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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @ 10976

Last change on this file since 10976 was 8351, checked in by rgrieder, 15 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 11.5 KB
RevLine 
[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btMinkowskiPenetrationDepthSolver.h"
17#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
18#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
19#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
20#include "BulletCollision/CollisionShapes/btConvexShape.h"
21
22#define NUM_UNITSPHERE_POINTS 42
23
24
25bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
26                                                                                                   const btConvexShape* convexA,const btConvexShape* convexB,
27                                                                                                   const btTransform& transA,const btTransform& transB,
[2430]28                                                                                                   btVector3& v, btVector3& pa, btVector3& pb,
[1963]29                                                                                                   class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
30                                                                                                   )
31{
32
33        (void)stackAlloc;
34        (void)v;
35       
[8351]36        bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
[1963]37
38        struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
39        {
40
41                btIntermediateResult():m_hasResult(false)
42                {
43                }
44               
45                btVector3 m_normalOnBInWorld;
46                btVector3 m_pointInWorld;
47                btScalar m_depth;
48                bool    m_hasResult;
49
[8351]50                virtual void setShapeIdentifiersA(int partId0,int index0)
[1963]51                {
52                        (void)partId0;
53                        (void)index0;
[8351]54                }
55                virtual void setShapeIdentifiersB(int partId1,int index1)
56                {
[1963]57                        (void)partId1;
58                        (void)index1;
59                }
60                void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
61                {
62                        m_normalOnBInWorld = normalOnBInWorld;
63                        m_pointInWorld = pointInWorld;
64                        m_depth = depth;
65                        m_hasResult = true;
66                }
67        };
68
69        //just take fixed number of orientation, and sample the penetration depth in that direction
[8351]70        btScalar minProj = btScalar(BT_LARGE_FLOAT);
[1963]71        btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
72        btVector3 minA,minB;
73        btVector3 seperatingAxisInA,seperatingAxisInB;
74        btVector3 pInA,qInB,pWorld,qWorld,w;
75
76#ifndef __SPU__
77#define USE_BATCHED_SUPPORT 1
78#endif
79#ifdef USE_BATCHED_SUPPORT
80
81        btVector3       supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
82        btVector3       supportVerticesBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
83        btVector3       seperatingAxisInABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
84        btVector3       seperatingAxisInBBatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
85        int i;
86
87        int numSampleDirections = NUM_UNITSPHERE_POINTS;
88
89        for (i=0;i<numSampleDirections;i++)
90        {
[8351]91                btVector3 norm = getPenetrationDirections()[i];
[1963]92                seperatingAxisInABatch[i] =  (-norm) * transA.getBasis() ;
93                seperatingAxisInBBatch[i] =  norm   * transB.getBasis() ;
94        }
95
96        {
97                int numPDA = convexA->getNumPreferredPenetrationDirections();
98                if (numPDA)
99                {
100                        for (int i=0;i<numPDA;i++)
101                        {
102                                btVector3 norm;
103                                convexA->getPreferredPenetrationDirection(i,norm);
104                                norm  = transA.getBasis() * norm;
[8351]105                                getPenetrationDirections()[numSampleDirections] = norm;
[1963]106                                seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
107                                seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
108                                numSampleDirections++;
109                        }
110                }
111        }
112
113        {
114                int numPDB = convexB->getNumPreferredPenetrationDirections();
115                if (numPDB)
116                {
117                        for (int i=0;i<numPDB;i++)
118                        {
119                                btVector3 norm;
120                                convexB->getPreferredPenetrationDirection(i,norm);
121                                norm  = transB.getBasis() * norm;
[8351]122                                getPenetrationDirections()[numSampleDirections] = norm;
[1963]123                                seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
124                                seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
125                                numSampleDirections++;
126                        }
127                }
128        }
129
130
131
[8351]132
[1963]133        convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
134        convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
135
136        for (i=0;i<numSampleDirections;i++)
137        {
[8351]138                btVector3 norm = getPenetrationDirections()[i];
139                if (check2d)
140                {
141                        norm[2] = 0.f;
142                }
143                if (norm.length2()>0.01)
144                {
[1963]145
[8351]146                        seperatingAxisInA = seperatingAxisInABatch[i];
147                        seperatingAxisInB = seperatingAxisInBBatch[i];
[1963]148
[8351]149                        pInA = supportVerticesABatch[i];
150                        qInB = supportVerticesBBatch[i];
151
152                        pWorld = transA(pInA); 
153                        qWorld = transB(qInB);
154                        if (check2d)
155                        {
156                                pWorld[2] = 0.f;
157                                qWorld[2] = 0.f;
158                        }
159
160                        w       = qWorld - pWorld;
161                        btScalar delta = norm.dot(w);
162                        //find smallest delta
163                        if (delta < minProj)
164                        {
165                                minProj = delta;
166                                minNorm = norm;
167                                minA = pWorld;
168                                minB = qWorld;
169                        }
[1963]170                }
171        }       
172#else
173
174        int numSampleDirections = NUM_UNITSPHERE_POINTS;
175
176#ifndef __SPU__
177        {
178                int numPDA = convexA->getNumPreferredPenetrationDirections();
179                if (numPDA)
180                {
181                        for (int i=0;i<numPDA;i++)
182                        {
183                                btVector3 norm;
