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      1 /*
      2 Bullet Continuous Collision Detection and Physics Library
      3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
      4 
      5 This software is provided 'as-is', without any express or implied warranty.
      6 In no event will the authors be held liable for any damages arising from the use of this software.
      7 Permission is granted to anyone to use this software for any purpose,
      8 including commercial applications, and to alter it and redistribute it freely,
      9 subject to the following restrictions:
     10 
     11 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.
     12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
     13 3. This notice may not be removed or altered from any source distribution.
     14 */
     15 
     16 #ifndef BT_CONVEX_CONVEX_ALGORITHM_H
     17 #define BT_CONVEX_CONVEX_ALGORITHM_H
     18 
     19 #include "btActivatingCollisionAlgorithm.h"
     20 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
     21 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
     22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
     23 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
     24 #include "btCollisionCreateFunc.h"
     25 #include "btCollisionDispatcher.h"
     26 #include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
     27 
     28 class btConvexPenetrationDepthSolver;
     29 
     30 ///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
     31 ///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
     32 ///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
     33 ///for certain pairs that have a small size ratio
     34 
     35 //#define USE_SEPDISTANCE_UTIL2 1
     36 
     37 ///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
     38 ///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
     39 ///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
     40 class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
     41 {
     42 #ifdef USE_SEPDISTANCE_UTIL2
     43 	btConvexSeparatingDistanceUtil	m_sepDistance;
     44 #endif
     45 	btSimplexSolverInterface*		m_simplexSolver;
     46 	btConvexPenetrationDepthSolver* m_pdSolver;
     47 
     48 
     49 	bool	m_ownManifold;
     50 	btPersistentManifold*	m_manifoldPtr;
     51 	bool			m_lowLevelOfDetail;
     52 
     53 	int m_numPerturbationIterations;
     54 	int m_minimumPointsPerturbationThreshold;
     55 
     56 
     57 	///cache separating vector to speedup collision detection
     58 
     59 
     60 public:
     61 
     62 	btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
     63 
     64 	virtual ~btConvexConvexAlgorithm();
     65 
     66 	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
     67 
     68 	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
     69 
     70 	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
     71 	{
     72 		///should we use m_ownManifold to avoid adding duplicates?
     73 		if (m_manifoldPtr && m_ownManifold)
     74 			manifoldArray.push_back(m_manifoldPtr);
     75 	}
     76 
     77 
     78 	void	setLowLevelOfDetail(bool useLowLevel);
     79 
     80 
     81 	const btPersistentManifold*	getManifold()
     82 	{
     83 		return m_manifoldPtr;
     84 	}
     85 
     86 	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
     87 	{
     88 
     89 		btConvexPenetrationDepthSolver*		m_pdSolver;
     90 		btSimplexSolverInterface*			m_simplexSolver;
     91 		int m_numPerturbationIterations;
     92 		int m_minimumPointsPerturbationThreshold;
     93 
     94 		CreateFunc(btSimplexSolverInterface*			simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
     95 
     96 		virtual ~CreateFunc();
     97 
     98 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
     99 		{
    100 			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
    101 			return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
    102 		}
    103 	};
    104 
    105 
    106 };
    107 
    108 #endif //BT_CONVEX_CONVEX_ALGORITHM_H
    109