summaryrefslogtreecommitdiffstats
path: root/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp')
-rw-r--r--thirdparty/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp174
1 files changed, 0 insertions, 174 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
deleted file mode 100644
index cce2d95bcf..0000000000
--- a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,174 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
-subject to the following restrictions:
-
-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.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#include "btConvexPlaneCollisionAlgorithm.h"
-
-#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-#include "BulletCollision/CollisionShapes/btConvexShape.h"
-#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
-//#include <stdio.h>
-
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
-: btCollisionAlgorithm(ci),
-m_ownManifold(false),
-m_manifoldPtr(mf),
-m_isSwapped(isSwapped),
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
-{
- const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
- const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
-
- if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
- {
- m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
- m_ownManifold = true;
- }
-}
-
-
-btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
-{
- if (m_ownManifold)
- {
- if (m_manifoldPtr)
- m_dispatcher->releaseManifold(m_manifoldPtr);
- }
-}
-
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
- const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
- const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
-
- btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
- btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
-
- bool hasCollision = false;
- const btVector3& planeNormal = planeShape->getPlaneNormal();
- const btScalar& planeConstant = planeShape->getPlaneConstant();
-
- btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
- btTransform convexInPlaneTrans;
- convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
- //now perturbe the convex-world transform
- convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
- btTransform planeInConvex;
- planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
-
- btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
-
- btVector3 vtxInPlane = convexInPlaneTrans(vtx);
- btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
-
- btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
- btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
-
- hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
- resultOut->setPersistentManifold(m_manifoldPtr);
- if (hasCollision)
- {
- /// report a contact. internally this will be kept persistent, and contact reduction is done
- btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
- btVector3 pOnB = vtxInPlaneWorld;
- resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
- }
-}
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
- (void)dispatchInfo;
- if (!m_manifoldPtr)
- return;
-
- const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
- const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
-
- btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
- btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
-
- bool hasCollision = false;
- const btVector3& planeNormal = planeShape->getPlaneNormal();
- const btScalar& planeConstant = planeShape->getPlaneConstant();
- btTransform planeInConvex;
- planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
- btTransform convexInPlaneTrans;
- convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
-
- btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
- btVector3 vtxInPlane = convexInPlaneTrans(vtx);
- btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
-
- btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
- btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
-
- hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
- resultOut->setPersistentManifold(m_manifoldPtr);
- if (hasCollision)
- {
- /// report a contact. internally this will be kept persistent, and contact reduction is done
- btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
- btVector3 pOnB = vtxInPlaneWorld;
- resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
- }
-
- //the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
- //they keep on rolling forever because of the additional off-center contact points
- //so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
- if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
- {
- btVector3 v0,v1;
- btPlaneSpace1(planeNormal,v0,v1);
- //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-
- const btScalar angleLimit = 0.125f * SIMD_PI;
- btScalar perturbeAngle;
- btScalar radius = convexShape->getAngularMotionDisc();
- perturbeAngle = gContactBreakingThreshold / radius;
- if ( perturbeAngle > angleLimit )
- perturbeAngle = angleLimit;
-
- btQuaternion perturbeRot(v0,perturbeAngle);
- for (int i=0;i<m_numPerturbationIterations;i++)
- {
- btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
- btQuaternion rotq(planeNormal,iterationAngle);
- collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
- }
- }
-
- if (m_ownManifold)
- {
- if (m_manifoldPtr->getNumContacts())
- {
- resultOut->refreshContactPoints();
- }
- }
-}
-
-btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
- (void)resultOut;
- (void)dispatchInfo;
- (void)col0;
- (void)col1;
-
- //not yet
- return btScalar(1.);
-}