153 lines
4 KiB
C++
153 lines
4 KiB
C++
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#ifndef B3_CONTACT_SPHERE_SPHERE_H
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#define B3_CONTACT_SPHERE_SPHERE_H
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void computeContactSphereConvex(int pairIndex,
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int bodyIndexA, int bodyIndexB,
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int collidableIndexA, int collidableIndexB,
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const b3RigidBodyData* rigidBodies,
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const b3Collidable* collidables,
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const b3ConvexPolyhedronData* convexShapes,
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const b3Vector3* convexVertices,
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const int* convexIndices,
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const b3GpuFace* faces,
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b3Contact4* globalContactsOut,
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int& nGlobalContactsOut,
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int maxContactCapacity)
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{
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float radius = collidables[collidableIndexA].m_radius;
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float4 spherePos1 = rigidBodies[bodyIndexA].m_pos;
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b3Quaternion sphereOrn = rigidBodies[bodyIndexA].m_quat;
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float4 pos = rigidBodies[bodyIndexB].m_pos;
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b3Quaternion quat = rigidBodies[bodyIndexB].m_quat;
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b3Transform tr;
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tr.setIdentity();
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tr.setOrigin(pos);
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tr.setRotation(quat);
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b3Transform trInv = tr.inverse();
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float4 spherePos = trInv(spherePos1);
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int collidableIndex = rigidBodies[bodyIndexB].m_collidableIdx;
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int shapeIndex = collidables[collidableIndex].m_shapeIndex;
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int numFaces = convexShapes[shapeIndex].m_numFaces;
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float4 closestPnt = b3MakeVector3(0, 0, 0, 0);
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float4 hitNormalWorld = b3MakeVector3(0, 0, 0, 0);
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float minDist = -1000000.f; // TODO: What is the largest/smallest float?
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bool bCollide = true;
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int region = -1;
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float4 localHitNormal;
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for (int f = 0; f < numFaces; f++)
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{
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b3GpuFace face = faces[convexShapes[shapeIndex].m_faceOffset + f];
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float4 planeEqn;
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float4 localPlaneNormal = b3MakeVector3(face.m_plane.x, face.m_plane.y, face.m_plane.z, 0.f);
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float4 n1 = localPlaneNormal; //quatRotate(quat,localPlaneNormal);
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planeEqn = n1;
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planeEqn[3] = face.m_plane.w;
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float4 pntReturn;
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float dist = signedDistanceFromPointToPlane(spherePos, planeEqn, &pntReturn);
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if (dist > radius)
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{
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bCollide = false;
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break;
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}
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if (dist > 0)
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{
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//might hit an edge or vertex
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b3Vector3 out;
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bool isInPoly = IsPointInPolygon(spherePos,
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&face,
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&convexVertices[convexShapes[shapeIndex].m_vertexOffset],
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convexIndices,
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&out);
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if (isInPoly)
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{
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if (dist > minDist)
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{
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minDist = dist;
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closestPnt = pntReturn;
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localHitNormal = planeEqn;
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region = 1;
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}
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}
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else
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{
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b3Vector3 tmp = spherePos - out;
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b3Scalar l2 = tmp.length2();
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if (l2 < radius * radius)
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{
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dist = b3Sqrt(l2);
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if (dist > minDist)
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{
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minDist = dist;
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closestPnt = out;
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localHitNormal = tmp / dist;
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region = 2;
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}
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}
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else
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{
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bCollide = false;
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break;
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}
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}
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}
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else
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{
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if (dist > minDist)
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{
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minDist = dist;
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closestPnt = pntReturn;
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localHitNormal = planeEqn;
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region = 3;
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}
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}
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}
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static int numChecks = 0;
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numChecks++;
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if (bCollide && minDist > -10000)
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{
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float4 normalOnSurfaceB1 = tr.getBasis() * localHitNormal; //-hitNormalWorld;
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float4 pOnB1 = tr(closestPnt);
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//printf("dist ,%f,",minDist);
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float actualDepth = minDist - radius;
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if (actualDepth < 0)
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{
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//printf("actualDepth = ,%f,", actualDepth);
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//printf("normalOnSurfaceB1 = ,%f,%f,%f,", normalOnSurfaceB1.x,normalOnSurfaceB1.y,normalOnSurfaceB1.z);
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//printf("region=,%d,\n", region);
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pOnB1[3] = actualDepth;
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int dstIdx;
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// dstIdx = nGlobalContactsOut++;//AppendInc( nGlobalContactsOut, dstIdx );
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if (nGlobalContactsOut < maxContactCapacity)
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{
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dstIdx = nGlobalContactsOut;
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nGlobalContactsOut++;
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b3Contact4* c = &globalContactsOut[dstIdx];
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c->m_worldNormalOnB = normalOnSurfaceB1;
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c->setFrictionCoeff(0.7);
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c->setRestituitionCoeff(0.f);
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c->m_batchIdx = pairIndex;
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c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass == 0 ? -bodyIndexA : bodyIndexA;
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c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass == 0 ? -bodyIndexB : bodyIndexB;
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c->m_worldPosB[0] = pOnB1;
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int numPoints = 1;
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c->m_worldNormalOnB.w = (b3Scalar)numPoints;
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} //if (dstIdx < numPairs)
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}
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} //if (hasCollision)
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}
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#endif //B3_CONTACT_SPHERE_SPHERE_H
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