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-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/ContinuousConvexCollision.cs | 199 |
1 files changed, 199 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/ContinuousConvexCollision.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/ContinuousConvexCollision.cs new file mode 100644 index 0000000..497f220 --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/ContinuousConvexCollision.cs | |||
@@ -0,0 +1,199 @@ | |||
1 | /* | ||
2 | Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru | ||
3 | Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com | ||
4 | |||
5 | This software is provided 'as-is', without any express or implied | ||
6 | warranty. In no event will the authors be held liable for any damages | ||
7 | arising from the use of this software. | ||
8 | |||
9 | Permission is granted to anyone to use this software for any purpose, | ||
10 | including commercial applications, and to alter it and redistribute it | ||
11 | freely, subject to the following restrictions: | ||
12 | |||
13 | 1. The origin of this software must not be misrepresented; you must not | ||
14 | claim that you wrote the original software. If you use this software | ||
15 | in a product, an acknowledgment in the product documentation would be | ||
16 | appreciated but is not required. | ||
17 | 2. Altered source versions must be plainly marked as such, and must not be | ||
18 | misrepresented as being the original software. | ||
19 | 3. This notice may not be removed or altered from any source distribution. | ||
20 | */ | ||
21 | |||
22 | using System; | ||
23 | using System.Collections.Generic; | ||
24 | using System.Text; | ||
25 | using MonoXnaCompactMaths; | ||
26 | |||
27 | namespace XnaDevRu.BulletX | ||
28 | { | ||
29 | /// <summary> | ||
30 | /// ContinuousConvexCollision implements angular and linear time of impact for convex objects. | ||
31 | /// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). | ||
32 | /// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. | ||
33 | /// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops | ||
34 | /// </summary> | ||
35 | public class ContinuousConvexCollision : IConvexCast | ||
36 | { | ||
37 | /// <summary> | ||
38 | /// This maximum should not be necessary. It allows for untested/degenerate cases in production code. | ||
39 | /// You don't want your game ever to lock-up. | ||
40 | /// </summary> | ||
41 | private const int MaxIterations = 1000; | ||
42 | |||
43 | private ISimplexSolver _simplexSolver; | ||
44 | private IConvexPenetrationDepthSolver _penetrationDepthSolver; | ||
45 | private ConvexShape _convexA; | ||
46 | private ConvexShape _convexB; | ||
47 | |||
48 | public ContinuousConvexCollision(ConvexShape convexA, ConvexShape convexB, | ||
49 | ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver) | ||
50 | { | ||
51 | _simplexSolver = simplexSolver; | ||
52 | _penetrationDepthSolver = penetrationDepthSolver; | ||
53 | _convexA = convexA; | ||
54 | _convexB = convexB; | ||
55 | } | ||
56 | |||
57 | public bool CalcTimeOfImpact(Matrix fromA, Matrix toA, Matrix fromB, Matrix toB, CastResult result) | ||
58 | { | ||
59 | _simplexSolver.Reset(); | ||
60 | |||
61 | // compute linear and angular velocity for this interval, to interpolate | ||
62 | Vector3 linVelA = new Vector3(), angVelA = new Vector3(), linVelB = new Vector3(), angVelB = new Vector3(); | ||
63 | TransformUtil.CalculateVelocity(fromA, toA, 1f, ref linVelA, ref angVelA); | ||
64 | TransformUtil.CalculateVelocity(fromB, toB, 1f, ref linVelB, ref angVelB); | ||
65 | |||
66 | float boundingRadiusA = _convexA.GetAngularMotionDisc(); | ||
67 | float boundingRadiusB = _convexB.GetAngularMotionDisc(); | ||
68 | |||
69 | float maxAngularProjectedVelocity = angVelA.Length() * boundingRadiusA + | ||
70 | angVelB.Length() * boundingRadiusB; | ||
71 | |||
72 | float radius = 0.001f; | ||
73 | |||
74 | float lambda = 0f; | ||
75 | Vector3 v = new Vector3(1f, 0f, 0f); | ||
76 | |||
77 | int maxIter = MaxIterations; | ||
