public ConvexConvexCreateFunc(ISimplexSolverInterface simplexSolver,IConvexPenetrationDepthSolver depthSolver)
{
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold =3;
m_simplexSolver = simplexSolver;
m_pdSolver = depthSolver;
}
public ConvexConvexCreateFunc(ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver depthSolver)
{
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = depthSolver;
}
public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_convexA = shapeA;
m_convexB1 = shapeB;
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
}
public virtual void Initialize(ConvexShape shapeA, ConvexShape shapeB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_convexA = shapeA;
m_convexB1 = shapeB;
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
}
public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
//m_pdSolver = new GjkEpaPenetrationDepthSolver();
m_pdSolver = new MinkowskiPenetrationDepthSolver();
m_useEpaPenetrationAlgorithm = true;
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver, m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc();
m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc();
m_compoundCreateFunc = new CompoundCreateFunc();
m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc();
m_emptyCreateFunc = new EmptyCreateFunc();
m_sphereSphereCF = new SphereSphereCreateFunc();
m_sphereBoxCF = new SphereBoxCreateFunc();
m_boxSphereCF = new SwappedSphereBoxCreateFunc();
m_convexAlgo2DCF = new Convex2dConvex2dCreateFunc(m_simplexSolver, m_pdSolver);
m_sphereTriangleCF = new SphereTriangleCreateFunc();
m_triangleSphereCF = new SphereTriangleCreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCreateFunc();
m_planeConvexCF = new ConvexPlaneCreateFunc();
m_planeConvexCF.m_swapped = true;
}
public virtual void Initialize(ConvexShape shapeA, ConvexShape shapeB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_convexA = shapeA;
m_convexB1 = shapeB;
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
}
public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = BulletGlobals.VoronoiSimplexSolverPool.Get();
//m_pdSolver = new GjkEpaPenetrationDepthSolver();
m_pdSolver = new MinkowskiPenetrationDepthSolver();
m_useEpaPenetrationAlgorithm = true;
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver,m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc();
m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc();
m_compoundCreateFunc = new CompoundCreateFunc();
m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc();
m_emptyCreateFunc = new EmptyCreateFunc();
m_sphereSphereCF = new SphereSphereCreateFunc();
m_sphereBoxCF = new SphereBoxCreateFunc();
m_boxSphereCF = new SwappedSphereBoxCreateFunc();
m_convexAlgo2DCF = new Convex2dConvex2dCreateFunc(m_simplexSolver, m_pdSolver);
m_sphereTriangleCF = new SphereTriangleCreateFunc();
m_triangleSphereCF = new SphereTriangleCreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCreateFunc();
m_planeConvexCF = new ConvexPlaneCreateFunc();
m_planeConvexCF.m_swapped = true;
}
public ContinuousConvexCollision(ConvexShape convexA, ConvexShape convexB,
ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
_simplexSolver = simplexSolver;
_penetrationDepthSolver = penetrationDepthSolver;
_convexA = convexA;
_convexB = convexB;
}
public ConvexConvexAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
: base(collisionAlgorithmConstructionInfo)
{
_gjkPairDetector = new GjkPairDetector(null, null, simplexSolver, penetrationDepthSolver);
_ownManifold = false;
_manifold = manifold;
_lowLevelOfDetail = false;
}
public ContinuousConvexCollision(ConvexShape shapeA, ConvexShape shapeB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_convexA = shapeA;
m_convexB = shapeB;
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
}
public ContinuousConvexCollision(ConvexShape convexA, ConvexShape convexB,
ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
_simplexSolver = simplexSolver;
_penetrationDepthSolver = penetrationDepthSolver;
_convexA = convexA;
_convexB = convexB;
}
static CollisionAlgorithm AllocFromPool(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
ConvexConvexAlgorithm result;
if (ObjPool.Count > 0)
result = ObjPool.Dequeue();
else
result = new ConvexConvexAlgorithm();
result.Constructor(mf, ci, body0, body1, simplexSolver, pdSolver, numPerturbationIterations, minimumPointsPerturbationThreshold);
return result;
}
public Convex2dConvex2dAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold) : base(ci,body0,body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public Convex2dConvex2dAlgorithm(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: base(ci, body0, body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB,
ISimplexSolver simplexSolver,
IConvexPenetrationDepthSolver penetrationDepthSolver)
{
_cachedSeparatingAxis = new Vector3(0, 0, 1);
_penetrationDepthSolver = penetrationDepthSolver;
_simplexSolver = simplexSolver;
_minkowskiA = objectA;
_minkowskiB = objectB;
_ignoreMargin = false;
_lastUsedMethod = -1;
