virtual void GetWheelPosition(int wheelIndex,float& posX,float& posY,float& posZ) const
{
SimdTransform trans = m_vehicle->GetWheelTransformWS(wheelIndex);
posX = trans.getOrigin().x();
posY = trans.getOrigin().y();
posZ = trans.getOrigin().z();
}
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);
}
void SyncWheels()
{
int numWheels = GetNumWheels();
int i;
for (i=0;i<numWheels;i++)
{
WheelInfo& info = m_vehicle->GetWheelInfo(i);
PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
m_vehicle->UpdateWheelTransform(i);
SimdTransform trans = m_vehicle->GetWheelTransformWS(i);
SimdQuaternion orn = trans.getRotation();
const SimdVector3& pos = trans.getOrigin();
motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
motionState->setWorldPosition(pos.x(),pos.y(),pos.z());
}
}
void CollisionWorld::RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
CollisionObject* collisionObject,
const CollisionShape* collisionShape,
const SimdTransform& colObjWorldTransform,
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);
}
}
}
}
}
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;
}