78 | |||
79 | Vector3 n = new Vector3(); | ||
80 | bool hasResult = false; | ||
81 | Vector3 c; | ||
82 | |||
83 | float lastLambda = lambda; | ||
84 | //float epsilon = 0.001f; | ||
85 | |||
86 | int numIter = 0; | ||
87 | //first solution, using GJK | ||
88 | |||
89 | |||
90 | Matrix identityTrans = Matrix.Identity; | ||
91 | |||
92 | SphereShape raySphere = new SphereShape(0f); | ||
93 | raySphere.Margin=0f; | ||
94 | |||
95 | |||
96 | //result.drawCoordSystem(sphereTr); | ||
97 | |||
98 | PointCollector pointCollector1 = new PointCollector(); | ||
99 | |||
100 | GjkPairDetector gjk = new GjkPairDetector(_convexA, _convexB, (VoronoiSimplexSolver)_simplexSolver, _penetrationDepthSolver); | ||
101 | GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput(); | ||
102 | |||
103 | //we don't use margins during CCD | ||
104 | gjk.setIgnoreMargin(true); | ||
105 | |||
106 | input.TransformA = fromA; | ||
107 | input.TransformB = fromB; | ||
108 | |||
109 | DiscreteCollisionDetectorInterface.Result r = (DiscreteCollisionDetectorInterface.Result)pointCollector1; | ||
110 | gjk.GetClosestPoints(input, r, null); | ||
111 | |||
112 | hasResult = pointCollector1.HasResult; | ||
113 | c = pointCollector1.PointInWorld; | ||
114 | |||
115 | if (hasResult) | ||
116 | { | ||
117 | float dist; | ||
118 | dist = pointCollector1.Distance; | ||
119 | n = pointCollector1.NormalOnBInWorld; | ||
120 | |||
121 | //not close enough | ||
122 | while (dist > radius) | ||
123 | { | ||
124 | numIter++; | ||
125 | if (numIter > maxIter) | ||
126 | return false; //todo: report a failure | ||
127 | |||
128 | float dLambda = 0f; | ||
129 | |||
130 | //calculate safe moving fraction from distance / (linear+rotational velocity) | ||
131 | |||
132 | //float clippedDist = GEN_min(angularConservativeRadius,dist); | ||
133 | //float clippedDist = dist; | ||
134 | |||
135 | float projectedLinearVelocity = Vector3.Dot(linVelB - linVelA, n); | ||
136 | |||
137 | dLambda = dist / (projectedLinearVelocity + maxAngularProjectedVelocity); | ||
138 | |||
139 | lambda = lambda + dLambda; | ||
140 | |||
141 | if (lambda > 1f) return false; | ||
142 | if (lambda < 0f) return false; | ||
143 | |||
144 | //todo: next check with relative epsilon | ||
145 | if (lambda <= lastLambda) | ||
146 | break; | ||
147 | lastLambda = lambda; | ||
148 | |||
149 | |||
150 | //interpolate to next lambda | ||
151 | Matrix interpolatedTransA = new Matrix(), interpolatedTransB = new Matrix(), relativeTrans; | ||
152 | |||
153 | TransformUtil.IntegrateTransform(fromA, linVelA, angVelA, lambda, ref interpolatedTransA); | ||
154 | TransformUtil.IntegrateTransform(fromB, linVelB, angVelB, lambda, ref interpolatedTransB); | ||
155 | |||
156 | relativeTrans = MathHelper.InverseTimes(interpolatedTransB, interpolatedTransA); | ||
157 | |||
158 | result.DebugDraw(lambda); | ||
159 | |||
160 | PointCollector pointCollector = new PointCollector(); | ||
161 | gjk = new GjkPairDetector(_convexA, _convexB, (VoronoiSimplexSolver)_simplexSolver, _penetrationDepthSolver); | ||
162 | input = new DiscreteCollisionDetectorInterface.ClosestPointInput(); | ||
163 | input.TransformA = interpolatedTransA; | ||
164 | input.TransformB = interpolatedTransB; | ||
165 | |||
166 | // !!!!!!!!!! | ||
167 | r = (DiscreteCollisionDetectorInterface.Result)pointCollector1; | ||
168 | gjk.GetClosestPoints(input, r, null); | ||
169 | |||
170 | if (pointCollector.HasResult) | ||
171 | { | ||
172 | if (pointCollector.Distance < 0f) | ||
173 | { | ||
174 | //degenerate ?! | ||
175 | result.Fraction = lastLambda; | ||
176 | result.Normal = n; | ||
177 | return true; | ||
178 | } | ||
179 | c = pointCollector.PointInWorld; | ||
180 | |||
181 | dist = pointCollector.Distance; | ||
182 | } | ||
183 | else | ||
184 | { | ||
185 | //?? | ||
186 | return false; | ||
187 | } | ||
188 | |||
189 | } | ||
190 | |||
191 | result.Fraction = lambda; | ||
192 | result.Normal = n; | ||
193 | return true; | ||
194 | } | ||
195 | |||
196 | return false; | ||
197 | } | ||
198 | } | ||
199 | } | ||