bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
{
gActualSATPairTests++;
//#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
//#endif
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
// Test normals from hullA
for(int i=0;i<numFacesA;i++)
{
const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
if (DeltaC2.dot(faceANormalWS)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
return false;
if(d<dmin)
{
dmin = d;
sep = faceANormalWS;
}
}
int numFacesB = hullB.m_faces.size();
// Test normals from hullB
for(int i=0;i<numFacesB;i++)
{
const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
if (DeltaC2.dot(WorldNormal)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{
const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
{
const btVector3 edge1 = hullB.m_uniqueEdges[e1];
const btVector3 WorldEdge1 = transB.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
curEdgeEdge++;
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
if (DeltaC2.dot(Cross)<0)
continue;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar dist;
if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
return false;
if(dist<dmin)
{
dmin = dist;
sep = Cross;
}
}
}
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
sep = -sep;
return true;
}
bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA, const btTransform& transB, btVector3& sep, btDiscreteCollisionDetectorInterface::Result& resultOut)
{
gActualSATPairTests++;
//#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
//#endif
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
// Test normals from hullA
for(int i=0;i<numFacesA;i++)
{
const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
btVector3 faceANormalWS = transA.getBasis() * Normal;
if (DeltaC2.dot(faceANormalWS)<0)
faceANormalWS*=-1.f;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
btVector3 wA, wB;
if(!TestSepAxis( hullA, hullB, transA, transB, faceANormalWS, d, wA, wB))
return false;
if(d<dmin)
{
dmin = d;
sep = faceANormalWS;
}
}
int numFacesB = hullB.m_faces.size();
// Test normals from hullB
for(int i=0;i<numFacesB;i++)
{
const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
btVector3 WorldNormal = transB.getBasis() * Normal;
if (DeltaC2.dot(WorldNormal)<0)
WorldNormal *=-1.f;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
btVector3 wA, wB;
if(!TestSepAxis(hullA, hullB, transA, transB, WorldNormal, d,wA, wB))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
btVector3 edgeAstart, edgeAend, edgeBstart, edgeBend;
int edgeA=-1;
int edgeB=-1;
btVector3 worldEdgeA;
btVector3 worldEdgeB;
btVector3 witnessPointA, witnessPointB;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{
const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
{
const btVector3 edge1 = hullB.m_uniqueEdges[e1];
const btVector3 WorldEdge1 = transB.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
curEdgeEdge++;
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
if (DeltaC2.dot(Cross)<0)
Cross *= -1.f;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA, transB, DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar dist;
btVector3 wA, wB;
if(!TestSepAxis( hullA, hullB, transA, transB, Cross, dist, wA, wB))
return false;
if(dist<dmin)
{
dmin = dist;
sep = Cross;
edgeA=e0;
edgeB=e1;
worldEdgeA = WorldEdge0;
worldEdgeB = WorldEdge1;
witnessPointA=wA;
witnessPointB=wB;
}
}
}
}
if (edgeA>=0&&edgeB>=0)
{
// printf("edge-edge\n");
//add an edge-edge contact
btVector3 ptsVector;
btVector3 offsetA;
btVector3 offsetB;
btScalar tA;
btScalar tB;
btVector3 translation = witnessPointB-witnessPointA;
btVector3 dirA = worldEdgeA;
btVector3 dirB = worldEdgeB;
btScalar hlenB = 1e30f;
btScalar hlenA = 1e30f;
btSegmentsClosestPoints(ptsVector, offsetA, offsetB, tA, tB,
translation,
dirA, hlenA,
dirB, hlenB);
btScalar nlSqrt = ptsVector.length2();
if (nlSqrt>SIMD_EPSILON)
{
btScalar nl = btSqrt(nlSqrt);
ptsVector *= 1.f/nl;
if (ptsVector.dot(DeltaC2)<0.f)
{
ptsVector*=-1.f;
}
btVector3 ptOnB = witnessPointB + offsetB;
btScalar distance = nl;
resultOut.addContactPoint(ptsVector, ptOnB,-distance);
}
}
if((DeltaC2.dot(sep))<0.0f)
sep = -sep;
return true;
}