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