_catchDegeneracies = 1;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB,
ISimplexSolver simplexSolver,
IConvexPenetrationDepthSolver penetrationDepthSolver)
{
_cachedSeparatingAxis = new Vector3(0, 0, 1);
_penetrationDepthSolver = penetrationDepthSolver;
_simplexSolver = simplexSolver;
_minkowskiA = objectA;
_minkowskiB = objectB;
_ignoreMargin = false;
_lastUsedMethod = -1;
_catchDegeneracies = 1;
}
public ConvexConvexAlgorithm(PersistentManifold mf,CollisionAlgorithmConstructionInfo ci,CollisionObject body0,CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold) : base(ci,body0,body1)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
#if USE_SEPDISTANCE_UTIL2
m_sepDistance ((static_cast<btConvexShape*>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast<btConvexShape*>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public void Initialize(PersistentManifold mf, CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
base.Initialize(ci, body0, body1);
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
m_ownManifold = false;
m_manifoldPtr = mf;
m_lowLevelOfDetail = false;
#if USE_SEPDISTANCE_UTIL2
m_sepDistance((static_cast <btConvexShape *>(body0.getCollisionShape())).getAngularMotionDisc(),
(static_cast <btConvexShape *>(body1.getCollisionShape())).getAngularMotionDisc()),
#endif
m_numPerturbationIterations = numPerturbationIterations;
m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_minkowskiA = objectA;
m_minkowskiB = objectB;
m_shapeTypeA = shapeTypeA;
m_shapeTypeB = shapeTypeB;
m_marginA = marginA;
m_marginB = marginB;
m_cachedSeparatingAxis = new Vector3(0, 1, 0);
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
m_ignoreMargin = false;
m_lastUsedMethod = -1;
m_catchDegeneracies = true;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_cachedSeparatingAxis = new btVector3(0f, 1f, 0f);
m_penetrationDepthSolver = penetrationDepthSolver;
m_simplexSolver = simplexSolver;
m_minkowskiA = objectA;
m_minkowskiB = objectB;
m_shapeTypeA = objectA.ShapeType;
m_shapeTypeB = objectB.ShapeType;
m_marginA = objectA.Margin;
m_marginB = objectB.Margin;
m_ignoreMargin = false;
m_lastUsedMethod = -1;
m_catchDegeneracies = 1;
m_cachedSeparatingDistance = 0f;
m_curIter = -1;
m_degenerateSimplex = -1;
}
public void Initialize(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_minkowskiA = objectA;
m_minkowskiB = objectB;
m_shapeTypeA = shapeTypeA;
m_shapeTypeB = shapeTypeB;
m_marginA = marginA;
m_marginB = marginB;
m_cachedSeparatingAxis = new IndexedVector3(0, 1, 0);
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
m_ignoreMargin = false;
m_lastUsedMethod = -1;
m_catchDegeneracies = true;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJKDetector)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("GjkPairDetector-alt [{0}] [{1}]", objectA.GetName(), objectB.GetName()));
}
}
public void Initialize(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_minkowskiA = objectA;
m_minkowskiB = objectB;
m_shapeTypeA = shapeTypeA;
m_shapeTypeB = shapeTypeB;
m_marginA = marginA;
m_marginB = marginB;
m_cachedSeparatingAxis = new IndexedVector3(0, 1, 0);
m_simplexSolver = simplexSolver;
m_penetrationDepthSolver = penetrationDepthSolver;
m_ignoreMargin = false;
m_lastUsedMethod = -1;
m_catchDegeneracies = true;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGJKDetector)
{
BulletGlobals.g_streamWriter.WriteLine(String.Format("GjkPairDetector-alt [{0}] [{1}]", objectA.GetName(), objectB.GetName()));
}
}
public CreateFunc(ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
//_ownsSolvers = false;
_simplexSolver = simplexSolver;
_penetrationDepthSolver = penetrationDepthSolver;
}
//private bool _ownsSolvers;
public CreateFunc()
{
//_ownsSolvers = true;
_simplexSolver = new VoronoiSimplexSolver();
_penetrationDepthSolver = new GjkEpaPenetrationDepthSolver();
}
/// <summary>
/// cast a convex against another convex object
/// </summary>
/// <param name="fromA"></param>
/// <param name="toA"></param>
/// <param name="fromB"></param>
/// <param name="toB"></param>
/// <param name="result"></param>
/// <returns></returns>
public bool CalcTimeOfImpact(Matrix fromA, Matrix toA, Matrix fromB, Matrix toB, CastResult result)
{
MinkowskiSumShape combined = new MinkowskiSumShape(_convexA, _convexB);
Matrix rayFromLocalA = MathHelper.InvertMatrix(fromA) * fromB;
Matrix rayToLocalA = MathHelper.InvertMatrix(toA) * toB;
Matrix transformA = fromA;
Matrix transformB = fromB;
transformA.Translation = new Vector3(0, 0, 0);
transformB.Translation = new Vector3(0, 0, 0);
combined.TransformA = transformA;
combined.TransformB = transformB;
float radius = 0.01f;
float lambda = 0;
Vector3 s = rayFromLocalA.Translation;
Vector3 r = rayToLocalA.Translation - rayFromLocalA.Translation;
Vector3 x = s;
Vector3 n = new Vector3();
Vector3 c = new Vector3();
bool hasResult = false;
float lastLambda = lambda;
IConvexPenetrationDepthSolver penSolver = null;
Matrix identityTransform = Matrix.Identity;
SphereShape raySphere = new SphereShape(0.0f);
raySphere.Margin = 0.0f;