184                                convexA->getPreferredPenetrationDirection(i,norm);
185                                norm  = transA.getBasis() * norm;
[8351]186                                getPenetrationDirections()[numSampleDirections] = norm;
[1963]187                                numSampleDirections++;
188                        }
189                }
190        }
191
192        {
193                int numPDB = convexB->getNumPreferredPenetrationDirections();
194                if (numPDB)
195                {
196                        for (int i=0;i<numPDB;i++)
197                        {
198                                btVector3 norm;
199                                convexB->getPreferredPenetrationDirection(i,norm);
200                                norm  = transB.getBasis() * norm;
[8351]201                                getPenetrationDirections()[numSampleDirections] = norm;
[1963]202                                numSampleDirections++;
203                        }
204                }
205        }
206#endif // __SPU__
207
208        for (int i=0;i<numSampleDirections;i++)
209        {
[8351]210                const btVector3& norm = getPenetrationDirections()[i];
[1963]211                seperatingAxisInA = (-norm)* transA.getBasis();
212                seperatingAxisInB = norm* transB.getBasis();
213                pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
214                qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
215                pWorld = transA(pInA); 
216                qWorld = transB(qInB);
217                w       = qWorld - pWorld;
218                btScalar delta = norm.dot(w);
219                //find smallest delta
220                if (delta < minProj)
221                {
222                        minProj = delta;
223                        minNorm = norm;
224                        minA = pWorld;
225                        minB = qWorld;
226                }
227        }
228#endif //USE_BATCHED_SUPPORT
229
230        //add the margins
231
232        minA += minNorm*convexA->getMarginNonVirtual();
233        minB -= minNorm*convexB->getMarginNonVirtual();
234        //no penetration
235        if (minProj < btScalar(0.))
236                return false;
237
[8351]238        btScalar extraSeparation = 0.5f;///scale dependent
239        minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
[1963]240
241
242
243
244
245//#define DEBUG_DRAW 1
246#ifdef DEBUG_DRAW
247        if (debugDraw)
248        {
249                btVector3 color(0,1,0);
250                debugDraw->drawLine(minA,minB,color);
251                color = btVector3 (1,1,1);
252                btVector3 vec = minB-minA;
253                btScalar prj2 = minNorm.dot(vec);
254                debugDraw->drawLine(minA,minA+(minNorm*minProj),color);
255
256        }
257#endif //DEBUG_DRAW
258
259       
260
261        btGjkPairDetector gjkdet(convexA,convexB,&simplexSolver,0);
262
263        btScalar offsetDist = minProj;
264        btVector3 offset = minNorm * offsetDist;
265       
266
267
268        btGjkPairDetector::ClosestPointInput input;
269               
270        btVector3 newOrg = transA.getOrigin() + offset;
271
272        btTransform displacedTrans = transA;
273        displacedTrans.setOrigin(newOrg);
274
275        input.m_transformA = displacedTrans;
276        input.m_transformB = transB;
[8351]277        input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
[1963]278       
279        btIntermediateResult res;
[8351]280        gjkdet.setCachedSeperatingAxis(-minNorm);
[1963]281        gjkdet.getClosestPoints(input,res,debugDraw);
282
283        btScalar correctedMinNorm = minProj - res.m_depth;
284
285
286        //the penetration depth is over-estimated, relax it
287        btScalar penetration_relaxation= btScalar(1.);
288        minNorm*=penetration_relaxation;
[8351]289       
[1963]290
291        if (res.m_hasResult)
292        {
293
294                pa = res.m_pointInWorld - minNorm * correctedMinNorm;
295                pb = res.m_pointInWorld;
[8351]296                v = minNorm;
[1963]297               
298#ifdef DEBUG_DRAW
299                if (debugDraw)
300                {
301                        btVector3 color(1,0,0);
302                        debugDraw->drawLine(pa,pb,color);
303                }
304#endif//DEBUG_DRAW
305
306
307        }
308        return res.m_hasResult;
309}
310
[8351]311btVector3*      btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
312{
313        static btVector3        sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = 
314        {
315        btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
316        btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
317        btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
318        btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
319        btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
320        btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
321        btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
322        btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
323        btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
324        btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
325        btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
326        btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
327        btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
328        btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
329        btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
330        btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
331        btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
332        btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
333        btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
334        btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
335        btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
336        btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
337        btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
338        btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
339        btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
340        btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
341        btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
342        btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
343        btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
344        btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
345        btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
346        btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
347        btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
348        btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
349        btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
350        btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
351        btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
352        btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
353        btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
354        btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
355        btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
356        btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
357        };
[1963]358
[8351]359        return sPenetrationDirections;
360}
[1963]361
[8351]362
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