Bullet Collision Detection & Physics Library: btGjkEpaPenetrationDepthSolver.cpp Source File

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btGjkEpaPenetrationDepthSolver.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5EPA Copyright (c) Ricardo Padrela 2006
6
7This software is provided 'as-is', without any express or implied warranty.
8In no event will the authors be held liable for any damages arising from the use of this software.
9Permission is granted to anyone to use this software for any purpose,
10including commercial applications, and to alter it and redistribute it freely,
11subject to the following restrictions:
12
131. 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.
142. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
153. This notice may not be removed or altered from any source distribution.
16*/
17
18#include "BulletCollision/CollisionShapes/btConvexShape.h"
19#include "btGjkEpaPenetrationDepthSolver.h"
20
21#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
22
23 bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
24 const btConvexShape* pConvexA, const btConvexShape* pConvexB,
25 const btTransform& transformA, const btTransform& transformB,
26 btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
27 class btIDebugDraw* debugDraw)
28{
29 (void)debugDraw;
30 (void)v;
31 (void)simplexSolver;
32
33 btVector3 guessVectors[] = {
34 btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
35 btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
36 btVector3(0, 0, 1),
37 btVector3(0, 1, 0),
38 btVector3(1, 0, 0),
39 btVector3(1, 1, 0),
40 btVector3(1, 1, 1),
41 btVector3(0, 1, 1),
42 btVector3(1, 0, 1),
43 };
44
45 int numVectors = sizeof(guessVectors) / sizeof(btVector3);
46
47 for (int i = 0; i < numVectors; i++)
48 {
49 simplexSolver.reset();
50 btVector3 guessVector = guessVectors[i];
51
52 btGjkEpaSolver2::sResults results;
53
54 if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
55 pConvexB, transformB,
56 guessVector, results))
57
58 {
59 wWitnessOnA = results.witnesses[0];
60 wWitnessOnB = results.witnesses[1];
61 v = results.normal;
62 return true;
63 }
64 else
65 {
66 if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
67 {
68 wWitnessOnA = results.witnesses[0];
69 wWitnessOnB = results.witnesses[1];
70 v = results.normal;
71 return false;
72 }
73 }
74 }
75
76 //failed to find a distance/penetration
77 wWitnessOnA.setValue(0, 0, 0);
78 wWitnessOnB.setValue(0, 0, 0);
79 v.setValue(0, 0, 0);
80 return false;
81}
btConvexShape.h
btGjkEpa2.h
btGjkEpaPenetrationDepthSolver.h
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition btSimplexSolverInterface.h:24
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition btConvexShape.h:33
btGjkEpaPenetrationDepthSolver::calcPenDepth
bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)
Definition btGjkEpaPenetrationDepthSolver.cpp:23
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition btTransform.h:114
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::safeNormalize
btVector3 & safeNormalize()
Definition btVector3.h:286
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
btGjkEpaSolver2::sResults
Definition btGjkEpa2.h:34
btGjkEpaSolver2::sResults::witnesses
btVector3 witnesses[2]
Definition btGjkEpa2.h:42
btGjkEpaSolver2::sResults::normal
btVector3 normal
Definition btGjkEpa2.h:43
btGjkEpaSolver2::Penetration
static bool Penetration(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results, bool usemargins=true)
Definition btGjkEpa2.cpp:973
btGjkEpaSolver2::Distance
static bool Distance(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results)
Definition btGjkEpa2.cpp:937