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-rw-r--r--libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs202
1 files changed, 101 insertions, 101 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs
index aa9d61e..20af192 100644
--- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs
@@ -1,101 +1,101 @@
1/* 1/*
2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru 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 3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
4 4
5 This software is provided 'as-is', without any express or implied 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 6 warranty. In no event will the authors be held liable for any damages
7 arising from the use of this software. 7 arising from the use of this software.
8 8
9 Permission is granted to anyone to use this software for any purpose, 9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it 10 including commercial applications, and to alter it and redistribute it
11 freely, subject to the following restrictions: 11 freely, subject to the following restrictions:
12 12
13 1. The origin of this software must not be misrepresented; you must not 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 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 15 in a product, an acknowledgment in the product documentation would be
16 appreciated but is not required. 16 appreciated but is not required.
17 2. Altered source versions must be plainly marked as such, and must not be 17 2. Altered source versions must be plainly marked as such, and must not be
18 misrepresented as being the original software. 18 misrepresented as being the original software.
19 3. This notice may not be removed or altered from any source distribution. 19 3. This notice may not be removed or altered from any source distribution.
20*/ 20*/
21 21
22using System; 22using System;
23using System.Collections.Generic; 23using System.Collections.Generic;
24using System.Text; 24using System.Text;
25using MonoXnaCompactMaths; 25using MonoXnaCompactMaths;
26 26
27namespace XnaDevRu.BulletX 27namespace XnaDevRu.BulletX
28{ 28{
29 /// <summary> 29 /// <summary>
30 /// GjkEpaSolver contributed under zlib by Nathanael Presson 30 /// GjkEpaSolver contributed under zlib by Nathanael Presson
31 /// </summary> 31 /// </summary>
32 public class GjkEpaSolver 32 public class GjkEpaSolver
33 { 33 {
34 public struct Results 34 public struct Results
35 { 35 {
36 public enum Status 36 public enum Status
37 { 37 {
38 Separated, /* Shapes doesnt penetrate */ 38 Separated, /* Shapes doesnt penetrate */
39 Penetrating, /* Shapes are penetrating */ 39 Penetrating, /* Shapes are penetrating */
40 GjkFailed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ 40 GjkFailed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
41 EpaFailed, /* EPA phase fail, bigger problem, need to save parameters, and debug */ 41 EpaFailed, /* EPA phase fail, bigger problem, need to save parameters, and debug */
42 } 42 }
43 43
44 private Vector3[] _witnesses; 44 private Vector3[] _witnesses;
45 private Vector3 _normal; 45 private Vector3 _normal;
46 private float _depth; 46 private float _depth;
47 private int _epaIterations; 47 private int _epaIterations;
48 private int _gjkIterations; 48 private int _gjkIterations;
49 private Status _status; 49 private Status _status;
50 50
51 public Vector3[] Witnesses { get { return _witnesses; } set { _witnesses = value; } } 51 public Vector3[] Witnesses { get { return _witnesses; } set { _witnesses = value; } }
52 public Vector3 Normal { get { return _normal; } set { _normal = value; } } 52 public Vector3 Normal { get { return _normal; } set { _normal = value; } }
53 public float Depth { get { return _depth; } set { _depth = value; } } 53 public float Depth { get { return _depth; } set { _depth = value; } }
54 public int EpaIterations { get { return _epaIterations; } set { _epaIterations = value; } } 54 public int EpaIterations { get { return _epaIterations; } set { _epaIterations = value; } }
55 public int GjkIterations { get { return _gjkIterations; } set { _gjkIterations = value; } } 55 public int GjkIterations { get { return _gjkIterations; } set { _gjkIterations = value; } }
56 public Status ResultStatus { get { return _status; } set { _status = value; } } 56 public Status ResultStatus { get { return _status; } set { _status = value; } }
57 } 57 }
58 58
59 public static bool Collide(ConvexShape shapeA, Matrix wtrsA, 59 public static bool Collide(ConvexShape shapeA, Matrix wtrsA,
60 ConvexShape shapeB, Matrix wtrsB, 60 ConvexShape shapeB, Matrix wtrsB,
61 float radialmargin, 61 float radialmargin,
62 out Results results) 62 out Results results)
63 { 63 {
64 /* Initialize */ 64 /* Initialize */
65 results = new Results(); 65 results = new Results();
66 results.Witnesses = new Vector3[2]; 66 results.Witnesses = new Vector3[2];
67 results.Witnesses[0] = 67 results.Witnesses[0] =
68 results.Witnesses[1] = 68 results.Witnesses[1] =
69 results.Normal = new Vector3(); 69 results.Normal = new Vector3();
70 results.Depth = 0; 70 results.Depth = 0;
71 results.ResultStatus = Results.Status.Separated; 71 results.ResultStatus = Results.Status.Separated;
72 results.EpaIterations = 0; 72 results.EpaIterations = 0;
73 results.GjkIterations = 0; 73 results.GjkIterations = 0;
74 /* Use GJK to locate origin */ 74 /* Use GJK to locate origin */
75 GjkEpa.Gjk gjk = new GjkEpa.Gjk(wtrsA, wtrsA.Translation, shapeA, 75 GjkEpa.Gjk gjk = new GjkEpa.Gjk(wtrsA, wtrsA.Translation, shapeA,
76 wtrsB, wtrsB.Translation, shapeB, 76 wtrsB, wtrsB.Translation, shapeB,
77 radialmargin + GjkEpa.EpaAccuracy); 77 radialmargin + GjkEpa.EpaAccuracy);
78 bool collide = gjk.SearchOrigin(); 78 bool collide = gjk.SearchOrigin();
79 results.GjkIterations = gjk.Iterations + 1; 79 results.GjkIterations = gjk.Iterations + 1;
80 if (collide) 80 if (collide)
81 { 81 {
82 /* Then EPA for penetration depth */ 82 /* Then EPA for penetration depth */
83 GjkEpa.Epa epa = new GjkEpa.Epa(gjk); 83 GjkEpa.Epa epa = new GjkEpa.Epa(gjk);
84 float pd = epa.EvaluatePD(); 84 float pd = epa.EvaluatePD();
85 results.EpaIterations = epa.Iterations + 1; 85 results.EpaIterations = epa.Iterations + 1;
86 if (pd > 0) 86 if (pd > 0)
87 { 87 {
88 results.ResultStatus = Results.Status.Penetrating; 88 results.ResultStatus = Results.Status.Penetrating;
89 results.Normal = epa.Normal; 89 results.Normal = epa.Normal;
90 results.Depth = pd; 90 results.Depth = pd;
91 results.Witnesses[0] = epa.Nearest[0]; 91 results.Witnesses[0] = epa.Nearest[0];
92 results.Witnesses[1] = epa.Nearest[1]; 92 results.Witnesses[1] = epa.Nearest[1];
93 return true; 93 return true;
94 } 94 }
95 else { if (epa.Failed) results.ResultStatus = Results.Status.EpaFailed; } 95 else { if (epa.Failed) results.ResultStatus = Results.Status.EpaFailed; }
96 } 96 }
97 else { if (gjk.Failed) results.ResultStatus = Results.Status.GjkFailed; } 97 else { if (gjk.Failed) results.ResultStatus = Results.Status.GjkFailed; }
98 return false; 98 return false;
99 } 99 }
100 } 100 }
101} 101}
generated by cgit v1.1 at 2024-08-26 08:00:23 +0000