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source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @ 10986

Last change on this file since 10986 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 4.6 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
17#define BT_CONVEX_CONVEX_ALGORITHM_H
18
19#include "btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
21#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
23#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
24#include "btCollisionCreateFunc.h"
25#include "btCollisionDispatcher.h"
26#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27
28class btConvexPenetrationDepthSolver;
29
30///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise
31///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions.
32///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
33///for certain pairs that have a small size ratio
34
35//#define USE_SEPDISTANCE_UTIL2 1
36
37///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
38///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
39///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888
40class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
41{
42#ifdef USE_SEPDISTANCE_UTIL2
43        btConvexSeparatingDistanceUtil  m_sepDistance;
44#endif
45        btSimplexSolverInterface*               m_simplexSolver;
46        btConvexPenetrationDepthSolver* m_pdSolver;
47
48       
49        bool    m_ownManifold;
50        btPersistentManifold*   m_manifoldPtr;
51        bool                    m_lowLevelOfDetail;
52       
53        int m_numPerturbationIterations;
54        int m_minimumPointsPerturbationThreshold;
55
56
57        ///cache separating vector to speedup collision detection
58       
59
60public:
61
62        btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
63
64
65        virtual ~btConvexConvexAlgorithm();
66
67        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
68
69        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
70
71        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
72        {
73                ///should we use m_ownManifold to avoid adding duplicates?
74                if (m_manifoldPtr && m_ownManifold)
75                        manifoldArray.push_back(m_manifoldPtr);
76        }
77
78
79        void    setLowLevelOfDetail(bool useLowLevel);
80
81
82        const btPersistentManifold*     getManifold()
83        {
84                return m_manifoldPtr;
85        }
86
87        struct CreateFunc :public       btCollisionAlgorithmCreateFunc
88        {
89
90                btConvexPenetrationDepthSolver*         m_pdSolver;
91                btSimplexSolverInterface*                       m_simplexSolver;
92                int m_numPerturbationIterations;
93                int m_minimumPointsPerturbationThreshold;
94
95                CreateFunc(btSimplexSolverInterface*                    simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
96               
97                virtual ~CreateFunc();
98
99                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
100                {
101                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
102                        return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
103                }
104        };
105
106
107};
108
109#endif //BT_CONVEX_CONVEX_ALGORITHM_H
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