// TODO_ERIN might not need to return the separation
public float Initialize(Distance.SimplexCache cache, Distance.DistanceProxy proxyA, Sweep sweepA, Distance.DistanceProxy proxyB, Sweep sweepB, float t1)
{
ProxyA = proxyA;
ProxyB = proxyB;
int count = cache.Count;
Debug.Assert(0 < count && count < 3);
SweepA = sweepA;
SweepB = sweepB;
SweepA.GetTransform(xfa, t1);
SweepB.GetTransform(xfb, t1);
// log.debug("initializing separation.\n" +
// "cache: "+cache.count+"-"+cache.metric+"-"+cache.indexA+"-"+cache.indexB+"\n"
// "distance: "+proxyA.
if (count == 1)
{
Type = Type.Points;
/*
* Vec2 localPointA = m_proxyA.GetVertex(cache.indexA[0]); Vec2 localPointB =
* m_proxyB.GetVertex(cache.indexB[0]); Vec2 pointA = Mul(transformA, localPointA); Vec2
* pointB = Mul(transformB, localPointB); m_axis = pointB - pointA; m_axis.Normalize();
*/
localPointA.Set(ProxyA.GetVertex(cache.IndexA[0]));
localPointB.Set(ProxyB.GetVertex(cache.IndexB[0]));
Transform.MulToOutUnsafe(xfa, localPointA, pointA);
Transform.MulToOutUnsafe(xfb, localPointB, pointB);
Axis.Set(pointB).SubLocal(pointA);
float s = Axis.Normalize();
return s;
}
else if (cache.IndexA[0] == cache.IndexA[1])
{
// Two points on B and one on A.
Type = Type.FaceB;
localPointB1.Set(ProxyB.GetVertex(cache.IndexB[0]));
localPointB2.Set(ProxyB.GetVertex(cache.IndexB[1]));
temp.Set(localPointB2).SubLocal(localPointB1);
Vec2.CrossToOutUnsafe(temp, 1f, Axis);
Axis.Normalize();
Rot.MulToOutUnsafe(xfb.Q, Axis, normal);
LocalPoint.Set(localPointB1).AddLocal(localPointB2).MulLocal(.5f);
Transform.MulToOutUnsafe(xfb, LocalPoint, pointB);
localPointA.Set(proxyA.GetVertex(cache.IndexA[0]));
Transform.MulToOutUnsafe(xfa, localPointA, pointA);
temp.Set(pointA).SubLocal(pointB);
float s = Vec2.Dot(temp, normal);
if (s < 0.0f)
{
Axis.NegateLocal();
s = -s;
}
return s;
}
else
{
// Two points on A and one or two points on B.
Type = Type.FaceA;
localPointA1.Set(ProxyA.GetVertex(cache.IndexA[0]));
localPointA2.Set(ProxyA.GetVertex(cache.IndexA[1]));
temp.Set(localPointA2).SubLocal(localPointA1);
Vec2.CrossToOutUnsafe(temp, 1.0f, Axis);
Axis.Normalize();
Rot.MulToOutUnsafe(xfa.Q, Axis, normal);
LocalPoint.Set(localPointA1).AddLocal(localPointA2).MulLocal(.5f);
Transform.MulToOutUnsafe(xfa, LocalPoint, pointA);
localPointB.Set(ProxyB.GetVertex(cache.IndexB[0]));
Transform.MulToOutUnsafe(xfb, localPointB, pointB);
temp.Set(pointB).SubLocal(pointA);
float s = Vec2.Dot(temp, normal);
if (s < 0.0f)
{
Axis.NegateLocal();
s = -s;
}
return s;
}
}
// TODO_ERIN might not need to return the separation
public float Initialize(Distance.SimplexCache cache, Distance.DistanceProxy proxyA, Sweep sweepA, Distance.DistanceProxy proxyB, Sweep sweepB, float t1)
{
ProxyA = proxyA;
ProxyB = proxyB;
int count = cache.Count;
Debug.Assert(0 < count && count < 3);
SweepA = sweepA;
SweepB = sweepB;
SweepA.GetTransform(xfa, t1);
SweepB.GetTransform(xfb, t1);
// log.debug("initializing separation.\n" +
// "cache: "+cache.count+"-"+cache.metric+"-"+cache.indexA+"-"+cache.indexB+"\n"
// "distance: "+proxyA.
