917 lines
23 KiB
C++
917 lines
23 KiB
C++
/*************************************************************************/
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/* gjk_epa.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "gjk_epa.h"
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/* Disabling formatting for thirdparty code snippet */
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/* clang-format off */
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/*************** Bullet's GJK-EPA2 IMPLEMENTATION *******************/
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// Config
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/* GJK */
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#define GJK_MAX_ITERATIONS 128
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#define GJK_ACCURARY ((real_t)0.0001)
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#define GJK_MIN_DISTANCE ((real_t)0.0001)
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#define GJK_DUPLICATED_EPS ((real_t)0.0001)
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#define GJK_SIMPLEX2_EPS ((real_t)0.0)
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#define GJK_SIMPLEX3_EPS ((real_t)0.0)
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#define GJK_SIMPLEX4_EPS ((real_t)0.0)
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/* EPA */
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#define EPA_MAX_VERTICES 64
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#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
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#define EPA_MAX_ITERATIONS 255
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#define EPA_ACCURACY ((real_t)0.0001)
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#define EPA_FALLBACK (10*EPA_ACCURACY)
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#define EPA_PLANE_EPS ((real_t)0.00001)
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#define EPA_INSIDE_EPS ((real_t)0.01)
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namespace GjkEpa2 {
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struct sResults {
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enum eStatus {
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Separated, /* Shapes doesn't penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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Vector3 witnesses[2];
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Vector3 normal;
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real_t distance;
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};
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// Shorthands
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typedef unsigned int U;
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typedef unsigned char U1;
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// MinkowskiDiff
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struct MinkowskiDiff {
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const ShapeSW* m_shapes[2];
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Transform transform_A;
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Transform transform_B;
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// i wonder how this could be sped up... if it can
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_FORCE_INLINE_ Vector3 Support0 ( const Vector3& d ) const {
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return transform_A.xform( m_shapes[0]->get_support( transform_A.basis.xform_inv(d).normalized() ) );
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}
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_FORCE_INLINE_ Vector3 Support1 ( const Vector3& d ) const {
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return transform_B.xform( m_shapes[1]->get_support( transform_B.basis.xform_inv(d).normalized() ) );
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}
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_FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const {
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return ( Support0 ( d )-Support1 ( -d ) );
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}
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_FORCE_INLINE_ Vector3 Support ( const Vector3& d,U index ) const
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{
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if ( index )
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return ( Support1 ( d ) );
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else
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return ( Support0 ( d ) );
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}
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};
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typedef MinkowskiDiff tShape;
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// GJK
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struct GJK
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{
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/* Types */
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struct sSV
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{
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Vector3 d,w;
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};
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struct sSimplex
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{
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sSV* c[4];
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real_t p[4];
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U rank;
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};
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struct eStatus { enum _ {
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Valid,
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Inside,
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Failed };};
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/* Fields */
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tShape m_shape;
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Vector3 m_ray;
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real_t m_distance;
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sSimplex m_simplices[2];
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sSV m_store[4];
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sSV* m_free[4];
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U m_nfree;
