| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #include "btGjkPairDetector.h" |
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| 17 | #include "BulletCollision/CollisionShapes/btConvexShape.h" |
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| 18 | #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" |
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| 19 | #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h" |
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| 20 | |
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| 21 | |
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| 22 | |
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| 23 | #if defined(DEBUG) || defined (_DEBUG) |
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| 24 | #define TEST_NON_VIRTUAL 1 |
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| 25 | #include <stdio.h> //for debug printf |
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| 26 | #ifdef __SPU__ |
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| 27 | #include <spu_printf.h> |
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| 28 | #define printf spu_printf |
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| 29 | //#define DEBUG_SPU_COLLISION_DETECTION 1 |
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| 30 | #endif //__SPU__ |
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| 31 | #endif |
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| 32 | |
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| 33 | //must be above the machine epsilon |
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| 34 | #define REL_ERROR2 btScalar(1.0e-6) |
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| 35 | |
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| 36 | //temp globals, to improve GJK/EPA/penetration calculations |
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| 37 | int gNumDeepPenetrationChecks = 0; |
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| 38 | int gNumGjkChecks = 0; |
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| 39 | |
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| 40 | |
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| 41 | |
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| 42 | btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) |
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| 43 | :m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)), |
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| 44 | m_penetrationDepthSolver(penetrationDepthSolver), |
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| 45 | m_simplexSolver(simplexSolver), |
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| 46 | m_minkowskiA(objectA), |
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| 47 | m_minkowskiB(objectB), |
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| 48 | m_ignoreMargin(false), |
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| 49 | m_lastUsedMethod(-1), |
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| 50 | m_catchDegeneracies(1) |
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| 51 | { |
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| 52 | } |
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| 53 | |
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| 54 | void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults) |
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| 55 | { |
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| 56 | btScalar distance=btScalar(0.); |
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| 57 | btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.)); |
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| 58 | btVector3 pointOnA,pointOnB; |
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| 59 | btTransform localTransA = input.m_transformA; |
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| 60 | btTransform localTransB = input.m_transformB; |
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| 61 | btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5); |
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| 62 | localTransA.getOrigin() -= positionOffset; |
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| 63 | localTransB.getOrigin() -= positionOffset; |
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| 64 | |
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| 65 | |
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| 66 | btScalar marginA = m_minkowskiA->getMarginNonVirtual(); |
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| 67 | btScalar marginB = m_minkowskiB->getMarginNonVirtual(); |
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| 68 | |
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| 69 | #ifdef TEST_NON_VIRTUAL |
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| 70 | btScalar marginAv = m_minkowskiA->getMargin(); |
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| 71 | btScalar marginBv = m_minkowskiB->getMargin(); |
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| 72 | |
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| 73 | btAssert(marginA == marginAv); |
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| 74 | btAssert(marginB == marginBv); |
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| 75 | #endif //TEST_NON_VIRTUAL |
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| 76 | |
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| 77 | gNumGjkChecks++; |
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| 78 | |
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| 79 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 80 | spu_printf("inside gjk\n"); |
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| 81 | #endif |
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| 82 | //for CCD we don't use margins |
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| 83 | if (m_ignoreMargin) |
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| 84 | { |
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| 85 | marginA = btScalar(0.); |
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| 86 | marginB = btScalar(0.); |
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| 87 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 88 | spu_printf("ignoring margin\n"); |
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| 89 | #endif |
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| 90 | } |
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| 91 | |
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| 92 | m_curIter = 0; |
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| 93 | int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN? |
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| 94 | m_cachedSeparatingAxis.setValue(0,1,0); |
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| 95 | |
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| 96 | bool isValid = false; |
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| 97 | bool checkSimplex = false; |
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| 98 | bool checkPenetration = true; |
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| 99 | m_degenerateSimplex = 0; |
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| 100 | |
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| 101 | m_lastUsedMethod = -1; |
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| 102 | |
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| 103 | { |
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| 104 | btScalar squaredDistance = SIMD_INFINITY; |
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| 105 | btScalar delta = btScalar(0.); |
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| 106 | |
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| 107 | btScalar margin = marginA + marginB; |
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| 108 | |
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| 109 | |
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| 110 | |
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| 111 | m_simplexSolver->reset(); |
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| 112 | |
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| 113 | for ( ; ; ) |
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| 114 | //while (true) |
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| 115 | { |
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| 116 | |
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| 117 | btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); |
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| 118 | btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); |
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| 119 | |
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| 120 | #ifdef TEST_NON_VIRTUAL |
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| 121 | btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA); |
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| 122 | btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB); |
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| 123 | #endif |
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| 124 | btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); |
