336 lines
12 KiB
C++
336 lines
12 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#define NUM_UNITSPHERE_POINTS 42
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bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
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const btConvexShape* convexA, const btConvexShape* convexB,
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const btTransform& transA, const btTransform& transB,
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btVector3& v, btVector3& pa, btVector3& pb,
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class btIDebugDraw* debugDraw)
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{
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(void)v;
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bool check2d = convexA->isConvex2d() && convexB->isConvex2d();
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struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
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{
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btIntermediateResult() : m_hasResult(false)
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{
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}
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btVector3 m_normalOnBInWorld;
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btVector3 m_pointInWorld;
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btScalar m_depth;
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bool m_hasResult;
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virtual void setShapeIdentifiersA(int partId0, int index0)
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{
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(void)partId0;
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(void)index0;
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}
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virtual void setShapeIdentifiersB(int partId1, int index1)
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{
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(void)partId1;
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(void)index1;
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}
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void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
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{
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m_normalOnBInWorld = normalOnBInWorld;
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m_pointInWorld = pointInWorld;
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m_depth = depth;
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m_hasResult = true;
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}
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};
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//just take fixed number of orientation, and sample the penetration depth in that direction
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btScalar minProj = btScalar(BT_LARGE_FLOAT);
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btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
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btVector3 minA, minB;
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btVector3 separatingAxisInA, separatingAxisInB;
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btVector3 pInA, qInB, pWorld, qWorld, w;
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#ifndef __SPU__
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#define USE_BATCHED_SUPPORT 1
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#endif
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#ifdef USE_BATCHED_SUPPORT
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btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
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btVector3 supportVerticesBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
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btVector3 separatingAxisInABatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
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btVector3 separatingAxisInBBatch[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2];
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int i;
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int numSampleDirections = NUM_UNITSPHERE_POINTS;
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for (i = 0; i < numSampleDirections; i++)
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{
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btVector3 norm = getPenetrationDirections()[i];
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separatingAxisInABatch[i] = (-norm) * transA.getBasis();
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separatingAxisInBBatch[i] = norm * transB.getBasis();
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}
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{
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int numPDA = convexA->getNumPreferredPenetrationDirections();
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if (numPDA)
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{
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for (int i = 0; i < numPDA; i++)
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{
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btVector3 norm;
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convexA->getPreferredPenetrationDirection(i, norm);
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norm = transA.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
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separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
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numSampleDirections++;
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}
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}
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}
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{
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int numPDB = convexB->getNumPreferredPenetrationDirections();
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if (numPDB)
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{
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for (int i = 0; i < numPDB; i++)
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{
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btVector3 norm;
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convexB->getPreferredPenetrationDirection(i, norm);
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norm = transB.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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separatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
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separatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
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numSampleDirections++;
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}
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}
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}
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convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInABatch, supportVerticesABatch, numSampleDirections);
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convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(separatingAxisInBBatch, supportVerticesBBatch, numSampleDirections);
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for (i = 0; i < numSampleDirections; i++)
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{
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btVector3 norm = getPenetrationDirections()[i];
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if (check2d)
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{
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norm[2] = 0.f;
