public bool CalculatePenetrationDepth(ISimplexSolver simplexSolver,
ConvexShape convexA, ConvexShape convexB,
Matrix transformA, Matrix transformB,
Vector3 v, out Vector3 pa, out Vector3 pb, IDebugDraw debugDraw)
{
pa = new Vector3();
pb = new Vector3();
//just take fixed number of orientation, and sample the penetration depth in that direction
float minProj = 1e30f;
Vector3 minNorm = new Vector3();
Vector3 minA = new Vector3(), minB = new Vector3();
Vector3 seperatingAxisInA, seperatingAxisInB;
Vector3 pInA, qInB, pWorld, qWorld, w;
Vector3[] supportVerticesABatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
Vector3[] supportVerticesBBatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
Vector3[] seperatingAxisInABatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
Vector3[] seperatingAxisInBBatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
int numSampleDirections = UnitSpherePointsCount;
for (int i = 0; i < numSampleDirections; i++)
{
Vector3 norm = penetrationDirections[i];
seperatingAxisInABatch[i] = Vector3.TransformNormal((-norm), transformA);
seperatingAxisInBBatch[i] = Vector3.TransformNormal(norm, transformB);
}
{
int numPDA = convexA.PreferredPenetrationDirectionsCount;
if (numPDA != 0)
{
for (int i = 0; i < numPDA; i++)
{
Vector3 norm;
convexA.GetPreferredPenetrationDirection(i, out norm);
norm = Vector3.TransformNormal(norm, transformA);
penetrationDirections[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = Vector3.TransformNormal((-norm), transformA);
seperatingAxisInBBatch[numSampleDirections] = Vector3.TransformNormal(norm, transformB);
numSampleDirections++;
}
}
}
{
int numPDB = convexB.PreferredPenetrationDirectionsCount;
if (numPDB != 0)
{
for (int i = 0; i < numPDB; i++)
{
Vector3 norm;
convexB.GetPreferredPenetrationDirection(i, out norm);
norm = Vector3.TransformNormal(norm, transformB);
penetrationDirections[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = Vector3.TransformNormal((-norm), transformA);
seperatingAxisInBBatch[numSampleDirections] = Vector3.TransformNormal(norm, transformB);
numSampleDirections++;
}
}
}
convexA.BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch); //, numSampleDirections);
convexB.BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch); //, numSampleDirections);
for (int i = 0; i < numSampleDirections; i++)
{
Vector3 norm = penetrationDirections[i];
seperatingAxisInA = seperatingAxisInABatch[i];
seperatingAxisInB = seperatingAxisInBBatch[i];
pInA = supportVerticesABatch[i];
qInB = supportVerticesBBatch[i];
pWorld = MathHelper.MatrixToVector(transformA, pInA);
qWorld = MathHelper.MatrixToVector(transformB, qInB);
w = qWorld - pWorld;
float delta = Vector3.Dot(norm, w);
//find smallest delta
if (delta < minProj)
{
minProj = delta;
minNorm = norm;
minA = pWorld;
minB = qWorld;
}
}
//add the margins
minA += minNorm * convexA.Margin;
minB -= minNorm * convexB.Margin;
//no penetration
if (minProj < 0)
return false;
minProj += (convexA.Margin + convexB.Margin);
GjkPairDetector gjkdet = new GjkPairDetector(convexA, convexB, simplexSolver, null);
float offsetDist = minProj;
Vector3 offset = minNorm * offsetDist;
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
Vector3 newOrg = transformA.Translation + offset;
Matrix displacedTrans = transformA;
displacedTrans.Translation = newOrg;
input.TransformA = displacedTrans;
input.TransformB = transformB;
input.MaximumDistanceSquared = 1e30f;//minProj;
IntermediateResult res = new IntermediateResult();
gjkdet.GetClosestPoints(input, res, debugDraw);
float correctedMinNorm = minProj - res.Depth;
//the penetration depth is over-estimated, relax it
float penetration_relaxation = 1;
minNorm *= penetration_relaxation;
if (res.HasResult)
{
pa = res.PointInWorld - minNorm * correctedMinNorm;
pb = res.PointInWorld;
}
return res.HasResult;
}
public bool CalculatePenetrationDepth(ISimplexSolver simplexSolver,
