forked from bartvdbraak/blender
133 lines
3.1 KiB
C++
133 lines
3.1 KiB
C++
#include "MinkowskiPenetrationDepthSolver.h"
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#include "CollisionShapes/MinkowskiSumShape.h"
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#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
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#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
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#include "NarrowPhaseCollision/GjkPairDetector.h"
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struct MyResult : public DiscreteCollisionDetectorInterface::Result
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{
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SimdVector3 m_normalOnBInWorld;
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SimdVector3 m_pointInWorld;
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float m_depth;
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void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
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{
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m_normalOnBInWorld = normalOnBInWorld;
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m_pointInWorld = pointInWorld;
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m_depth = depth;
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}
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};
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bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simplexSolver,
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ConvexShape* convexA,ConvexShape* convexB,
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const SimdTransform& transA,const SimdTransform& transB,
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SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb)
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{
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//just take fixed number of orientation, and sample the penetration depth in that direction
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int N = 3;
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float minProj = 1e30f;
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SimdVector3 minNorm;
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SimdVector3 minVertex;
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SimdVector3 minA,minB;
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for (int i=-N;i<N;i++)
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{
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for (int j = -N;j<N;j++)
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{
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for (int k=-N;k<N;k++)
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{
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if (i | j | k)
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{
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SimdVector3 norm(i,j,k);
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norm.normalize();
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{
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SimdVector3 seperatingAxisInA = (-norm)* transA.getBasis();
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SimdVector3 seperatingAxisInB = norm* transB.getBasis();
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SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
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SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
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SimdPoint3 pWorld = transA(pInA);
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SimdPoint3 qWorld = transB(qInB);
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SimdVector3 w = qWorld - pWorld;
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float delta = norm.dot(w);
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//find smallest delta
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if (delta < minProj)
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{
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minProj = delta;
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minNorm = norm;
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minA = pWorld;
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minB = qWorld;
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}
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}
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{
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SimdVector3 seperatingAxisInA = (norm)* transA.getBasis();
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SimdVector3 seperatingAxisInB = -norm* transB.getBasis();
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SimdVector3 pInA = convexA->LocalGetSupportingVertex(seperatingAxisInA);
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SimdVector3 qInB = convexB->LocalGetSupportingVertex(seperatingAxisInB);
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SimdPoint3 pWorld = transA(pInA);
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SimdPoint3 qWorld = transB(qInB);
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SimdVector3 w = qWorld - pWorld;
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float delta = (-norm).dot(w);
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//find smallest delta
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if (delta < minProj)
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{
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minProj = delta ;
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minNorm = -norm;
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minA = pWorld;
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minB = qWorld;
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}
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}
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}
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}
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}
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}
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SimdTransform ident;
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ident.setIdentity();
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GjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
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v = minNorm * minProj;
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GjkPairDetector::ClosestPointInput input;
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SimdVector3 newOrg = transA.getOrigin() + v + v;
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SimdTransform displacedTrans = transA;
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displacedTrans.setOrigin(newOrg);
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input.m_transformA = displacedTrans;
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input.m_transformB = transB;
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input.m_maximumDistanceSquared = 1e30f;
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MyResult res;
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gjkdet.GetClosestPoints(input,res);
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SimdVector3 halfV = v*0.5f;
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//approximate pa and pb
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pa = res.m_pointInWorld - halfV;
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pb = res.m_pointInWorld +halfV;
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return true;
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}
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