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U m_current;
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sSimplex* m_simplex;
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eStatus::_ m_status;
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/* Methods */
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GJK()
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{
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Initialize();
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}
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void Initialize()
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{
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m_ray = Vector3(0,0,0);
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m_nfree = 0;
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m_status = eStatus::Failed;
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m_current = 0;
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m_distance = 0;
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}
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eStatus::_ Evaluate(const tShape& shapearg,const Vector3& guess)
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{
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U iterations=0;
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real_t sqdist=0;
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real_t alpha=0;
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Vector3 lastw[4];
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U clastw=0;
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/* Initialize solver */
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m_free[0] = &m_store[0];
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m_free[1] = &m_store[1];
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m_free[2] = &m_store[2];
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m_free[3] = &m_store[3];
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m_nfree = 4;
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m_current = 0;
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m_status = eStatus::Valid;
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m_shape = shapearg;
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m_distance = 0;
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/* Initialize simplex */
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m_simplices[0].rank = 0;
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m_ray = guess;
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const real_t sqrl= m_ray.length_squared();
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appendvertice(m_simplices[0],sqrl>0?-m_ray:Vector3(1,0,0));
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m_simplices[0].p[0] = 1;
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m_ray = m_simplices[0].c[0]->w;
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sqdist = sqrl;
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lastw[0] =
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lastw[1] =
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lastw[2] =
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lastw[3] = m_ray;
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/* Loop */
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do {
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const U next=1-m_current;
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sSimplex& cs=m_simplices[m_current];
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sSimplex& ns=m_simplices[next];
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/* Check zero */
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const real_t rl=m_ray.length();
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if(rl<GJK_MIN_DISTANCE)
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{/* Touching or inside */
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m_status=eStatus::Inside;
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break;
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}
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/* Append new vertice in -'v' direction */
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appendvertice(cs,-m_ray);
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const Vector3& w=cs.c[cs.rank-1]->w;
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bool found=false;
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for(U i=0;i<4;++i)
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{
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if((w-lastw[i]).length_squared()<GJK_DUPLICATED_EPS)
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{ found=true;break; }
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}
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if(found)
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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else
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{/* Update lastw */
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lastw[clastw=(clastw+1)&3]=w;
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}
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/* Check for termination */
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const real_t omega=vec3_dot(m_ray,w)/rl;
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alpha=MAX(omega,alpha);
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if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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/* Reduce simplex */
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real_t weights[4];
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U mask=0;
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switch(cs.rank)
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{
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case 2: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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weights,mask);break;
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case 3: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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cs.c[2]->w,
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weights,mask);break;
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case 4: sqdist=projectorigin( cs.c[0]->w,
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cs.c[1]->w,
