void csBulletCollider::FillWithColliderGeometry (
csRef<iGeneralFactoryState> genmesh_fact)
{
// @@@ TODO
#if 0
switch (geomType)
{
case BOX_COLLIDER_GEOMETRY:
{
SimdTransform trans;
SimdVector3 max;
SimdVector3 min;
BoxShape* b = (BoxShape*)pc->GetRigidBody ()->GetCollisionShape ();
csBox3 box;
for (int i = 0; i < b->GetNumVertices (); i++)
{
SimdVector3 vtx;
b->GetVertex (i, vtx);
box.AddBoundingVertexTest (csVector3 (vtx[0], vtx[1], vtx[2]));
}
genmesh_fact->GenerateBox (box);
genmesh_fact->CalculateNormals ();
}
break;
default:
break;
}
#endif
}
size_t collide(CircleShape &circle, BoxShape &box, float dt, Contact *pxContacts, size_t numMaxContacts)
{
dt, pxContacts, numMaxContacts;
const Point2f &p1 = circle.body.getPosition();
const Point2f &p2 = box.body.getPosition();
// work in the box's coordinate system
const Point2f kDiff = p1 - p2;
// compute squared distance and closest point on box
float fSqrDistance = 0.0f, fDelta;
Point2f kClosest(kDiff * box.GetDir(0), kDiff * box.GetDir(1));
const Point2f &extents = box.GetExtents();
if (kClosest.x < -extents.x)
{
fDelta = kClosest.x + extents.x;
fSqrDistance += fDelta*fDelta;
kClosest.x = -extents.x;
}
else if (kClosest.x > extents.x)
{
fDelta = kClosest.x - extents.x;
fSqrDistance += fDelta*fDelta;
kClosest.x = extents.x;
}
if (kClosest.y < -extents.y)
{
fDelta = kClosest.y + extents.y;
fSqrDistance += fDelta*fDelta;
kClosest.y = -extents.y;
}
else if (kClosest.y > extents.y)
{
fDelta = kClosest.y - extents.y;
fSqrDistance += fDelta*fDelta;
kClosest.y = extents.y;
}
if (fSqrDistance > circle.GetRadius() * circle.GetRadius())
{
return 0;
}
Point2f d = p2 + kClosest - p1;
d.Normalize();
pxContacts[0] = Contact(p1 + d * circle.GetRadius(), p2 + kClosest, &circle.body, &box.body);
return 1;
}
/*
==========
Frustum::BoxInFrustum
Checks if a box is in the frustum.
==========
*/
FrustumResult::Value Frustum::BoxInFrustum( const BoxShape& box ) const {
glm::vec3 positiveVertex, negativeVertex;
FrustumResult::Value ret = FrustumResult::INSIDE;
for ( int i = 0; i < 6; ++i ) {
negativeVertex = box.GetNegativeVertex( glm::vec3( m_planes[i] ) );
positiveVertex = box.GetPositiveVertex( glm::vec3( m_planes[i] ) );
if ( glm::dot( glm::vec3( m_planes[i] ), positiveVertex ) + m_planes[i].w < 0 ) {
return FrustumResult::OUTSIDE;
} else if ( glm::dot( glm::vec3( m_planes[i] ), negativeVertex ) + m_planes[i].w < 0 ) {
ret = FrustumResult::INTERSECT;
}
}
return ret;
/*
glm::vec3 positiveVertex;
glm::vec3 negativeVertex;
const Transform& boxTransform = box.GetImmutableTransform();
if ( std::abs( boxTransform.GetRotation().y ) < 0.001f ) {
positiveVertex = box.GetPositiveVertex( m_planes[i].GetNormal() );
negativeVertex = box.GetNegativeVertex( m_planes[i].GetNormal() );
} else {
glm::vec3 normalBox( glm::dot( boxTransform.GetRight(), m_planes[i].GetNormal() ),
glm::dot( boxTransform.GetUp(), m_planes[i].GetNormal() ),
glm::dot( boxTransform .GetForward(), m_planes[i].GetNormal() ) );
positiveVertex = box.GetPositiveVertex( normalBox );
negativeVertex = box.GetNegativeVertex( normalBox );
}
if ( m_planes[i].Distance( positiveVertex ) < 0 ) {
return FrustumResult::OUTSIDE;
} else if ( m_planes[i].Distance( negativeVertex ) < 0 ) {
return FrustumResult::INTERSECT;
}
}
*/
}
bool testOBBPlane( RigidBody& box, RigidBody& plane)
{
BoxShape boxs = (BoxShape&)box.getShapeReference();
float d = ((PlaneShape&)plane.getShapeReference()).getDistance();
Mat<float> n( ((PlaneShape&)plane.getShapeReference()).getNormal());
Mat<float> e((float)0,3,3);
for(int i=1;i<=3;i++) e.set(1.0f, i,i);
