//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut->getPersistentManifold()->clearManifold();
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
{
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
// btVector3 localScalingA = capsuleA->getLocalScaling();
// btVector3 localScalingB = capsuleB->getLocalScaling();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
capsuleB->getHalfHeight(), capsuleB->getRadius(), capsuleA->getUpAxis(), capsuleB->getUpAxis(),
body0Wrap->getWorldTransform(), body1Wrap->getWorldTransform(), threshold);
if (dist<threshold)
{
btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
resultOut->addContactPoint(normalOnB, pointOnBWorld, dist);
}
resultOut->refreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(), body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
btGjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjkPairDetector(min0, min1, &m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{
//if (dispatchInfo.m_convexMaxDistanceUseCPT)
//{
// input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
//} else
//{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
// }
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
#ifdef USE_SEPDISTANCE_UTIL2
btScalar sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
if (min0->isPolyhedral() && min1->isPolyhedral())
{
struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
{
virtual void setShapeIdentifiersA(int partId0, int index0){}
virtual void setShapeIdentifiersB(int partId1, int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
{
}
};
struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
{
btDiscreteCollisionDetectorInterface::Result* m_originalResult;
btVector3 m_reportedNormalOnWorld;
btScalar m_marginOnA;
btScalar m_marginOnB;
btScalar m_reportedDistance;
bool m_foundResult;
btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
:m_originalResult(result),
m_marginOnA(marginOnA),
m_marginOnB(marginOnB),
m_foundResult(false)
{
}
virtual void setShapeIdentifiersA(int partId0, int index0){}
virtual void setShapeIdentifiersB(int partId1, int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorldOrg, btScalar depthOrg)
{
m_reportedDistance = depthOrg;
m_reportedNormalOnWorld = normalOnBInWorld;
btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
if (m_reportedDistance<0.f)
{
m_foundResult = true;
}
m_originalResult->addContactPoint(normalOnBInWorld, adjustedPointB, m_reportedDistance);
}
};
btDummyResult dummy;
///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
btWithoutMarginResult withoutMargin(resultOut, min0Margin, min1Margin);
btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
{
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = -1e30f;
btVector3 sepNormalWorldSpace;
bool foundSepAxis = true;
if (dispatchInfo.m_enableSatConvex)
{
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace,*resultOut);
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut, dispatchInfo.m_debugDraw);
#else
gjkPairDetector.getClosestPoints(input, withoutMargin, dispatchInfo.m_debugDraw);
//gjkPairDetector.getClosestPoints(input, dummy, dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
//if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
#ifdef ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
#endif
}
}
if (foundSepAxis)
{
//printf("sepNormalWorldSpace=%f, %f, %f\n", sepNormalWorldSpace.getX(), sepNormalWorldSpace.getY(), sepNormalWorldSpace.getZ());
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
} else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
btVertexArray vertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btVector3 sepNormalWorldSpace;
btScalar minDist =-1e30f;
btScalar maxDist = threshold;
bool foundSepAxis = false;
if (0)
{
polyhedronB->initializePolyhedralFeatures();
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace,*resultOut);
// printf("sepNormalWorldSpace=%f, %f, %f\n", sepNormalWorldSpace.getX(), sepNormalWorldSpace.getY(), sepNormalWorldSpace.getZ());
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut, dispatchInfo.m_debugDraw);
#else
gjkPairDetector.getClosestPoints(input, dummy, dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
foundSepAxis = true;
}
}
if (foundSepAxis)
{
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
}
}
}
gjkPairDetector.getClosestPoints(input,*resultOut, dispatchInfo.m_debugDraw);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
btVector3 v0, v1;
btVector3 sepNormalWorldSpace;
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2 > SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
btPlaneSpace1(sepNormalWorldSpace, v0, v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0, perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
input.m_transformB = body1Wrap->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA, 5.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB, 5.0);
#endif
}
btPerturbedContactResult perturbedResultOut(resultOut, input.m_transformA, input.m_transformB, unPerturbedTransform, perturbeA, dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input, perturbedResultOut, dispatchInfo.m_debugDraw);
}
}
}
}
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(), sepDist, body0->getWorldTransform(), body1->getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
{
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
btVector3 localScalingA = capsuleA->getLocalScaling();
btVector3 localScalingB = capsuleB->getLocalScaling();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
body0->getWorldTransform(),body1->getWorldTransform(),threshold);
if (dist<threshold)
{
btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
}
resultOut->refreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
btGjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{
if (dispatchInfo.m_convexMaxDistanceUseCPT)
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
} else
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
}
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#ifdef USE_SEPDISTANCE_UTIL2
btScalar sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}