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cs.c[2]->w,
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cs.c[3]->w,
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weights,mask);break;
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}
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if(sqdist>=0)
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{/* Valid */
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ns.rank = 0;
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m_ray = Vector3(0,0,0);
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m_current = next;
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for(U i=0,ni=cs.rank;i<ni;++i)
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{
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if(mask&(1<<i))
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{
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ns.c[ns.rank] = cs.c[i];
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ns.p[ns.rank++] = weights[i];
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m_ray += cs.c[i]->w*weights[i];
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}
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else
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{
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m_free[m_nfree++] = cs.c[i];
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}
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}
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if(mask==15) m_status=eStatus::Inside;
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}
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else
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{/* Return old simplex */
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removevertice(m_simplices[m_current]);
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break;
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}
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m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed;
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} while(m_status==eStatus::Valid);
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m_simplex=&m_simplices[m_current];
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switch(m_status)
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{
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case eStatus::Valid: m_distance=m_ray.length();break;
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case eStatus::Inside: m_distance=0;break;
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default: {}
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}
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return(m_status);
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}
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bool EncloseOrigin()
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{
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switch(m_simplex->rank)
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{
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case 1:
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{
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for(U i=0;i<3;++i)
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{
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Vector3 axis=Vector3(0,0,0);
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axis[i]=1;
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appendvertice(*m_simplex, axis);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-axis);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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break;
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case 2:
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{
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const Vector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w;
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for(U i=0;i<3;++i)
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{
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Vector3 axis=Vector3(0,0,0);
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axis[i]=1;
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const Vector3 p=vec3_cross(d,axis);
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if(p.length_squared()>0)
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{
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appendvertice(*m_simplex, p);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-p);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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}
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break;
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case 3:
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{
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const Vector3 n=vec3_cross(m_simplex->c[1]->w-m_simplex->c[0]->w,
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m_simplex->c[2]->w-m_simplex->c[0]->w);
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if(n.length_squared()>0)
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{
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appendvertice(*m_simplex,n);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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appendvertice(*m_simplex,-n);
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if(EncloseOrigin()) return(true);
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removevertice(*m_simplex);
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}
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}
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break;
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case 4:
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{
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if(Math::abs(det( m_simplex->c[0]->w-m_simplex->c[3]->w,
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m_simplex->c[1]->w-m_simplex->c[3]->w,
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m_simplex->c[2]->w-m_simplex->c[3]->w))>0)
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return(true);
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}
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break;
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}
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return(false);
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}
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/* Internals */
