forked from bartvdbraak/blender
125 lines
2.7 KiB
C++
125 lines
2.7 KiB
C++
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "SubSimplexConvexCast.h"
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#include "CollisionShapes/ConvexShape.h"
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#include "CollisionShapes/MinkowskiSumShape.h"
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#include "NarrowPhaseCollision/SimplexSolverInterface.h"
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SubsimplexConvexCast::SubsimplexConvexCast (ConvexShape* convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver)
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:m_simplexSolver(simplexSolver),
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m_convexA(convexA),m_convexB(convexB)
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{
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}
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#define MAX_ITERATIONS 1000
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bool SubsimplexConvexCast::calcTimeOfImpact(
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const SimdTransform& fromA,
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const SimdTransform& toA,
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const SimdTransform& fromB,
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const SimdTransform& toB,
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CastResult& result)
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{
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MinkowskiSumShape combi(m_convexA,m_convexB);
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MinkowskiSumShape* convex = &combi;
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SimdTransform rayFromLocalA;
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SimdTransform rayToLocalA;
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rayFromLocalA = fromA.inverse()* fromB;
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rayToLocalA = toA.inverse()* toB;
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m_simplexSolver->reset();
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convex->SetTransformB(SimdTransform(rayFromLocalA.getBasis()));
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float radius = 0.01f;
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SimdScalar lambda = 0.f;
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SimdVector3 s = rayFromLocalA.getOrigin();
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SimdVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin();
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SimdVector3 x = s;
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SimdVector3 v;
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SimdVector3 arbitraryPoint = convex->LocalGetSupportingVertex(r);
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v = x - arbitraryPoint;
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int maxIter = MAX_ITERATIONS;
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SimdVector3 n;
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n.setValue(0.f,0.f,0.f);
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bool hasResult = false;
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SimdVector3 c;
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float lastLambda = lambda;
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float dist2 = v.length2();
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float epsilon = 0.0001f;
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SimdVector3 w,p;
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float VdotR;
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while ( (dist2 > epsilon) && maxIter--)
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{
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p = convex->LocalGetSupportingVertex( v);
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w = x - p;
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float VdotW = v.dot(w);
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if ( VdotW > 0.f)
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{
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VdotR = v.dot(r);
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if (VdotR >= 0.f)
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return false;
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else
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{
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lambda = lambda - VdotW / VdotR;
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x = s + lambda * r;
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m_simplexSolver->reset();
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//check next line
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w = x-p;
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lastLambda = lambda;
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n = v;
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hasResult = true;
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}
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}
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m_simplexSolver->addVertex( w, x , p);
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if (m_simplexSolver->closest(v))
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{
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dist2 = v.length2();
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hasResult = true;
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//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
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//printf("DIST2=%f\n",dist2);
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//printf("numverts = %i\n",m_simplexSolver->numVertices());
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} else
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{
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dist2 = 0.f;
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}
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}
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int numiter = MAX_ITERATIONS - maxIter;
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// printf("number of iterations: %d", numiter);
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result.m_fraction = lambda;
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result.m_normal = n;
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return true;
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}
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