81 lines
2.7 KiB
C++
81 lines
2.7 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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EPA Copyright (c) Ricardo Padrela 2006
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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 "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
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const btConvexShape* pConvexA, const btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
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class btIDebugDraw* debugDraw)
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{
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(void)debugDraw;
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(void)v;
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(void)simplexSolver;
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btVector3 guessVectors[] = {
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btVector3(transformB.getOrigin() - transformA.getOrigin()).safeNormalize(),
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btVector3(transformA.getOrigin() - transformB.getOrigin()).safeNormalize(),
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btVector3(0, 0, 1),
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btVector3(0, 1, 0),
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btVector3(1, 0, 0),
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btVector3(1, 1, 0),
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btVector3(1, 1, 1),
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btVector3(0, 1, 1),
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btVector3(1, 0, 1),
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};
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int numVectors = sizeof(guessVectors) / sizeof(btVector3);
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for (int i = 0; i < numVectors; i++)
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{
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simplexSolver.reset();
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btVector3 guessVector = guessVectors[i];
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btGjkEpaSolver2::sResults results;
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if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
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pConvexB, transformB,
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guessVector, results))
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{
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wWitnessOnA = results.witnesses[0];
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wWitnessOnB = results.witnesses[1];
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v = results.normal;
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return true;
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}
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else
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{
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if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
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{
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wWitnessOnA = results.witnesses[0];
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wWitnessOnB = results.witnesses[1];
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v = results.normal;
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return false;
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}
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}
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}
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//failed to find a distance/penetration
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wWitnessOnA.setValue(0, 0, 0);
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wWitnessOnB.setValue(0, 0, 0);
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v.setValue(0, 0, 0);
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return false;
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}
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