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}
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if (norm.length2() > 0.01)
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{
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separatingAxisInA = separatingAxisInABatch[i];
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separatingAxisInB = separatingAxisInBBatch[i];
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pInA = supportVerticesABatch[i];
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qInB = supportVerticesBBatch[i];
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pWorld = transA(pInA);
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qWorld = transB(qInB);
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if (check2d)
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{
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pWorld[2] = 0.f;
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qWorld[2] = 0.f;
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}
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w = qWorld - pWorld;
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btScalar delta = norm.dot(w);
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//find smallest delta
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if (delta < minProj)
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{
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minProj = delta;
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minNorm = norm;
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minA = pWorld;
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minB = qWorld;
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}
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}
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}
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#else
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int numSampleDirections = NUM_UNITSPHERE_POINTS;
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#ifndef __SPU__
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{
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int numPDA = convexA->getNumPreferredPenetrationDirections();
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if (numPDA)
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{
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for (int i = 0; i < numPDA; i++)
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{
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btVector3 norm;
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convexA->getPreferredPenetrationDirection(i, norm);
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norm = transA.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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numSampleDirections++;
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}
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}
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}
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{
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int numPDB = convexB->getNumPreferredPenetrationDirections();
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if (numPDB)
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{
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for (int i = 0; i < numPDB; i++)
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{
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btVector3 norm;
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convexB->getPreferredPenetrationDirection(i, norm);
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norm = transB.getBasis() * norm;
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getPenetrationDirections()[numSampleDirections] = norm;
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numSampleDirections++;
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}
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}
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}
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#endif // __SPU__
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for (int i = 0; i < numSampleDirections; i++)
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{
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const btVector3& norm = getPenetrationDirections()[i];
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separatingAxisInA = (-norm) * transA.getBasis();
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separatingAxisInB = norm * transB.getBasis();
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pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInA);
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qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(separatingAxisInB);
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pWorld = transA(pInA);
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qWorld = transB(qInB);
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w = qWorld - pWorld;
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btScalar delta = norm.dot(w);
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//find smallest delta
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if (delta < minProj)
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{
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minProj = delta;
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minNorm = norm;
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minA = pWorld;
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minB = qWorld;
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}
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}
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#endif //USE_BATCHED_SUPPORT
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//add the margins
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minA += minNorm * convexA->getMarginNonVirtual();
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minB -= minNorm * convexB->getMarginNonVirtual();
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//no penetration
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if (minProj < btScalar(0.))
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return false;
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btScalar extraSeparation = 0.5f; ///scale dependent
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minProj += extraSeparation + (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
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//#define DEBUG_DRAW 1
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#ifdef DEBUG_DRAW
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if (debugDraw)
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{
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btVector3 color(0, 1, 0);
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debugDraw->drawLine(minA, minB, color);
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color = btVector3(1, 1, 1);
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btVector3 vec = minB - minA;
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btScalar prj2 = minNorm.dot(vec);
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debugDraw->drawLine(minA, minA + (minNorm * minProj), color);
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}
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#endif //DEBUG_DRAW
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btGjkPairDetector gjkdet(convexA, convexB, &simplexSolver, 0);
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btScalar offsetDist = minProj;
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btVector3 offset = minNorm * offsetDist;
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btGjkPairDetector::ClosestPointInput input;
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btVector3 newOrg = transA.getOrigin() + offset;