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void getsupport(const Vector3& d,sSV& sv) const
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{
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sv.d = d/d.length();
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sv.w = m_shape.Support(sv.d);
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}
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void removevertice(sSimplex& simplex)
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{
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m_free[m_nfree++]=simplex.c[--simplex.rank];
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}
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void appendvertice(sSimplex& simplex,const Vector3& v)
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{
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simplex.p[simplex.rank]=0;
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simplex.c[simplex.rank]=m_free[--m_nfree];
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getsupport(v,*simplex.c[simplex.rank++]);
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}
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static real_t det(const Vector3& a,const Vector3& b,const Vector3& c)
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{
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return( a.y*b.z*c.x+a.z*b.x*c.y-
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a.x*b.z*c.y-a.y*b.x*c.z+
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a.x*b.y*c.z-a.z*b.y*c.x);
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}
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static real_t projectorigin( const Vector3& a,
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const Vector3& b,
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real_t* w,U& m)
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{
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const Vector3 d=b-a;
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const real_t l=d.length_squared();
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if(l>GJK_SIMPLEX2_EPS)
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{
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const real_t t(l>0?-vec3_dot(a,d)/l:0);
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if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length_squared()); }
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else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length_squared()); }
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else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length_squared()); }
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}
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return(-1);
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}
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static real_t projectorigin( const Vector3& a,
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const Vector3& b,
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const Vector3& c,
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real_t* w,U& m)
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{
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static const U imd3[]={1,2,0};
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const Vector3* vt[]={&a,&b,&c};
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const Vector3 dl[]={a-b,b-c,c-a};
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const Vector3 n=vec3_cross(dl[0],dl[1]);
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const real_t l=n.length_squared();
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if(l>GJK_SIMPLEX3_EPS)
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{
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real_t mindist=-1;
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real_t subw[2];
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U subm;
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for(U i=0;i<3;++i)
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{
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if(vec3_dot(*vt[i],vec3_cross(dl[i],n))>0)
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{
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const U j=imd3[i];
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const real_t subd(projectorigin(*vt[i],*vt[j],subw,subm));
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if((mindist<0)||(subd<mindist))
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{
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mindist = subd;
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m = static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0));
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w[i] = subw[0];
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w[j] = subw[1];
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w[imd3[j]] = 0;
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}
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}
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}
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if(mindist<0)
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{
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const real_t d=vec3_dot(a,n);
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const real_t s=Math::sqrt(l);
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const Vector3 p=n*(d/l);
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mindist = p.length_squared();
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m = 7;
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w[0] = (vec3_cross(dl[1],b-p)).length()/s;
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w[1] = (vec3_cross(dl[2],c-p)).length()/s;
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w[2] = 1-(w[0]+w[1]);
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}
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return(mindist);
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}
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return(-1);
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}
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static real_t projectorigin( const Vector3& a,
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const Vector3& b,
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const Vector3& c,