//identity matrix to be rotated in order to have the basis related to the coordinate frame of the box :
e = extract( box.getTransformation(), 1,1, 3,3) * e;
float r = boxs.getHeight()*fabs_( dotProduct( Cola(e,1), n) ) + boxs.getWidth()*fabs_( dotProduct( Cola(e,2), n) ) + boxs.getDepth()*fabs_( dotProduct( Cola(e,3), n) );
float s = dotProduct( n, box.getPosition()) - d;
return fabs_(s) <= r;
}
bool IntervalIntersect(const Point2f& xAxis, const BoxShape& box1, const BoxShape& box2, float& depth)
{
float min0, max0;
float min1, max1;
box1.GetInterval(xAxis, min0, max0);
box2.GetInterval(xAxis, min1, max1);
if (min0 > max1 || min1 > max0) return false;
float d0 = max1 - min0;
float d1 = max0 - min1;
if (d0 < d1)
depth = d0;
else
depth = d1;
return true;
}
int main(int argc,char** argv)
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
SimdScalar radi[NUM_SPHERES] = { 0.35f,0.35f,0.45f,0.40f,0.40f };
MultiSphereShape multiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape convexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =&convexHullShape;
shapePtr[3] =&myMink;//myBox;
simplex.SetMargin(0.3f);
setCameraDistance(6.f);
return glutmain(argc, argv,screenWidth,screenHeight,"Minkowski-Sum Raytracer Demo");
}
void Raytracer::initPhysics()
{
raytracePicture = new RenderTexture(screenWidth,screenHeight);
myBox.SetMargin(0.02f);
myCone.SetMargin(0.2f);
simplex.SetSimplexSolver(&simplexSolver);
simplex.AddVertex(SimdPoint3(-1,0,-1));
simplex.AddVertex(SimdPoint3(1,0,-1));
simplex.AddVertex(SimdPoint3(0,0,1));
simplex.AddVertex(SimdPoint3(0,1,0));
/// convex hull of 5 spheres
#define NUM_SPHERES 5
SimdVector3 inertiaHalfExtents(10.f,10.f,10.f);
SimdVector3 positions[NUM_SPHERES] = {
SimdVector3(-1.2f, -0.3f, 0.f),
SimdVector3(0.8f, -0.3f, 0.f),
SimdVector3(0.5f, 0.6f, 0.f),
SimdVector3(-0.5f, 0.6f, 0.f),
SimdVector3(0.f, 0.f, 0.f)
};
// MultiSphereShape* multiSphereShape = new MultiSphereShape(inertiaHalfExtents,positions,radi,NUM_SPHERES);
ConvexHullShape* convexHullShape = new ConvexHullShape(positions,3);
//choose shape
shapePtr[0] = &myCone;
shapePtr[1] =&simplex;
shapePtr[2] =convexHullShape;
shapePtr[3] =&myMink;//myBox;//multiSphereShape
simplex.SetMargin(0.3f);
}
size_t collide(BoxShape &box1, BoxShape &box2, float dt, Contact *pxContacts, size_t numMaxContacts)
{
dt;
Point2f xAxis [4];
float fDepth[4];
xAxis[0] = box1.GetDir(0);
if (!IntervalIntersect(xAxis[0], box1, box2, fDepth[0])) return 0;
xAxis[1] = box1.GetDir(1);
if (!IntervalIntersect(xAxis[1], box1, box2, fDepth[1])) return 0;
xAxis[2] = box2.GetDir(0);
if (!IntervalIntersect(xAxis[2], box1, box2, fDepth[2])) return 0;
xAxis[3] = box2.GetDir(1);
if (!IntervalIntersect(xAxis[3], box1, box2, fDepth[3])) return 0;
float dcoll;
Point2f Ncoll;
if (!FindCollisionPlane(xAxis, fDepth, Ncoll, dcoll)) return 0;
Point2f D = box1.body.getPosition() - box2.body.getPosition();
if (D * Ncoll < 0.0f)
Ncoll *= -1.0f;
Point2f xPoints0[4];
Point2f xPoints1[4];
size_t numPoints0;
size_t numPoints1;
numPoints0 = box1.FindSupportPoints( Ncoll, xPoints0);
numPoints1 = box2.FindSupportPoints(-Ncoll, xPoints1);
if (!ConvertSupportPointsToContacts(box1, box2, Ncoll, xPoints0, numPoints0, xPoints1, numPoints1, pxContacts, numMaxContacts))
return 0;
return numMaxContacts;
}
/*
==========
CylinderShape::UpdateBoundingDimensions
Updates the bounding dimensions of the cylinder.
==========
*/
void CylinderShape::UpdateBoundingDimensions( void ) {
//Convert it to a box and use that
BoxShape* box = BoxShape::CreateFromCylinder( *this );
m_boundingDimensions = box->GetBoundingDimensions();
delete box;
}