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| 125 | btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); |
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| 126 | #ifdef TEST_NON_VIRTUAL |
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| 127 | btAssert((pInAv-pInA).length() < 0.0001); |
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| 128 | btAssert((qInBv-qInB).length() < 0.0001); |
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| 129 | #endif // |
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| 130 | |
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| 131 | btPoint3 pWorld = localTransA(pInA); |
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| 132 | btPoint3 qWorld = localTransB(qInB); |
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| 133 | |
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| 134 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 135 | spu_printf("got local supporting vertices\n"); |
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| 136 | #endif |
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| 137 | |
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| 138 | btVector3 w = pWorld - qWorld; |
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| 139 | delta = m_cachedSeparatingAxis.dot(w); |
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| 140 | |
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| 141 | // potential exit, they don't overlap |
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| 142 | if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) |
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| 143 | { |
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| 144 | checkPenetration = false; |
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| 145 | break; |
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| 146 | } |
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| 147 | |
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| 148 | //exit 0: the new point is already in the simplex, or we didn't come any closer |
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| 149 | if (m_simplexSolver->inSimplex(w)) |
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| 150 | { |
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| 151 | m_degenerateSimplex = 1; |
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| 152 | checkSimplex = true; |
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| 153 | break; |
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| 154 | } |
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| 155 | // are we getting any closer ? |
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| 156 | btScalar f0 = squaredDistance - delta; |
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| 157 | btScalar f1 = squaredDistance * REL_ERROR2; |
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| 158 | |
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| 159 | if (f0 <= f1) |
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| 160 | { |
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| 161 | if (f0 <= btScalar(0.)) |
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| 162 | { |
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| 163 | m_degenerateSimplex = 2; |
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| 164 | } |
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| 165 | checkSimplex = true; |
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| 166 | break; |
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| 167 | } |
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| 168 | |
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| 169 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 170 | spu_printf("addVertex 1\n"); |
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| 171 | #endif |
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| 172 | //add current vertex to simplex |
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| 173 | m_simplexSolver->addVertex(w, pWorld, qWorld); |
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| 174 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 175 | spu_printf("addVertex 2\n"); |
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| 176 | #endif |
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| 177 | //calculate the closest point to the origin (update vector v) |
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| 178 | if (!m_simplexSolver->closest(m_cachedSeparatingAxis)) |
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| 179 | { |
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| 180 | m_degenerateSimplex = 3; |
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| 181 | checkSimplex = true; |
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| 182 | break; |
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| 183 | } |
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| 184 | |
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| 185 | if(m_cachedSeparatingAxis.length2()<REL_ERROR2) |
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| 186 | { |
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| 187 | m_degenerateSimplex = 6; |
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| 188 | checkSimplex = true; |
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| 189 | break; |
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| 190 | } |
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| 191 | |
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| 192 | btScalar previousSquaredDistance = squaredDistance; |
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| 193 | squaredDistance = m_cachedSeparatingAxis.length2(); |
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| 194 | |
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| 195 | //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); |
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| 196 | |
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| 197 | //are we getting any closer ? |
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| 198 | if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) |
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| 199 | { |
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| 200 | m_simplexSolver->backup_closest(m_cachedSeparatingAxis); |
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| 201 | checkSimplex = true; |
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| 202 | break; |
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| 203 | } |
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| 204 | |
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| 205 | //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject |
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| 206 | if (m_curIter++ > gGjkMaxIter) |
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| 207 | { |
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| 208 | #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION) |
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| 209 | |
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| 210 | printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter); |
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| 211 | printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", |
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| 212 | m_cachedSeparatingAxis.getX(), |
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| 213 | m_cachedSeparatingAxis.getY(), |
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| 214 | m_cachedSeparatingAxis.getZ(), |
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| 215 | squaredDistance, |
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| 216 | m_minkowskiA->getShapeType(), |
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| 217 | m_minkowskiB->getShapeType()); |
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| 218 | |
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| 219 | #endif |
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| 220 | break; |
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| 221 | |
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| 222 | } |
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| 223 | |
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| 224 | |
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| 225 | bool check = (!m_simplexSolver->fullSimplex()); |
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| 226 | //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); |
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| 227 | |
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| 228 | if (!check) |
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| 229 | { |
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| 230 | //do we need this backup_closest here ? |
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| 231 | m_simplexSolver->backup_closest(m_cachedSeparatingAxis); |
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| 232 | break; |
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| 233 | } |
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| 234 | } |
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| 235 | |
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| 236 | if (checkSimplex) |
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| 237 | { |