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const Vector3& d,
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real_t* w,U& m)
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{
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static const U imd3[]={1,2,0};
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const Vector3* vt[]={&a,&b,&c,&d};
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const Vector3 dl[]={a-d,b-d,c-d};
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const real_t vl=det(dl[0],dl[1],dl[2]);
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const bool ng=(vl*vec3_dot(a,vec3_cross(b-c,a-b)))<=0;
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if(ng&&(Math::abs(vl)>GJK_SIMPLEX4_EPS))
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{
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real_t mindist=-1;
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real_t subw[3];
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U subm;
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for(U i=0;i<3;++i)
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{
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const U j=imd3[i];
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const real_t s=vl*vec3_dot(d,vec3_cross(dl[i],dl[j]));
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if(s>0)
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{
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const real_t subd=projectorigin(*vt[i],*vt[j],d,subw,subm);
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if((mindist<0)||(subd<mindist))
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{
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mindist = subd;
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m = static_cast<U>((subm&1?1<<i:0)+
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(subm&2?1<<j:0)+
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(subm&4?8:0));
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w[i] = subw[0];
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w[j] = subw[1];
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w[imd3[j]] = 0;
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w[3] = subw[2];
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}
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}
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}
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if(mindist<0)
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{
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mindist = 0;
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m = 15;
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w[0] = det(c,b,d)/vl;
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w[1] = det(a,c,d)/vl;
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w[2] = det(b,a,d)/vl;
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w[3] = 1-(w[0]+w[1]+w[2]);
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}
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return(mindist);
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}
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return(-1);
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}
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};
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|
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// EPA
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struct EPA
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|
{
|
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/* Types */
|
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typedef GJK::sSV sSV;
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struct sFace
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{
|
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Vector3 n;
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real_t d;
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real_t p;
|
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sSV* c[3];
|
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sFace* f[3];
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sFace* l[2];
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U1 e[3];
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U1 pass;
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};
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struct sList
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{
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sFace* root;
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U count;
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sList() : root(0),count(0) {}
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};
|
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struct sHorizon
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|
{
|
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sFace* cf;
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sFace* ff;
|
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U nf;
|
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sHorizon() : cf(0),ff(0),nf(0) {}
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};
|
|
struct eStatus { enum _ {
|
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Valid,
|
|
Touching,
|
|
Degenerated,
|
|
NonConvex,
|
|
InvalidHull,
|
|
OutOfFaces,
|
|
OutOfVertices,
|
|
AccuraryReached,
|
|
FallBack,
|
|
Failed };};
|
|
/* Fields */
|
|
eStatus::_ m_status;
|
|
GJK::sSimplex m_result;
|
|
Vector3 m_normal;
|
|
real_t m_depth;
|
|
sSV m_sv_store[EPA_MAX_VERTICES];
|
|
sFace m_fc_store[EPA_MAX_FACES];
|
|
U m_nextsv;
|
|
sList m_hull;
|
|
sList m_stock;
|
|
/* Methods */
|
|
EPA()
|
|
{
|
|
Initialize();
|
|
}
|
|
|
|
|
|
static inline void bind(sFace* fa,U ea,sFace* fb,U eb)
|
|
{
|
|
fa->e[ea]=(U1)eb;fa->f[ea]=fb;
|
|
fb->e[eb]=(U1)ea;fb->f[eb]=fa;
|
|
}
|
|
static inline void append(sList& list,sFace* face)
|
|
{
|
|
face->l[0] = 0;
|
|
face->l[1] = list.root;
|
|
if(list.root) list.root->l[0]=face;
|
|
list.root = face;
|
|
++list.count;
|
|
}
|
|
static inline void remove(sList& list,sFace* face)
|
|
{
|
|
if(face->l[1]) face->l[1]->l[0]=face->l[0];
|
|
if(face->l[0]) face->l[0]->l[1]=face->l[1];
|
|
if(face==list.root) list.root=face->l[1];
|
|
--list.count;
|
|
}
|
|
|
|
|
|
void Initialize()
|
|
{
|
|
m_status = eStatus::Failed;
|
|
m_normal = Vector3(0,0,0);
|
|
m_depth = 0;
|
|
m_nextsv = 0;
|
|
for(U i=0;i<EPA_MAX_FACES;++i)
|
|
{
|
|
append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]);
