src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. 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
  28 class 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
  40 class 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
  60 public:
  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