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| 238 | m_simplexSolver->compute_points(pointOnA, pointOnB); |
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| 239 | normalInB = pointOnA-pointOnB; |
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| 240 | btScalar lenSqr = m_cachedSeparatingAxis.length2(); |
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| 241 | //valid normal |
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| 242 | if (lenSqr < 0.0001) |
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| 243 | { |
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| 244 | m_degenerateSimplex = 5; |
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| 245 | } |
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| 246 | if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) |
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| 247 | { |
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| 248 | btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); |
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| 249 | normalInB *= rlen; //normalize |
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| 250 | btScalar s = btSqrt(squaredDistance); |
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| 251 | |
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| 252 | btAssert(s > btScalar(0.0)); |
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| 253 | pointOnA -= m_cachedSeparatingAxis * (marginA / s); |
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| 254 | pointOnB += m_cachedSeparatingAxis * (marginB / s); |
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| 255 | distance = ((btScalar(1.)/rlen) - margin); |
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| 256 | isValid = true; |
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| 257 | |
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| 258 | m_lastUsedMethod = 1; |
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| 259 | } else |
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| 260 | { |
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| 261 | m_lastUsedMethod = 2; |
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| 262 | } |
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| 263 | } |
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| 264 | |
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| 265 | bool catchDegeneratePenetrationCase = |
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| 266 | (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01)); |
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| 267 | |
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| 268 | //if (checkPenetration && !isValid) |
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| 269 | if (checkPenetration && (!isValid || catchDegeneratePenetrationCase )) |
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| 270 | { |
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| 271 | //penetration case |
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| 272 | |
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| 273 | //if there is no way to handle penetrations, bail out |
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| 274 | if (m_penetrationDepthSolver) |
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| 275 | { |
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| 276 | // Penetration depth case. |
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| 277 | btVector3 tmpPointOnA,tmpPointOnB; |
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| 278 | |
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| 279 | gNumDeepPenetrationChecks++; |
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| 280 | |
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| 281 | bool isValid2 = m_penetrationDepthSolver->calcPenDepth( |
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| 282 | *m_simplexSolver, |
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| 283 | m_minkowskiA,m_minkowskiB, |
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| 284 | localTransA,localTransB, |
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| 285 | m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB, |
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| 286 | debugDraw,input.m_stackAlloc |
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| 287 | ); |
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| 288 | |
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| 289 | if (isValid2) |
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| 290 | { |
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| 291 | btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA; |
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| 292 | btScalar lenSqr = tmpNormalInB.length2(); |
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| 293 | if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) |
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| 294 | { |
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| 295 | tmpNormalInB /= btSqrt(lenSqr); |
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| 296 | btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length(); |
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| 297 | //only replace valid penetrations when the result is deeper (check) |
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| 298 | if (!isValid || (distance2 < distance)) |
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| 299 | { |
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| 300 | distance = distance2; |
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| 301 | pointOnA = tmpPointOnA; |
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| 302 | pointOnB = tmpPointOnB; |
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| 303 | normalInB = tmpNormalInB; |
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| 304 | isValid = true; |
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| 305 | m_lastUsedMethod = 3; |
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| 306 | } else |
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| 307 | { |
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| 308 | |
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| 309 | } |
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| 310 | } else |
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| 311 | { |
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| 312 | //isValid = false; |
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| 313 | m_lastUsedMethod = 4; |
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| 314 | } |
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| 315 | } else |
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| 316 | { |
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| 317 | m_lastUsedMethod = 5; |
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| 318 | } |
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| 319 | |
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| 320 | } |
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| 321 | } |
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| 322 | } |
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| 323 | |
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| 324 | if (isValid) |
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| 325 | { |
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| 326 | #ifdef __SPU__ |
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| 327 | //spu_printf("distance\n"); |
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| 328 | #endif //__CELLOS_LV2__ |
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| 329 | |
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| 330 | |
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| 331 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 332 | spu_printf("output 1\n"); |
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| 333 | #endif |
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| 334 | output.addContactPoint( |
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| 335 | normalInB, |
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| 336 | pointOnB+positionOffset, |
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| 337 | distance); |
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| 338 | |
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| 339 | #ifdef DEBUG_SPU_COLLISION_DETECTION |
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| 340 | spu_printf("output 2\n"); |
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| 341 | #endif |
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| 342 | //printf("gjk add:%f",distance); |
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| 343 | } |
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| 344 | |
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| 345 | |
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| 346 | } |
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| 347 | |
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| 348 | |
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| 349 | |
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| 350 | |
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| 351 | |
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