if (count == 1)
{
Type = Type.Points;
/*
* Vec2 localPointA = m_proxyA.GetVertex(cache.indexA[0]); Vec2 localPointB =
* m_proxyB.GetVertex(cache.indexB[0]); Vec2 pointA = Mul(transformA, localPointA); Vec2
* pointB = Mul(transformB, localPointB); m_axis = pointB - pointA; m_axis.Normalize();
*/
localPointA.Set(ProxyA.GetVertex(cache.IndexA[0]));
localPointB.Set(ProxyB.GetVertex(cache.IndexB[0]));
Transform.MulToOutUnsafe(xfa, localPointA, pointA);
Transform.MulToOutUnsafe(xfb, localPointB, pointB);
Axis.Set(pointB).SubLocal(pointA);
float s = Axis.Normalize();
return(s);
}
else if (cache.IndexA[0] == cache.IndexA[1])
{
// Two points on B and one on A.
Type = Type.FaceB;
localPointB1.Set(ProxyB.GetVertex(cache.IndexB[0]));
localPointB2.Set(ProxyB.GetVertex(cache.IndexB[1]));
temp.Set(localPointB2).SubLocal(localPointB1);
Vec2.CrossToOutUnsafe(temp, 1f, Axis);
Axis.Normalize();
Rot.MulToOutUnsafe(xfb.Q, Axis, normal);
LocalPoint.Set(localPointB1).AddLocal(localPointB2).MulLocal(.5f);
Transform.MulToOutUnsafe(xfb, LocalPoint, pointB);
localPointA.Set(proxyA.GetVertex(cache.IndexA[0]));
Transform.MulToOutUnsafe(xfa, localPointA, pointA);
temp.Set(pointA).SubLocal(pointB);
float s = Vec2.Dot(temp, normal);
if (s < 0.0f)
{
Axis.NegateLocal();
s = -s;
}
return(s);
}
else
{
// Two points on A and one or two points on B.
Type = Type.FaceA;
localPointA1.Set(ProxyA.GetVertex(cache.IndexA[0]));
localPointA2.Set(ProxyA.GetVertex(cache.IndexA[1]));
temp.Set(localPointA2).SubLocal(localPointA1);
Vec2.CrossToOutUnsafe(temp, 1.0f, Axis);
Axis.Normalize();
Rot.MulToOutUnsafe(xfa.Q, Axis, normal);
LocalPoint.Set(localPointA1).AddLocal(localPointA2).MulLocal(.5f);
Transform.MulToOutUnsafe(xfa, LocalPoint, pointA);
localPointB.Set(ProxyB.GetVertex(cache.IndexB[0]));
Transform.MulToOutUnsafe(xfb, localPointB, pointB);
temp.Set(pointB).SubLocal(pointA);
float s = Vec2.Dot(temp, normal);
if (s < 0.0f)
{
Axis.NegateLocal();
s = -s;
}
return(s);
}
}
// TODO_ERIN might not need to return the separation
public virtual float initialize(Distance.SimplexCache cache, Distance.DistanceProxy proxyA, Sweep sweepA, Distance.DistanceProxy proxyB, Sweep sweepB, float t1)
{
m_proxyA = proxyA;
m_proxyB = proxyB;
int count = cache.count;
Debug.Assert(0 < count && count < 3);
m_sweepA = sweepA;
m_sweepB = sweepB;
m_sweepA.getTransform(xfa, t1);
m_sweepB.getTransform(xfb, t1);
// log.debug("initializing separation.\n" +
// "cache: "+cache.count+"-"+cache.metric+"-"+cache.indexA+"-"+cache.indexB+"\n"
// "distance: "+proxyA.
if (count == 1)
{
m_type = Type.POINTS;
/*
* Vec2 localPointA = m_proxyA.GetVertex(cache.indexA[0]); Vec2 localPointB =
* m_proxyB.GetVertex(cache.indexB[0]); Vec2 pointA = Mul(transformA, localPointA); Vec2
* pointB = Mul(transformB, localPointB); m_axis = pointB - pointA; m_axis.Normalize();
*/
localPointA.set_Renamed(m_proxyA.getVertex(cache.indexA[0]));
localPointB.set_Renamed(m_proxyB.getVertex(cache.indexB[0]));
Transform.mulToOutUnsafe(xfa, localPointA, pointA);
Transform.mulToOutUnsafe(xfb, localPointB, pointB);
m_axis.set_Renamed(pointB).subLocal(pointA);
float s = m_axis.normalize();
return s;
}
else if (cache.indexA[0] == cache.indexA[1])
{
// Two points on B and one on A.
