wx+wy*wy+wz*wz);
|
||||
//if (!w) {
|
||||
if (fabs(m_w)<SCREWEPSILON ) {
|
||||
|
||||
assert(m_w == 0.f);
|
||||
|
||||
m_w=0.;
|
||||
m_s=SimdSqrt(dx*dx+dy*dy+dz*dz);
|
||||
if (fabs(m_s)<SCREWEPSILON ) {
|
||||
assert(m_s == 0.);
|
||||
|
||||
m_s=0.;
|
||||
m_u=SimdPoint3(0.,0.,1.);
|
||||
m_o=SimdPoint3(0.,0.,0.);
|
||||
}
|
||||
else {
|
||||
float t=1.f/m_s;
|
||||
m_u=SimdPoint3(dx*t,dy*t,dz*t);
|
||||
m_o=SimdPoint3(0.f,0.f,0.f);
|
||||
}
|
||||
}
|
||||
else { // there is some rotation
|
||||
|
||||
// we compute u
|
||||
|
||||
float v(1.f/m_w);
|
||||
m_u=SimdPoint3(wx*v,wy*v,wz*v); // normalization
|
||||
|
||||
// decomposition of the translation along u and one orthogonal vector
|
||||
|
||||
SimdPoint3 t(dx,dy,dz);
|
||||
m_s=t.dot(m_u); // component along u
|
||||
if (fabs(m_s)<SCREWEPSILON)
|
||||
{
|
||||
//printf("m_s component along u < SCREWEPSILION\n");
|
||||
m_s=0.f;
|
||||
}
|
||||
SimdPoint3 n1(t-(m_s*m_u)); // the remaining part (which is orthogonal to u)
|
||||
|
||||
// now we have to compute o
|
||||
|
||||
//SimdScalar len = n1.length2();
|
||||
//(len >= BUM_EPSILON2) {
|
||||
if (n1[0] || n1[1] || n1[2]) { // n1 is not the zero vector
|
||||
n1.normalize();
|
||||
SimdVector3 n1orth=m_u.cross(n1);
|
||||
|
||||
float n2x=SimdCos(0.5f*m_w);
|
||||
float n2y=SimdSin(0.5f*m_w);
|
||||
|
||||
m_o=0.5f*t.dot(n1)*(n1+n2x/n2y*n1orth);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_o=SimdPoint3(0.f,0.f,0.f);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//Then, I need to compute Pa, the matrix from the reference (global) frame to
|
||||
//the screwing frame :
|
||||
|
||||
|
||||
void BU_Screwing::LocalMatrix(SimdTransform &t) const {
|
||||
//So the whole computations do this : align the Oz axis along the
|
||||
// screwing axis (thanks to u), and then find two others orthogonal axes to
|
||||
// complete the basis.
|
||||
|
||||
if ((m_u[0]>SCREWEPSILON)||(m_u[0]<-SCREWEPSILON)||(m_u[1]>SCREWEPSILON)||(m_u[1]<-SCREWEPSILON))
|
||||
{
|
||||
// to avoid numerical problems
|
||||
float n=SimdSqrt(m_u[0]*m_u[0]+m_u[1]*m_u[1]);
|
||||
float invn=1.0f/n;
|
||||
SimdMatrix3x3 mat;
|
||||
|
||||
mat[0][0]=-m_u[1]*invn;
|
||||
mat[0][1]=m_u[0]*invn;
|
||||
mat[0][2]=0.f;
|
||||
|
||||
mat[1][0]=-m_u[0]*invn*m_u[2];
|
||||
mat[1][1]=-m_u[1]*invn*m_u[2];
|
||||
mat[1][2]=n;
|
||||
|
||||
mat[2][0]=m_u[0];
|
||||
mat[2][1]=m_u[1];
|
||||
mat[2][2]=m_u[2];
|
||||
|
||||
t.setOrigin(SimdPoint3(
|
||||
m_o[0]*m_u[1]*invn-m_o[1]*m_u[0]*invn,
|
||||
-(m_o[0]*mat[1][0]+m_o[1]*mat[1][1]+m_o[2]*n),
|
||||
-(m_o[0]*m_u[0]+m_o[1]*m_u[1]+m_o[2]*m_u[2])));
|
||||
|
||||
t.setBasis(mat);
|
||||
|
||||
}
|
||||
else {
|
||||
|
||||
SimdMatrix3x3 m;
|
||||
|
||||
m[0][0]=1.;
|
||||
m[1][0]=0.;
|
||||
m[2][0]=0.;
|
||||
|
||||
m[0][1]=0.f;
|
||||
m[1][1]=float(SimdSign(m_u[2]));
|
||||
m[2][1]=0.f;
|
||||
|
||||
m[0][2]=0.f;
|
||||
m[1][2]=0.f;
|
||||
m[2][2]=float(SimdSign(m_u[2]));
|
||||
|
||||
t.setOrigin(SimdPoint3(
|
||||
-m_o[0],
|
||||
-SimdSign(m_u[2])*m_o[1],
|
||||
-SimdSign(m_u[2])*m_o[2]
|
||||
));
|
||||
t.setBasis(m);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//gives interpolated transform for time in [0..1] in screwing frame
|
||||
SimdTransform BU_Screwing::InBetweenTransform(const SimdTransform& tr,SimdScalar t) const
|
||||
{
|
||||
SimdPoint3 org = tr.getOrigin();
|
||||
|
||||
SimdPoint3 neworg (
|
||||
org.x()*SimdCos(m_w*t)-org.y()*SimdSin(m_w*t),
|
||||
org.x()*SimdSin(m_w*t)+org.y()*SimdCos(m_w*t),
|
||||
org.z()+m_s*CalculateF(t));
|
||||
|
||||
SimdTransform newtr;
|
||||
newtr.setOrigin(neworg);
|
||||
SimdMatrix3x3 basis = tr.getBasis();
|
||||
SimdMatrix3x3 basisorg = tr.getBasis();
|
||||
|
||||
SimdQuaternion rot(SimdVector3(0.,0.,1.),m_w*t);
|
||||
SimdQuaternion tmpOrn;
|
||||
tr.getBasis().getRotation(tmpOrn);
|
||||
rot = rot * tmpOrn;
|
||||
|
||||
//to avoid numerical drift, normalize quaternion
|
||||
rot.normalize();
|
||||
newtr.setBasis(SimdMatrix3x3(rot));
|
||||
return newtr;
|
||||
|
||||
}
|
||||
|
||||
|
||||
SimdScalar BU_Screwing::CalculateF(SimdScalar t) const
|
||||
{
|
||||
SimdScalar result;
|
||||
if (!m_w)
|
||||
{
|
||||
result = t;
|
||||
} else
|
||||
{
|
||||
result = ( SimdTan((m_w*t)/2.f) / SimdTan(m_w/2.f));
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user