| /* |
| 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 "btActivatingCollisionAlgorithm.h" |
| #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" |
| #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
| #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" |
| #include "btCollisionCreateFunc.h" |
| #include "btCollisionDispatcher.h" |
| #include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil |
| |
| class btConvexPenetrationDepthSolver; |
| |
| ///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise |
| ///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. |
| ///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util |
| ///for certain pairs that have a small size ratio |
| |
| #define USE_SEPDISTANCE_UTIL2 1 |
| |
| ///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. |
| ///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. |
| ///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888 |
| class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm |
| { |
| #ifdef USE_SEPDISTANCE_UTIL2 |
| btConvexSeparatingDistanceUtil m_sepDistance; |
| #endif |
| btSimplexSolverInterface* m_simplexSolver; |
| btConvexPenetrationDepthSolver* m_pdSolver; |
| |
| |
| bool m_ownManifold; |
| btPersistentManifold* m_manifoldPtr; |
| bool m_lowLevelOfDetail; |
| |
| int m_numPerturbationIterations; |
| int m_minimumPointsPerturbationThreshold; |
| |
| |
| ///cache separating vector to speedup collision detection |
| |
| |
| public: |
| |
| btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); |
| |
| |
| virtual ~btConvexConvexAlgorithm(); |
| |
| virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual void getAllContactManifolds(btManifoldArray& manifoldArray) |
| { |
| ///should we use m_ownManifold to avoid adding duplicates? |
| if (m_manifoldPtr && m_ownManifold) |
| manifoldArray.push_back(m_manifoldPtr); |
| } |
| |
| |
| void setLowLevelOfDetail(bool useLowLevel); |
| |
| |
| const btPersistentManifold* getManifold() |
| { |
| return m_manifoldPtr; |
| } |
| |
| struct CreateFunc :public btCollisionAlgorithmCreateFunc |
| { |
| |
| btConvexPenetrationDepthSolver* m_pdSolver; |
| btSimplexSolverInterface* m_simplexSolver; |
| int m_numPerturbationIterations; |
| int m_minimumPointsPerturbationThreshold; |
| |
| CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); |
| |
| virtual ~CreateFunc(); |
| |
| virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
| { |
| void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); |
| return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); |
| } |
| }; |
| |
| |
| }; |
| |
| #endif //CONVEX_CONVEX_ALGORITHM_H |