m_type = Type.FACE_B;
localPointB1.set_Renamed(m_proxyB.getVertex(cache.indexB[0]));
localPointB2.set_Renamed(m_proxyB.getVertex(cache.indexB[1]));
temp.set_Renamed(localPointB2).subLocal(localPointB1);
Vec2.crossToOutUnsafe(temp, 1f, m_axis);
m_axis.normalize();
Rot.mulToOutUnsafe(xfb.q, m_axis, normal);
m_localPoint.set_Renamed(localPointB1).addLocal(localPointB2).mulLocal(.5f);
Transform.mulToOutUnsafe(xfb, m_localPoint, pointB);
localPointA.set_Renamed(proxyA.getVertex(cache.indexA[0]));
Transform.mulToOutUnsafe(xfa, localPointA, pointA);
temp.set_Renamed(pointA).subLocal(pointB);
float s = Vec2.dot(temp, normal);
if (s < 0.0f)
{
m_axis.negateLocal();
s = -s;
}
return s;
}
else
{
// Two points on A and one or two points on B.
m_type = Type.FACE_A;
localPointA1.set_Renamed(m_proxyA.getVertex(cache.indexA[0]));
localPointA2.set_Renamed(m_proxyA.getVertex(cache.indexA[1]));
temp.set_Renamed(localPointA2).subLocal(localPointA1);
Vec2.crossToOutUnsafe(temp, 1.0f, m_axis);
m_axis.normalize();
Rot.mulToOutUnsafe(xfa.q, m_axis, normal);
m_localPoint.set_Renamed(localPointA1).addLocal(localPointA2).mulLocal(.5f);
Transform.mulToOutUnsafe(xfa, m_localPoint, pointA);
localPointB.set_Renamed(m_proxyB.getVertex(cache.indexB[0]));
Transform.mulToOutUnsafe(xfb, localPointB, pointB);
temp.set_Renamed(pointB).subLocal(pointA);
float s = Vec2.dot(temp, normal);
if (s < 0.0f)
{
m_axis.negateLocal();
s = -s;
}
return s;
}
}
/// <summary>
/// Compute the upper bound on time before two shapes penetrate. Time is represented as a fraction
/// between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
/// non-tunneling collision. If you change the time interval, you should call this function again.
/// Note: use Distance to compute the contact point and normal at the time of impact.
/// </summary>
/// <param name="output"></param>
/// <param name="input"></param>
public void GetTimeOfImpact(TOIOutput output, TOIInput input)
{
// CCD via the local separating axis method. This seeks progression
// by computing the largest time at which separation is maintained.
++ToiCalls;
output.State = TOIOutputState.Unknown;
output.T = input.tMax;
Distance.DistanceProxy proxyA = input.ProxyA;
Distance.DistanceProxy proxyB = input.ProxyB;
sweepA.Set(input.SweepA);
sweepB.Set(input.SweepB);
// Large rotations can make the root finder fail, so we normalize the
// sweep angles.
sweepA.Normalize();
sweepB.Normalize();
float tMax = input.tMax;
float totalRadius = proxyA.Radius + proxyB.Radius;
// djm: whats with all these constants?
float target = MathUtils.Max(Settings.LINEAR_SLOP, totalRadius - 3.0f * Settings.LINEAR_SLOP);
const float tolerance = 0.25f * Settings.LINEAR_SLOP;
Debug.Assert(target > tolerance);
float t1 = 0f;
int iter = 0;
cache.Count = 0;
distanceInput.ProxyA = input.ProxyA;
distanceInput.ProxyB = input.ProxyB;
distanceInput.UseRadii = false;
// The outer loop progressively attempts to compute new separating axes.
