2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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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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#ifndef BT_CONVEX_CAST_H
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#define BT_CONVEX_CAST_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btScalar.h"
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class btMinkowskiSumShape;
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#include "LinearMath/btIDebugDraw.h"
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#ifdef BT_USE_DOUBLE_PRECISION
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#define MAX_CONVEX_CAST_ITERATIONS 64
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#define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10)
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#else
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#define MAX_CONVEX_CAST_ITERATIONS 32
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#define MAX_CONVEX_CAST_EPSILON btScalar(0.0001)
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#endif
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///Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degenerate cases.
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2021-12-20 18:52:45 +08:00
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///See discussion about this here https://bulletphysics.orgphpBB2/viewtopic.php?t=565
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2020-11-16 14:47:43 +08:00
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//will need to digg deeper to make the algorithm more robust
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//since, a large epsilon can cause an early termination with false
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//positive results (ray intersections that shouldn't be there)
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/// btConvexCast is an interface for Casting
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class btConvexCast
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{
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public:
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virtual ~btConvexCast();
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///RayResult stores the closest result
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/// alternatively, add a callback method to decide about closest/all results
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struct CastResult
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{
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//virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
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virtual void DebugDraw(btScalar fraction) { (void)fraction; }
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virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
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virtual void reportFailure(int errNo, int numIterations)
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{
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(void)errNo;
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(void)numIterations;
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}
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CastResult()
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: m_fraction(btScalar(BT_LARGE_FLOAT)),
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m_debugDrawer(0),
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m_allowedPenetration(btScalar(0)),
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m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS),
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m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON)
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{
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}
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virtual ~CastResult(){};
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btTransform m_hitTransformA;
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btTransform m_hitTransformB;
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btVector3 m_normal;
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btVector3 m_hitPoint;
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btScalar m_fraction; //input and output
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btIDebugDraw* m_debugDrawer;
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btScalar m_allowedPenetration;
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int m_subSimplexCastMaxIterations;
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btScalar m_subSimplexCastEpsilon;
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};
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/// cast a convex against another convex object
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virtual bool calcTimeOfImpact(
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const btTransform& fromA,
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const btTransform& toA,
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const btTransform& fromB,
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const btTransform& toB,
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CastResult& result) = 0;
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};
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#endif //BT_CONVEX_CAST_H
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