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Viewing changes to tests/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
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This software is provided 'as-is', without any express or implied warranty.
 
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In no event will the authors be held liable for any damages arising from the use of this software.
 
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Permission is granted to anyone to use this software for any purpose,
 
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including commercial applications, and to alter it and redistribute it freely,
 
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subject to the following restrictions:
 
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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.
 
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 
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3. This notice may not be removed or altered from any source distribution.
 
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*/
 
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#include "btConvexPlaneCollisionAlgorithm.h"
 
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
 
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 
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//#include <stdio.h>
 
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btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
 
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: btCollisionAlgorithm(ci),
 
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m_ownManifold(false),
 
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m_manifoldPtr(mf),
 
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m_isSwapped(isSwapped),
 
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m_numPerturbationIterations(numPerturbationIterations),
 
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m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 
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{
 
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        btCollisionObject* convexObj = m_isSwapped? col1 : col0;
 
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        btCollisionObject* planeObj = m_isSwapped? col0 : col1;
 
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        if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
 
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        {
 
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                m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
 
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                m_ownManifold = true;
 
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        }
 
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}
 
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btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
 
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{
 
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        if (m_ownManifold)
 
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        {
 
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                if (m_manifoldPtr)
 
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                        m_dispatcher->releaseManifold(m_manifoldPtr);
 
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        }
 
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}
 
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void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 
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{
 
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    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 
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        btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
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        btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 
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        btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
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    bool hasCollision = false;
 
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        const btVector3& planeNormal = planeShape->getPlaneNormal();
 
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        const btScalar& planeConstant = planeShape->getPlaneConstant();
 
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        btTransform convexWorldTransform = convexObj->getWorldTransform();
 
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        btTransform convexInPlaneTrans;
 
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        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
 
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        //now perturbe the convex-world transform
 
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        convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
 
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        btTransform planeInConvex;
 
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        planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
 
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        btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
 
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        btVector3 vtxInPlane = convexInPlaneTrans(vtx);
 
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        btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
 
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        btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
 
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        btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
 
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        hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
 
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        resultOut->setPersistentManifold(m_manifoldPtr);
 
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        if (hasCollision)
 
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        {
 
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                /// report a contact. internally this will be kept persistent, and contact reduction is done
 
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                btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
 
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                btVector3 pOnB = vtxInPlaneWorld;
 
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                resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
 
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        }
 
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}
 
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void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 
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{
 
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        (void)dispatchInfo;
 
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        if (!m_manifoldPtr)
 
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                return;
 
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    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
 
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        btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
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        btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
 
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        btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
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        const btVector3& planeNormal = planeShape->getPlaneNormal();
 
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        //const btScalar& planeConstant = planeShape->getPlaneConstant();
 
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        //first perform a collision query with the non-perturbated collision objects
 
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        {
 
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                btQuaternion rotq(0,0,0,1);
 
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                collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
 
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        }
 
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        if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
 
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        {
 
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                btVector3 v0,v1;
 
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                btPlaneSpace1(planeNormal,v0,v1);
 
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                //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
 
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                const btScalar angleLimit = 0.125f * SIMD_PI;
 
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                btScalar perturbeAngle;
 
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                btScalar radius = convexShape->getAngularMotionDisc();
 
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                perturbeAngle = gContactBreakingThreshold / radius;
 
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                if ( perturbeAngle > angleLimit ) 
 
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                                perturbeAngle = angleLimit;
 
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                btQuaternion perturbeRot(v0,perturbeAngle);
 
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                for (int i=0;i<m_numPerturbationIterations;i++)
 
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                {
 
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                        btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
 
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                        btQuaternion rotq(planeNormal,iterationAngle);
 
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                        collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
 
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                }
 
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        }
 
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        if (m_ownManifold)
 
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        {
 
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                if (m_manifoldPtr->getNumContacts())
 
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                {
 
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                        resultOut->refreshContactPoints();
 
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                }
 
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        }
 
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}
 
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btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 
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{
 
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        (void)resultOut;
 
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        (void)dispatchInfo;
 
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        (void)col0;
 
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        (void)col1;
 
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        //not yet
 
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        return btScalar(1.);
 
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}