public void Initialize(SphereShape sphere, TriangleShape triangle, float contactBreakingThreshold)
{
m_sphere = sphere;
m_triangle = triangle;
m_contactBreakingThreshold = contactBreakingThreshold;
}
public override float CalculateTimeOfImpact(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
///body0.m_worldTransform,
float resultFraction = 1.0f;
float squareMot0 = (body0.GetInterpolationWorldTransform()._origin - body0.GetWorldTransform()._origin).LengthSquared();
float squareMot1 = (body1.GetInterpolationWorldTransform()._origin - body1.GetWorldTransform()._origin).LengthSquared();
if (squareMot0 < body0.GetCcdSquareMotionThreshold() &&
squareMot1 < body1.GetCcdSquareMotionThreshold())
{
return(resultFraction);
}
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
/// Convex0 against sphere for Convex1
{
ConvexShape convex0 = body0.GetCollisionShape() as ConvexShape;
SphereShape sphere1 = BulletGlobals.SphereShapePool.Get();
sphere1.Initialize(body1.GetCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = BulletGlobals.CastResultPool.Get();
VoronoiSimplexSolver voronoiSimplex = BulletGlobals.VoronoiSimplexSolverPool.Get();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
using (GjkConvexCast ccd1 = BulletGlobals.GjkConvexCastPool.Get())
{
ccd1.Initialize(convex0, sphere1, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.CalcTimeOfImpact(body0.GetWorldTransform(), body0.GetInterpolationWorldTransform(),
body1.GetWorldTransform(), body1.GetInterpolationWorldTransform(), result))
{
//store result.m_fraction in both bodies
if (body0.GetHitFraction() > result.m_fraction)
{
body0.SetHitFraction(result.m_fraction);
}
if (body1.GetHitFraction() > result.m_fraction)
{
body1.SetHitFraction(result.m_fraction);
}
if (resultFraction > result.m_fraction)
{
resultFraction = result.m_fraction;
}
}
BulletGlobals.VoronoiSimplexSolverPool.Free(voronoiSimplex);
BulletGlobals.SphereShapePool.Free(sphere1);
result.Cleanup();
}
}
/// Sphere (for convex0) against Convex1
{
ConvexShape convex1 = body1.GetCollisionShape() as ConvexShape;
SphereShape sphere0 = BulletGlobals.SphereShapePool.Get();
sphere0.Initialize(body0.GetCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
CastResult result = BulletGlobals.CastResultPool.Get();
VoronoiSimplexSolver voronoiSimplex = BulletGlobals.VoronoiSimplexSolverPool.Get();
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
using (GjkConvexCast ccd1 = BulletGlobals.GjkConvexCastPool.Get())
{
ccd1.Initialize(sphere0, convex1, voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.CalcTimeOfImpact(body0.GetWorldTransform(), body0.GetInterpolationWorldTransform(),
body1.GetWorldTransform(), body1.GetInterpolationWorldTransform(), result))
{
//store result.m_fraction in both bodies
if (body0.GetHitFraction() > result.m_fraction)
{
body0.SetHitFraction(result.m_fraction);
}
if (body1.GetHitFraction() > result.m_fraction)
{
body1.SetHitFraction(result.m_fraction);
}
if (resultFraction > result.m_fraction)
{
resultFraction = result.m_fraction;
}
}
BulletGlobals.VoronoiSimplexSolverPool.Free(voronoiSimplex);
BulletGlobals.SphereShapePool.Free(sphere0);
result.Cleanup();
}
}
return(resultFraction);
}
} // for pool
public SphereTriangleDetector(SphereShape sphere, TriangleShape triangle, float contactBreakingThreshold)
{
m_sphere = sphere;
m_triangle = triangle;
m_contactBreakingThreshold = contactBreakingThreshold;
}
public virtual void GetAabbNonVirtual(ref IndexedMatrix t, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax)
{
switch (m_shapeType)
{
case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
{
SphereShape sphereShape = this as SphereShape;
float radius = sphereShape.GetImplicitShapeDimensions().X;// * convexShape->getLocalScaling().getX();
float margin = radius + sphereShape.GetMarginNonVirtual();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(margin);
aabbMin = center - extent;
aabbMax = center + extent;
}
break;
case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
/* fall through */
case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
{
BoxShape convexShape = this as BoxShape;
float margin = convexShape.GetMarginNonVirtual();
IndexedVector3 halfExtents = convexShape.GetImplicitShapeDimensions();
halfExtents += new IndexedVector3(margin);
IndexedBasisMatrix abs_b = t._basis.Absolute();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref halfExtents), abs_b._el1.Dot(ref halfExtents), abs_b._el2.Dot(ref halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
break;
}
case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE:
{
TriangleShape triangleShape = (TriangleShape)this;
float margin = triangleShape.GetMarginNonVirtual();
for (int i = 0; i < 3; i++)
{
IndexedVector3 vec = new IndexedVector3();
vec[i] = 1f;
IndexedVector3 sv = LocalGetSupportVertexWithoutMarginNonVirtual(vec * t._basis);
IndexedVector3 tmp = t * sv;
aabbMax[i] = tmp[i] + margin;
vec[i] = -1.0f;
tmp = t * (LocalGetSupportVertexWithoutMarginNonVirtual(vec * t._basis));
aabbMin[i] = tmp[i] - margin;
}
}
break;
case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE:
{
CapsuleShape capsuleShape = this as CapsuleShape;
float r = capsuleShape.GetRadius();
IndexedVector3 halfExtents = new IndexedVector3(r);
int m_upAxis = capsuleShape.GetUpAxis();
halfExtents[m_upAxis] = r + capsuleShape.GetHalfHeight();
float nvMargin = capsuleShape.GetMarginNonVirtual();
halfExtents += new IndexedVector3(nvMargin);
IndexedBasisMatrix abs_b = t._basis.Absolute();
IndexedVector3 center = t._origin;
IndexedVector3 extent = new IndexedVector3(abs_b._el0.Dot(ref halfExtents), abs_b._el1.Dot(ref halfExtents), abs_b._el2.Dot(ref halfExtents));
aabbMin = center - extent;
aabbMax = center + extent;
}
break;
case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE:
{
PolyhedralConvexAabbCachingShape convexHullShape = (PolyhedralConvexAabbCachingShape)this;
float margin = convexHullShape.GetMarginNonVirtual();
convexHullShape.GetNonvirtualAabb(ref t, out aabbMin, out aabbMax, margin);
}
break;
default:
GetAabb(ref t, out aabbMin, out aabbMax);
break;
}
// should never reach here
Debug.Assert(false);
}