ConvexShape convexA, ConvexShape convexB,
Matrix transformA, Matrix transformB,
Vector3 v, out Vector3 pa, out Vector3 pb, IDebugDraw debugDraw)
{
pa = new Vector3();
pb = new Vector3();
//just take fixed number of orientation, and sample the penetration depth in that direction
float minProj = 1e30f;
Vector3 minNorm = new Vector3();
Vector3 minA = new Vector3(), minB = new Vector3();
Vector3 seperatingAxisInA, seperatingAxisInB;
Vector3 pInA, qInB, pWorld, qWorld, w;
Vector3[] supportVerticesABatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
Vector3[] supportVerticesBBatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
Vector3[] seperatingAxisInABatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
Vector3[] seperatingAxisInBBatch = new Vector3[UnitSpherePointsCount + ConvexShape.MaxPreferredPenetrationDirections * 2];
int numSampleDirections = UnitSpherePointsCount;
for (int i = 0; i < numSampleDirections; i++)
{
Vector3 norm = penetrationDirections[i];
seperatingAxisInABatch[i] = Vector3.TransformNormal((-norm), transformA);
seperatingAxisInBBatch[i] = Vector3.TransformNormal(norm, transformB);
}
{
int numPDA = convexA.PreferredPenetrationDirectionsCount;
if (numPDA != 0)
{
for (int i = 0; i < numPDA; i++)
{
Vector3 norm;
convexA.GetPreferredPenetrationDirection(i, out norm);
norm = Vector3.TransformNormal(norm, transformA);
penetrationDirections[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = Vector3.TransformNormal((-norm), transformA);
seperatingAxisInBBatch[numSampleDirections] = Vector3.TransformNormal(norm, transformB);
numSampleDirections++;
}
}
}
{
int numPDB = convexB.PreferredPenetrationDirectionsCount;
if (numPDB != 0)
{
for (int i = 0; i < numPDB; i++)
{
Vector3 norm;
convexB.GetPreferredPenetrationDirection(i, out norm);
norm = Vector3.TransformNormal(norm, transformB);
penetrationDirections[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = Vector3.TransformNormal((-norm), transformA);
seperatingAxisInBBatch[numSampleDirections] = Vector3.TransformNormal(norm, transformB);
numSampleDirections++;
}
}
}
convexA.BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch, supportVerticesABatch); //, numSampleDirections);
convexB.BatchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch, supportVerticesBBatch); //, numSampleDirections);
for (int i = 0; i < numSampleDirections; i++)
{
Vector3 norm = penetrationDirections[i];
seperatingAxisInA = seperatingAxisInABatch[i];
seperatingAxisInB = seperatingAxisInBBatch[i];
pInA = supportVerticesABatch[i];
qInB = supportVerticesBBatch[i];
pWorld = MathHelper.MatrixToVector(transformA, pInA);
qWorld = MathHelper.MatrixToVector(transformB, qInB);
w = qWorld - pWorld;
float delta = Vector3.Dot(norm, w);
//find smallest delta
if (delta < minProj)
{
minProj = delta;
minNorm = norm;
minA = pWorld;
minB = qWorld;
}
}
//add the margins
minA += minNorm * convexA.Margin;
minB -= minNorm * convexB.Margin;
//no penetration
if (minProj < 0)
{
return(false);
}
minProj += (convexA.Margin + convexB.Margin);
GjkPairDetector gjkdet = new GjkPairDetector(convexA, convexB, simplexSolver, null);
float offsetDist = minProj;
Vector3 offset = minNorm * offsetDist;
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
Vector3 newOrg = transformA.Translation + offset;
Matrix displacedTrans = transformA;
displacedTrans.Translation = newOrg;
input.TransformA = displacedTrans;
input.TransformB = transformB;
input.MaximumDistanceSquared = 1e30f; //minProj;
IntermediateResult res = new IntermediateResult();
gjkdet.GetClosestPoints(input, res, debugDraw);
float correctedMinNorm = minProj - res.Depth;
//the penetration depth is over-estimated, relax it
float penetration_relaxation = 1;
minNorm *= penetration_relaxation;
if (res.HasResult)
{
pa = res.PointInWorld - minNorm * correctedMinNorm;
pb = res.PointInWorld;
}
return(res.HasResult);
}