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btTransform displacedTrans = transA;
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displacedTrans.setOrigin(newOrg);
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input.m_transformA = displacedTrans;
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input.m_transformB = transB;
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input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); //minProj;
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btIntermediateResult res;
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gjkdet.setCachedSeparatingAxis(-minNorm);
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gjkdet.getClosestPoints(input, res, debugDraw);
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btScalar correctedMinNorm = minProj - res.m_depth;
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//the penetration depth is over-estimated, relax it
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btScalar penetration_relaxation = btScalar(1.);
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minNorm *= penetration_relaxation;
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if (res.m_hasResult)
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{
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pa = res.m_pointInWorld - minNorm * correctedMinNorm;
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pb = res.m_pointInWorld;
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v = minNorm;
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#ifdef DEBUG_DRAW
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if (debugDraw)
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{
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btVector3 color(1, 0, 0);
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debugDraw->drawLine(pa, pb, color);
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}
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#endif //DEBUG_DRAW
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}
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return res.m_hasResult;
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}
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btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
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{
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static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
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{
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btVector3(btScalar(0.000000), btScalar(-0.000000), btScalar(-1.000000)),
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btVector3(btScalar(0.723608), btScalar(-0.525725), btScalar(-0.447219)),
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btVector3(btScalar(-0.276388), btScalar(-0.850649), btScalar(-0.447219)),
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btVector3(btScalar(-0.894426), btScalar(-0.000000), btScalar(-0.447216)),
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btVector3(btScalar(-0.276388), btScalar(0.850649), btScalar(-0.447220)),
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btVector3(btScalar(0.723608), btScalar(0.525725), btScalar(-0.447219)),
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btVector3(btScalar(0.276388), btScalar(-0.850649), btScalar(0.447220)),
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btVector3(btScalar(-0.723608), btScalar(-0.525725), btScalar(0.447219)),
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btVector3(btScalar(-0.723608), btScalar(0.525725), btScalar(0.447219)),
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btVector3(btScalar(0.276388), btScalar(0.850649), btScalar(0.447219)),
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btVector3(btScalar(0.894426), btScalar(0.000000), btScalar(0.447216)),
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btVector3(btScalar(-0.000000), btScalar(0.000000), btScalar(1.000000)),
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btVector3(btScalar(0.425323), btScalar(-0.309011), btScalar(-0.850654)),
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btVector3(btScalar(-0.162456), btScalar(-0.499995), btScalar(-0.850654)),
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btVector3(btScalar(0.262869), btScalar(-0.809012), btScalar(-0.525738)),
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btVector3(btScalar(0.425323), btScalar(0.309011), btScalar(-0.850654)),
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btVector3(btScalar(0.850648), btScalar(-0.000000), btScalar(-0.525736)),
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btVector3(btScalar(-0.525730), btScalar(-0.000000), btScalar(-0.850652)),
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btVector3(btScalar(-0.688190), btScalar(-0.499997), btScalar(-0.525736)),
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btVector3(btScalar(-0.162456), btScalar(0.499995), btScalar(-0.850654)),
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btVector3(btScalar(-0.688190), btScalar(0.499997), btScalar(-0.525736)),
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btVector3(btScalar(0.262869), btScalar(0.809012), btScalar(-0.525738)),
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btVector3(btScalar(0.951058), btScalar(0.309013), btScalar(0.000000)),
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btVector3(btScalar(0.951058), btScalar(-0.309013), btScalar(0.000000)),
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btVector3(btScalar(0.587786), btScalar(-0.809017), btScalar(0.000000)),
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btVector3(btScalar(0.000000), btScalar(-1.000000), btScalar(0.000000)),
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btVector3(btScalar(-0.587786), btScalar(-0.809017), btScalar(0.000000)),
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btVector3(btScalar(-0.951058), btScalar(-0.309013), btScalar(-0.000000)),
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btVector3(btScalar(-0.951058), btScalar(0.309013), btScalar(-0.000000)),
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btVector3(btScalar(-0.587786), btScalar(0.809017), btScalar(-0.000000)),
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btVector3(btScalar(-0.000000), btScalar(1.000000), btScalar(-0.000000)),
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btVector3(btScalar(0.587786), btScalar(0.809017), btScalar(-0.000000)),
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btVector3(btScalar(0.688190), btScalar(-0.499997), btScalar(0.525736)),
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btVector3(btScalar(-0.262869), btScalar(-0.809012), btScalar(0.525738)),
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btVector3(btScalar(-0.850648), btScalar(0.000000), btScalar(0.525736)),
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btVector3(btScalar(-0.262869), btScalar(0.809012), btScalar(0.525738)),
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btVector3(btScalar(0.688190), btScalar(0.499997), btScalar(0.525736)),
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btVector3(btScalar(0.525730), btScalar(0.000000), btScalar(0.850652)),
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btVector3(btScalar(0.162456), btScalar(-0.499995), btScalar(0.850654)),
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btVector3(btScalar(-0.425323), btScalar(-0.309011), btScalar(0.850654)),
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btVector3(btScalar(-0.425323), btScalar(0.309011), btScalar(0.850654)),
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btVector3(btScalar(0.162456), btScalar(0.499995), btScalar(0.850654))};
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return sPenetrationDirections;
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}
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