1 files changed, 101 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs
new file mode 100644
index 0000000..aa9d61e
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs
@@ -0,0 +1,101 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  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.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        /// <summary>
+        /// GjkEpaSolver contributed under zlib by Nathanael Presson
+        /// </summary>
+        public class GjkEpaSolver
+        {
+                public struct Results
+                {
+                        public enum Status
+                        {
+                                Separated,              /* Shapes doesnt penetrate                                                                                              */
+                                Penetrating,    /* Shapes are penetrating                                                                                               */
+                                GjkFailed,              /* GJK phase fail, no big issue, shapes are probably just 'touching'    */
+                                EpaFailed,              /* EPA phase fail, bigger problem, need to save parameters, and debug   */
+                        }
+                        private Vector3[] _witnesses;
+                        private Vector3 _normal;
+                        private float _depth;
+                        private int _epaIterations;
+                        private int _gjkIterations;
+                        private Status _status;
+                        public Vector3[] Witnesses { get { return _witnesses; } set { _witnesses = value; } }
+                        public Vector3 Normal { get { return _normal; } set { _normal = value; } }
+                        public float Depth { get { return _depth; } set { _depth = value; } }
+                        public int EpaIterations { get { return _epaIterations; } set { _epaIterations = value; } }
+                        public int GjkIterations { get { return _gjkIterations; } set { _gjkIterations = value; } }
+                        public Status ResultStatus { get { return _status; } set { _status = value; } }
+                }
+                public static bool Collide(ConvexShape shapeA, Matrix wtrsA,
+                                        ConvexShape shapeB, Matrix wtrsB,
+                                        float radialmargin,
+                                        out Results results)
+                {
+                        /* Initialize                                   */
+                        results = new Results();
+                        results.Witnesses = new Vector3[2];
+                        results.Witnesses[0] =
+                        results.Witnesses[1] =
+                        results.Normal = new Vector3();
+                        results.Depth = 0;
+                        results.ResultStatus = Results.Status.Separated;
+                        results.EpaIterations = 0;
+                        results.GjkIterations = 0;
+                        /* Use GJK to locate origin             */
+                        GjkEpa.Gjk gjk = new GjkEpa.Gjk(wtrsA, wtrsA.Translation, shapeA,
+                                                        wtrsB, wtrsB.Translation, shapeB,
+                                                        radialmargin + GjkEpa.EpaAccuracy);
+                        bool collide = gjk.SearchOrigin();
+                        results.GjkIterations = gjk.Iterations + 1;
+                        if (collide)
+                        {
+                                /* Then EPA for penetration depth       */
+                                GjkEpa.Epa epa = new GjkEpa.Epa(gjk);
+                                float pd = epa.EvaluatePD();
+                                results.EpaIterations = epa.Iterations + 1;
+                                if (pd > 0)
+                                {
+                                        results.ResultStatus = Results.Status.Penetrating;
+                                        results.Normal = epa.Normal;
+                                        results.Depth = pd;
+                                        results.Witnesses[0] = epa.Nearest[0];
+                                        results.Witnesses[1] = epa.Nearest[1];
+                                        return true;
+                                }
+                                else { if (epa.Failed) results.ResultStatus = Results.Status.EpaFailed; }
+                        }
+                        else { if (gjk.Failed) results.ResultStatus = Results.Status.GjkFailed; }
+                        return false;
+                }
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs new file mode 100644 index 0000000..aa9d61e --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/GjkEpaSolver.cs
@@ -0,0 +1,101 @@
	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	/// GjkEpaSolver contributed under zlib by Nathanael Presson
	31	/// </summary>
	32	public class GjkEpaSolver
	33	{
	34	public struct Results
	35	{
	36	public enum Status
	37	{
	38	Separated, /* Shapes doesnt penetrate */
	39	Penetrating, /* Shapes are penetrating */
	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 */
	42	}
	43
	44	private Vector3[] _witnesses;
	45	private Vector3 _normal;
	46	private float _depth;
	47	private int _epaIterations;
	48	private int _gjkIterations;
	49	private Status _status;
	50
	51	public Vector3[] Witnesses { get { return _witnesses; } set { _witnesses = value; } }
	52	public Vector3 Normal { get { return _normal; } set { _normal = value; } }
	53	public float Depth { get { return _depth; } set { _depth = value; } }
	54	public int EpaIterations { get { return _epaIterations; } set { _epaIterations = value; } }
	55	public int GjkIterations { get { return _gjkIterations; } set { _gjkIterations = value; } }
	56	public Status ResultStatus { get { return _status; } set { _status = value; } }
	57	}
	58
	59	public static bool Collide(ConvexShape shapeA, Matrix wtrsA,
	60	ConvexShape shapeB, Matrix wtrsB,
	61	float radialmargin,
	62	out Results results)
	63	{
	64	/* Initialize */
	65	results = new Results();
	66	results.Witnesses = new Vector3[2];
	67	results.Witnesses[0] =
	68	results.Witnesses[1] =
	69	results.Normal = new Vector3();
	70	results.Depth = 0;
	71	results.ResultStatus = Results.Status.Separated;
	72	results.EpaIterations = 0;
	73	results.GjkIterations = 0;
	74	/* Use GJK to locate origin */
	75	GjkEpa.Gjk gjk = new GjkEpa.Gjk(wtrsA, wtrsA.Translation, shapeA,
	76	wtrsB, wtrsB.Translation, shapeB,
	77	radialmargin + GjkEpa.EpaAccuracy);
	78	bool collide = gjk.SearchOrigin();
	79	results.GjkIterations = gjk.Iterations + 1;
	80	if (collide)
	81	{
	82	/* Then EPA for penetration depth */
	83	GjkEpa.Epa epa = new GjkEpa.Epa(gjk);
	84	float pd = epa.EvaluatePD();
	85	results.EpaIterations = epa.Iterations + 1;
	86	if (pd > 0)
	87	{
	88	results.ResultStatus = Results.Status.Penetrating;
	89	results.Normal = epa.Normal;
	90	results.Depth = pd;
	91	results.Witnesses[0] = epa.Nearest[0];
	92	results.Witnesses[1] = epa.Nearest[1];
	93	return true;
	94	}
	95	else { if (epa.Failed) results.ResultStatus = Results.Status.EpaFailed; }
	96	}
	97	else { if (gjk.Failed) results.ResultStatus = Results.Status.GjkFailed; }
	98	return false;
	99	}
	100	}
	101	}