|
|
}
|
|
}
|
|
eStatus::_ Evaluate(GJK& gjk,const Vector3& guess)
|
|
{
|
|
GJK::sSimplex& simplex=*gjk.m_simplex;
|
|
if((simplex.rank>1)&&gjk.EncloseOrigin())
|
|
{
|
|
|
|
/* Clean up */
|
|
while(m_hull.root)
|
|
{
|
|
sFace* f = m_hull.root;
|
|
remove(m_hull,f);
|
|
append(m_stock,f);
|
|
}
|
|
m_status = eStatus::Valid;
|
|
m_nextsv = 0;
|
|
/* Orient simplex */
|
|
if(gjk.det( simplex.c[0]->w-simplex.c[3]->w,
|
|
simplex.c[1]->w-simplex.c[3]->w,
|
|
simplex.c[2]->w-simplex.c[3]->w)<0)
|
|
{
|
|
SWAP(simplex.c[0],simplex.c[1]);
|
|
SWAP(simplex.p[0],simplex.p[1]);
|
|
}
|
|
/* Build initial hull */
|
|
sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true),
|
|
newface(simplex.c[1],simplex.c[0],simplex.c[3],true),
|
|
newface(simplex.c[2],simplex.c[1],simplex.c[3],true),
|
|
newface(simplex.c[0],simplex.c[2],simplex.c[3],true)};
|
|
if(m_hull.count==4)
|
|
{
|
|
sFace* best=findbest();
|
|
sFace outer=*best;
|
|
U pass=0;
|
|
U iterations=0;
|
|
bind(tetra[0],0,tetra[1],0);
|
|
bind(tetra[0],1,tetra[2],0);
|
|
bind(tetra[0],2,tetra[3],0);
|
|
bind(tetra[1],1,tetra[3],2);
|
|
bind(tetra[1],2,tetra[2],1);
|
|
bind(tetra[2],2,tetra[3],1);
|
|
m_status=eStatus::Valid;
|
|
for(;iterations<EPA_MAX_ITERATIONS;++iterations)
|
|
{
|
|
if(m_nextsv<EPA_MAX_VERTICES)
|
|
{
|
|
sHorizon horizon;
|
|
sSV* w=&m_sv_store[m_nextsv++];
|
|
bool valid=true;
|
|
best->pass = (U1)(++pass);
|
|
gjk.getsupport(best->n,*w);
|
|
const real_t wdist=vec3_dot(best->n,w->w)-best->d;
|
|
if(wdist>EPA_ACCURACY)
|
|
{
|
|
for(U j=0;(j<3)&&valid;++j)
|
|
{
|
|
valid&=expand( pass,w,
|
|
best->f[j],best->e[j],
|
|
horizon);
|
|
}
|
|
if(valid&&(horizon.nf>=3))
|
|
{
|
|
bind(horizon.cf,1,horizon.ff,2);
|
|
remove(m_hull,best);
|
|
append(m_stock,best);
|
|
best=findbest();
|
|
if(best->p>=outer.p) outer=*best;
|
|
} else { m_status=eStatus::InvalidHull;break; }
|
|
} else { m_status=eStatus::AccuraryReached;break; }
|
|
} else { m_status=eStatus::OutOfVertices;break; }
|
|
}
|
|
const Vector3 projection=outer.n*outer.d;
|
|
m_normal = outer.n;
|
|
m_depth = outer.d;
|
|
m_result.rank = 3;
|
|
m_result.c[0] = outer.c[0];
|
|
m_result.c[1] = outer.c[1];
|
|
m_result.c[2] = outer.c[2];
|
|
m_result.p[0] = vec3_cross( outer.c[1]->w-projection,
|
|
outer.c[2]->w-projection).length();
|
|
m_result.p[1] = vec3_cross( outer.c[2]->w-projection,
|
|
outer.c[0]->w-projection).length();
|
|
m_result.p[2] = vec3_cross( outer.c[0]->w-projection,
|
|
outer.c[1]->w-projection).length();
|
|
const real_t sum=m_result.p[0]+m_result.p[1]+m_result.p[2];
|
|
m_result.p[0] /= sum;
|
|
m_result.p[1] /= sum;
|
|
m_result.p[2] /= sum;
|
|
return(m_status);
|
|
}
|
|
}
|
|
/* Fallback */
|
|
m_status = eStatus::FallBack;
|
|
m_normal = -guess;
|
|
const real_t nl=m_normal.length();
|
|
if(nl>0)
|
|
m_normal = m_normal/nl;
|
|
else
|
|
m_normal = Vector3(1,0,0);
|
|
m_depth = 0;
|
|
m_result.rank=1;
|
|
m_result.c[0]=simplex.c[0];
|
|
m_result.p[0]=1;
|
|
return(m_status);
|
|
}
|
|
sFace* newface(sSV* a,sSV* b,sSV* c,bool forced)
|
|
{
|
|
if(m_stock.root)
|
|
{
|
|
sFace* face=m_stock.root;
|
|
remove(m_stock,face);
|
|
append(m_hull,face);
|
|
face->pass = 0;
|
|
face->c[0] = a;
|
|
face->c[1] = b;
|
|
face->c[2] = c;
|
|
face->n = vec3_cross(b->w-a->w,c->w-a->w);
|
|
const real_t l=face->n.length();
|
|
const bool v=l>EPA_ACCURACY;
|
|
face->p = MIN(MIN(
|
|
vec3_dot(a->w,vec3_cross(face->n,a->w-b->w)),
|
|
vec3_dot(b->w,vec3_cross(face->n,b->w-c->w))),
|
|
vec3_dot(c->w,vec3_cross(face->n,c->w-a->w))) /
|
|
(v?l:1);
|
|
face->p = face->p>=-EPA_INSIDE_EPS?0:face->p;
|
|
if(v)
|
|
{
|
|
face->d = vec3_dot(a->w,face->n)/l;
|
|
face->n /= l;
|
|
if(forced||(face->d>=-EPA_PLANE_EPS))
|
|
{
|
|
return(face);
|
|
} else m_status=eStatus::NonConvex;
|
|
} else m_status=eStatus::Degenerated;
|
|
remove(m_hull,face);
|
|
append(m_stock,face);
|
|
return(0);
|
|
}
|
|
m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces;
|
|
return(0);
|
|
}
|
|
sFace* findbest()
|
|
{
|
|
sFace* minf=m_hull.root;
|
|
real_t mind=minf->d*minf->d;
|
|
real_t maxp=minf->p;
|
|
for(sFace* f=minf->l[1];f;f=f->l[1])
|
|
{
|
|
const real_t sqd=f->d*f->d;
|
|
if((f->p>=maxp)&&(sqd<mind))
|
|
{
|
|
minf=f;
|
|
mind=sqd;
|
|
maxp=f->p;
|
|
}
|
|
}
|
|
return(minf);
|
|
}
|
|
bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon)
|
|
{
|
|
static const U i1m3[]={1,2,0};
|
|
static const U i2m3[]={2,0,1};
|
|
if(f->pass!=pass)
|
|
{
|
|
const U e1=i1m3[e];
|
|
if((vec3_dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS)
|
|
{
|
|
sFace* nf=newface(f->c[e1],f->c[e],w,false);
|
|
if(nf)
|
|
{
|
|
bind(nf,0,f,e);
|
|
if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf;
|
|
horizon.cf=nf;
|
|
++horizon.nf;
|
|
return(true);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
const U e2=i2m3[e];
|
|
f->pass = (U1)pass;
|
|
if( expand(pass,w,f->f[e1],f->e[e1],horizon)&&
|
|
expand(pass,w,f->f[e2],f->e[e2],horizon))
|
|
{
|
|
remove(m_hull,f);
|
|
append(m_stock,f);
|
|
return(true);
|
|
}
|
|
}
|
|
}
|
|
return(false);
|
|
}
|
|
|
|
};
|
|
|
|
//
|
|
static void Initialize( const ShapeSW* shape0,const Transform& wtrs0,
|
|
const ShapeSW* shape1,const Transform& wtrs1,
|
|
sResults& results,
|
|
tShape& shape,
|
|
bool withmargins)
|
|
{
|
|
/* Results */
|
|
results.witnesses[0] =
|
|
results.witnesses[1] = Vector3(0,0,0);
|
|
results.status = sResults::Separated;
|
|
/* Shape */
|
|
shape.m_shapes[0] = shape0;
|
|
shape.m_shapes[1] = shape1;
|
|
shape.transform_A = wtrs0;
|
|
shape.transform_B = wtrs1;
|
|
|
|
}
|
|
|
|
|
|
|
|
//
|
|
// Api
|
|
//
|
|
|
|
//
|
|
|
|
//
|
|
bool Distance( const ShapeSW* shape0,
|
|
const Transform& wtrs0,
|
|
const ShapeSW* shape1,
|
|
const Transform& wtrs1,
|
|
const Vector3& guess,
|
|
sResults& results)
|
|
{
|
|
tShape shape;
|
|
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
|
|
GJK gjk;
|
|
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
|
|
if(gjk_status==GJK::eStatus::Valid)
|
|
{
|
|
Vector3 w0=Vector3(0,0,0);
|
|
Vector3 w1=Vector3(0,0,0);
|
|
for(U i=0;i<gjk.m_simplex->rank;++i)
|
|
{
|
|
const real_t p=gjk.m_simplex->p[i];
|
|
w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p;
|
|
w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p;
|
|
}
|
|
results.witnesses[0] = w0;
|
|
results.witnesses[1] = w1;
|
|
results.normal = w0-w1;
|
|
results.distance = results.normal.length();
|
|
results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1;
|
|
return(true);
|
|
}
|
|
else
|
|
{
|
|
results.status = gjk_status==GJK::eStatus::Inside?