// This loop terminates when an axis is repeated (no progress is made).
for (; ;)
{
sweepA.GetTransform(xfA, t1);
sweepB.GetTransform(xfB, t1);
// System.out.printf("sweepA: %f, %f, sweepB: %f, %f\n",
// sweepA.c.x, sweepA.c.y, sweepB.c.x, sweepB.c.y);
// Get the distance between shapes. We can also use the results
// to get a separating axis
distanceInput.TransformA = xfA;
distanceInput.TransformB = xfB;
pool.GetDistance().GetDistance(distanceOutput, cache, distanceInput);
// System.out.printf("Dist: %f at points %f, %f and %f, %f. %d iterations\n",
// distanceOutput.distance, distanceOutput.pointA.x, distanceOutput.pointA.y,
// distanceOutput.pointB.x, distanceOutput.pointB.y,
// distanceOutput.iterations);
// If the shapes are overlapped, we give up on continuous collision.
if (distanceOutput.Distance <= 0f)
{
// System.out.println("failure, overlapped");
// Failure!
output.State = TOIOutputState.Overlapped;
output.T = 0f;
break;
}
if (distanceOutput.Distance < target + tolerance)
{
// System.out.println("touching, victory");
// Victory!
output.State = TOIOutputState.Touching;
output.T = t1;
break;
}
// Initialize the separating axis.
fcn.Initialize(cache, proxyA, sweepA, proxyB, sweepB, t1);
// Compute the TOI on the separating axis. We do this by successively
// resolving the deepest point. This loop is bounded by the number of
// vertices.
bool done = false;
float t2 = tMax;
int pushBackIter = 0;
for (; ;)
{
// Find the deepest point at t2. Store the witness point indices.
float s2 = fcn.FindMinSeparation(indexes, t2);
// System.out.printf("s2: %f\n", s2);
// Is the final configuration separated?
if (s2 > target + tolerance)
{
// Victory!
// System.out.println("separated");
output.State = TOIOutputState.Separated;
output.T = tMax;
done = true;
break;
}
// Has the separation reached tolerance?
if (s2 > target - tolerance)
{
// System.out.println("advancing");
// Advance the sweeps
t1 = t2;
break;
}
// Compute the initial separation of the witness points.
float s1 = fcn.Evaluate(indexes[0], indexes[1], t1);
// Check for initial overlap. This might happen if the root finder
// runs out of iterations.
// System.out.printf("s1: %f, target: %f, tolerance: %f\n", s1, target,
// tolerance);
if (s1 < target - tolerance)
{
// System.out.println("failed?");
output.State = TOIOutputState.Failed;
output.T = t1;
done = true;
break;
}
// Check for touching
if (s1 <= target + tolerance)
{
// System.out.println("touching?");
// Victory! t1 should hold the TOI (could be 0.0).
output.State = TOIOutputState.Touching;
output.T = t1;
done = true;
break;
}
// Compute 1D root of: f(x) - target = 0
int rootIterCount = 0;
float a1 = t1, a2 = t2;
for (; ;)
{
// Use a mix of the secant rule and bisection.
float t;
if ((rootIterCount & 1) == 1)
{
// Secant rule to improve convergence.
t = a1 + (target - s1) * (a2 - a1) / (s2 - s1);
}
else
{
// Bisection to guarantee progress.
t = 0.5f * (a1 + a2);
}
float s = fcn.Evaluate(indexes[0], indexes[1], t);
if (MathUtils.Abs(s - target) < tolerance)
{
// t2 holds a tentative value for t1
t2 = t;
break;
}
// Ensure we continue to bracket the root.
if (s > target)
{
a1 = t;
s1 = s;
}
else
{
a2 = t;
s2 = s;
}
++rootIterCount;
++ToiRootIters;
// djm: whats with this? put in settings?
if (rootIterCount == 50)
{
break;
}
}
ToiMaxRootIters = MathUtils.Max(ToiMaxRootIters, rootIterCount);
++pushBackIter;
if (pushBackIter == Settings.MAX_POLYGON_VERTICES)
{
break;
}
}
++iter;
++ToiIters;
if (done)
{
// System.out.println("done");
break;
}
if (iter == MAX_ITERATIONS)
{
// System.out.println("failed, root finder stuck");
// Root finder got stuck. Semi-victory.
output.State = TOIOutputState.Failed;
output.T = t1;
break;
}
}
// System.out.printf("final sweeps: %f, %f, %f; %f, %f, %f", input.s)
ToiMaxIters = MathUtils.Max(ToiMaxIters, iter);
}
