source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @ 6328

/*
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.
*/

#include "btConvexConvexAlgorithm.h"

//#include <stdio.h>
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"

#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"



#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"

#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"

#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"









btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*                       simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
        m_numPerturbationIterations = 0;
        m_minimumPointsPerturbationThreshold = 3;
        m_simplexSolver = simplexSolver;
        m_pdSolver = pdSolver;
}

btConvexConvexAlgorithm::CreateFunc::~CreateFunc() 
{ 
}

btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
#ifdef USE_SEPDISTANCE_UTIL2
,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
                          (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
#endif
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
        (void)body0;
        (void)body1;
}




btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
{
        if (m_ownManifold)
        {
                if (m_manifoldPtr)
                        m_dispatcher->releaseManifold(m_manifoldPtr);
        }
}

void    btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
{
        m_lowLevelOfDetail = useLowLevel;
}


struct btPerturbedContactResult : public btManifoldResult
{
        btManifoldResult* m_originalManifoldResult;
        btTransform m_transformA;
        btTransform m_transformB;
        btTransform     m_unPerturbedTransform;
        bool    m_perturbA;
        btIDebugDraw*   m_debugDrawer;


        btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
                :m_originalManifoldResult(originalResult),
                m_transformA(transformA),
                m_transformB(transformB),
                m_perturbA(perturbA),
                m_unPerturbedTransform(unPerturbedTransform),
                m_debugDrawer(debugDrawer)
        {
        }
        virtual ~ btPerturbedContactResult()
        {
        }

        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
        {
                btVector3 endPt,startPt;
                btScalar newDepth;
                btVector3 newNormal;

                if (m_perturbA)
                {
                        btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
                        endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
                        newDepth = (endPt -  pointInWorld).dot(normalOnBInWorld);
                        startPt = endPt+normalOnBInWorld*newDepth;
                } else
                {
                        endPt = pointInWorld + normalOnBInWorld*orgDepth;
                        startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
                        newDepth = (endPt -  startPt).dot(normalOnBInWorld);
                        
                }

//#define DEBUG_CONTACTS 1
#ifdef DEBUG_CONTACTS
                m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
                m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
                m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
#endif //DEBUG_CONTACTS

                
                m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
        }

};

extern btScalar gContactBreakingThreshold;

//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{

        if (!m_manifoldPtr)
        {
                //swapped?
                m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
                m_ownManifold = true;
        }
        resultOut->setPersistentManifold(m_manifoldPtr);

        //comment-out next line to test multi-contact generation
        //resultOut->getPersistentManifold()->clearManifold();
        

        btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
        btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());

#ifdef USE_SEPDISTANCE_UTIL2
        m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
        if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2

        {

        
        btGjkPairDetector::ClosestPointInput input;

        btGjkPairDetector       gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
        //TODO: if (dispatchInfo.m_useContinuous)
        gjkPairDetector.setMinkowskiA(min0);
        gjkPairDetector.setMinkowskiB(min1);

#ifdef USE_SEPDISTANCE_UTIL2
        if (dispatchInfo.m_useConvexConservativeDistanceUtil)
        {
                input.m_maximumDistanceSquared = 1e30f;
        } else
#endif //USE_SEPDISTANCE_UTIL2
        {
                input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
                input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
        }

        input.m_stackAlloc = dispatchInfo.m_stackAllocator;
        input.m_transformA = body0->getWorldTransform();
        input.m_transformB = body1->getWorldTransform();

        gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
        btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;

        //now perturbe directions to get multiple contact points
        btVector3 v0,v1;
        btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
        btPlaneSpace1(sepNormalWorldSpace,v0,v1);
        //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
        
        //perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
        if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
        {
                
                int i;

                bool perturbeA = true;
                const btScalar angleLimit = 0.125f * SIMD_PI;
                btScalar perturbeAngle;
                btScalar radiusA = min0->getAngularMotionDisc();
                btScalar radiusB = min1->getAngularMotionDisc();
                if (radiusA < radiusB)
                {
                        perturbeAngle = gContactBreakingThreshold /radiusA;
                        perturbeA = true;
                } else
                {
                        perturbeAngle = gContactBreakingThreshold / radiusB;
                        perturbeA = false;
                }
                if ( perturbeAngle > angleLimit ) 
                                perturbeAngle = angleLimit;

                btTransform unPerturbedTransform;
                if (perturbeA)
                {
                        unPerturbedTransform = input.m_transformA;
                } else
                {
                        unPerturbedTransform = input.m_transformB;
                }
                
                for ( i=0;i<m_numPerturbationIterations;i++)
                {
                        btQuaternion perturbeRot(v0,perturbeAngle);
                        btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
                        btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
                        
                        
                        if (perturbeA)
                        {
                                input.m_transformA.setBasis(  btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
                                input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
                                dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
                        } else
                        {
                                input.m_transformA = body0->getWorldTransform();
                                input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
                                dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
                        }
                        
                        btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
                        gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
                        
                        
                }
        }

        

#ifdef USE_SEPDISTANCE_UTIL2
        if (dispatchInfo.m_useConvexConservativeDistanceUtil)
        {
                m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
        }
#endif //USE_SEPDISTANCE_UTIL2


        }

        if (m_ownManifold)
        {
                resultOut->refreshContactPoints();
        }

}



bool disableCcd = false;
btScalar        btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
        (void)resultOut;
        (void)dispatchInfo;
        ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
    
        ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
        ///col0->m_worldTransform,
        btScalar resultFraction = btScalar(1.);


        btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
        btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
    
        if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
                squareMot1 < col1->getCcdSquareMotionThreshold())
                return resultFraction;

        if (disableCcd)
                return btScalar(1.);


        //An adhoc way of testing the Continuous Collision Detection algorithms
        //One object is approximated as a sphere, to simplify things
        //Starting in penetration should report no time of impact
        //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
        //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)

                
        /// Convex0 against sphere for Convex1
        {
                btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());

                btSphereShape   sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
                btConvexCast::CastResult result;
                btVoronoiSimplexSolver voronoiSimplex;
                //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
                ///Simplification, one object is simplified as a sphere
                btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
                //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
                if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
                        col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
                {
                
                        //store result.m_fraction in both bodies
                
                        if (col0->getHitFraction()> result.m_fraction)
                                col0->setHitFraction( result.m_fraction );

                        if (col1->getHitFraction() > result.m_fraction)
                                col1->setHitFraction( result.m_fraction);

                        if (resultFraction > result.m_fraction)
                                resultFraction = result.m_fraction;

                }
                
                


        }

        /// Sphere (for convex0) against Convex1
        {
                btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());

                btSphereShape   sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
                btConvexCast::CastResult result;
                btVoronoiSimplexSolver voronoiSimplex;
                //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
                ///Simplification, one object is simplified as a sphere
                btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
                //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
                if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
                        col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
                {
                
                        //store result.m_fraction in both bodies
                
                        if (col0->getHitFraction()      > result.m_fraction)
                                col0->setHitFraction( result.m_fraction);

                        if (col1->getHitFraction() > result.m_fraction)
                                col1->setHitFraction( result.m_fraction);

                        if (resultFraction > result.m_fraction)
                                resultFraction = result.m_fraction;

                }
        }
        
        return resultFraction;

}