Bullet Collision Detection & Physics Library: btGjkEpaPenetrationDepthSolver.cpp Source File

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btGjkEpaPenetrationDepthSolver.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 EPA Copyright (c) Ricardo Padrela 2006
6
7 This software is provided 'as-is', without any express or implied warranty.
8 In no event will the authors be held liable for any damages arising from the use of this software.
9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it freely,
11 subject to the following restrictions:
12
13 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.
14 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
15 3. This notice may not be removed or altered from any source distribution.
16 */
17
18 #include "BulletCollision/CollisionShapes/btConvexShape.h"
19 #include "btGjkEpaPenetrationDepthSolver.h"
20
21
22 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
23
24 bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
25 const btConvexShape* pConvexA, const btConvexShape* pConvexB,
26 const btTransform& transformA, const btTransform& transformB,
27 btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
28 class btIDebugDraw* debugDraw)
29 {
30
31 (void)debugDraw;
32 (void)v;
33 (void)simplexSolver;
34
35 // const btScalar radialmargin(btScalar(0.));
36
37 btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
38 btGjkEpaSolver2::sResults results;
39
40
41 if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
42 pConvexB,transformB,
43 guessVector,results))
44
45 {
46 // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
47 //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
48 wWitnessOnA = results.witnesses[0];
49 wWitnessOnB = results.witnesses[1];
50 v = results.normal;
51 return true;
52 } else
53 {
54 if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
55 {
56 wWitnessOnA = results.witnesses[0];
57 wWitnessOnB = results.witnesses[1];
58 v = results.normal;
59 return false;
60 }
61 }
62
63 return false;
64 }
65
66
btGjkEpaSolver2::sResults
Definition: btGjkEpa2.h:33
btConvexShape.h
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:28
btGjkEpaSolver2::Penetration
static bool Penetration(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results, bool usemargins=true)
Definition: btGjkEpa2.cpp:903
btGjkEpa2.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btGjkEpaSolver2::Distance
static bool Distance(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results)
Definition: btGjkEpa2.cpp:865
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btGjkEpaPenetrationDepthSolver::calcPenDepth
bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)
Definition: btGjkEpaPenetrationDepthSolver.cpp:24
btGjkEpaPenetrationDepthSolver.h