|
|
sResults::Penetrating :
|
|
sResults::GJK_Failed ;
|
|
return(false);
|
|
}
|
|
}
|
|
|
|
//
|
|
bool Penetration( const ShapeSW* shape0,
|
|
const Transform& wtrs0,
|
|
const ShapeSW* shape1,
|
|
const Transform& wtrs1,
|
|
const Vector3& guess,
|
|
sResults& results
|
|
)
|
|
{
|
|
tShape shape;
|
|
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
|
|
GJK gjk;
|
|
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
|
|
switch(gjk_status)
|
|
{
|
|
case GJK::eStatus::Inside:
|
|
{
|
|
EPA epa;
|
|
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
|
|
if(epa_status!=EPA::eStatus::Failed)
|
|
{
|
|
Vector3 w0=Vector3(0,0,0);
|
|
for(U i=0;i<epa.m_result.rank;++i)
|
|
{
|
|
w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
|
|
}
|
|
results.status = sResults::Penetrating;
|
|
results.witnesses[0] = w0;
|
|
results.witnesses[1] = w0-epa.m_normal*epa.m_depth;
|
|
results.normal = -epa.m_normal;
|
|
results.distance = -epa.m_depth;
|
|
return(true);
|
|
} else results.status=sResults::EPA_Failed;
|
|
}
|
|
break;
|
|
case GJK::eStatus::Failed:
|
|
results.status=sResults::GJK_Failed;
|
|
break;
|
|
default: {}
|
|
}
|
|
return(false);
|
|
}
|
|
|
|
|
|
/* Symbols cleanup */
|
|
|
|
#undef GJK_MAX_ITERATIONS
|
|
#undef GJK_ACCURARY
|
|
#undef GJK_MIN_DISTANCE
|
|
#undef GJK_DUPLICATED_EPS
|
|
#undef GJK_SIMPLEX2_EPS
|
|
#undef GJK_SIMPLEX3_EPS
|
|
#undef GJK_SIMPLEX4_EPS
|
|
|
|
#undef EPA_MAX_VERTICES
|
|
#undef EPA_MAX_FACES
|
|
#undef EPA_MAX_ITERATIONS
|
|
#undef EPA_ACCURACY
|
|
#undef EPA_FALLBACK
|
|
#undef EPA_PLANE_EPS
|
|
#undef EPA_INSIDE_EPS
|
|
|
|
|
|
} // end of namespace
|
|
|
|
/* clang-format on */
|
|
|
|
bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
|
|
|
|
GjkEpa2::sResults res;
|
|
|
|
if (GjkEpa2::Distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) {
|
|
|
|
r_result_A = res.witnesses[0];
|
|
r_result_B = res.witnesses[1];
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap) {
|
|
|
|
GjkEpa2::sResults res;
|
|
|
|
if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) {
|
|
if (p_result_callback) {
|
|
if (p_swap)
|
|
p_result_callback(res.witnesses[1], res.witnesses[0], p_userdata);
|
|
else
|
|
p_result_callback(res.witnesses[0], res.witnesses[1], p_userdata);
|
|
}
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|