Matrix sphereTransform = Matrix.Identity;
sphereTransform.Translation = rayFromLocalA.Translation;
result.DrawCoordSystem(sphereTransform);
{
PointCollector pointCollector = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(raySphere, combined, _simplexSolver, penSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = sphereTransform;
input.TransformB = identityTransform;
gjk.GetClosestPoints(input, pointCollector, null);
hasResult = pointCollector.HasResult;
c = pointCollector.PointInWorld;
n = pointCollector.NormalOnBInWorld;
}
if (hasResult)
{
float dist = (c - x).Length();
if (dist < radius)
{
lastLambda = 1.0f;
}
while (dist > radius)
{
n = x - c;
float dot = Vector3.Dot(n, r);
if (dot >= -(MathHelper.Epsilon * MathHelper.Epsilon))
{
return(false);
}
lambda = lambda - Vector3.Distance(n, n) / dot;
if (lambda <= lastLambda)
{
break;
}
lastLambda = lambda;
x = s + lambda * r;
sphereTransform.Translation = x;
result.DrawCoordSystem(sphereTransform);
PointCollector pointCollector = new PointCollector();
GjkPairDetector gjk = new GjkPairDetector(raySphere, combined, _simplexSolver, penSolver);
GjkPairDetector.ClosestPointInput input = new DiscreteCollisionDetectorInterface.ClosestPointInput();
input.TransformA = sphereTransform;
input.TransformB = identityTransform;
gjk.GetClosestPoints(input, pointCollector, null);
if (pointCollector.HasResult)
{
if (pointCollector.Distance < 0.0f)
{
result.Fraction = lastLambda;
result.Normal = n;
return(true);
}
c = pointCollector.PointInWorld;
dist = (c - x).Length();
}
else
{
return(false);
}
}
if (lastLambda < 1.0f)
{
result.Fraction = lastLambda;
result.Normal = n;
return(true);
}
}
return(false);
}
public DefaultCollisionConfiguration(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = new VoronoiSimplexSolver();
m_pdSolver = new GjkEpaPenetrationDepthSolver();
//m_pdSolver = new MinkowskiPenetrationDepthSolver();
m_useEpaPenetrationAlgorithm = true;
//#define USE_EPA 1
//#ifdef USE_EPA
// mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
// m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
//#else
// mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
// m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
//#endif//USE_EPA
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexCreateFunc(m_simplexSolver,m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCreateFunc();
m_swappedConvexConcaveCreateFunc = new SwappedConvexConcaveCreateFunc();
m_compoundCreateFunc = new CompoundCreateFunc();
m_swappedCompoundCreateFunc = new SwappedCompoundCreateFunc();
m_emptyCreateFunc = new EmptyCreateFunc();
m_sphereSphereCF = new SphereSphereCreateFunc();
//#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
// mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
// m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
// mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
// m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
// m_boxSphereCF->m_swapped = true;
//#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF = new SphereTriangleCreateFunc();
m_triangleSphereCF = new SphereTriangleCreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCreateFunc();
m_planeConvexCF = new ConvexPlaneCreateFunc();
m_planeConvexCF.m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
//int maxSize = sizeof(btConvexConvexAlgorithm);
//int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
//int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
//int sl = sizeof(btConvexSeparatingDistanceUtil);
//sl = sizeof(btGjkPairDetector);
//int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
//collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
//if (constructionInfo.m_stackAlloc)
//{
// m_ownsStackAllocator = false;
// this->m_stackAlloc = constructionInfo.m_stackAlloc;
//} else
//{
// m_ownsStackAllocator = true;
// void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
// m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
//}
//if (constructionInfo.m_persistentManifoldPool)
//{
// m_ownsPersistentManifoldPool = false;
// m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
//} else
//{
// m_ownsPersistentManifoldPool = true;
// void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
// m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
//}
//if (constructionInfo.m_collisionAlgorithmPool)
//{
// m_ownsCollisionAlgorithmPool = false;
// m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
//} else
//{
// m_ownsCollisionAlgorithmPool = true;
// void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
// m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
//}
}
public void setPenetrationDepthSolver(IConvexPenetrationDepthSolver penetrationDepthSolver)
{
this._penetrationDepthSolver = penetrationDepthSolver;
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
Initialize(objectA, objectB, shapeTypeA, shapeTypeB, marginA, marginB, simplexSolver, penetrationDepthSolver);
}
public void SetPenetrationDepthSolver(IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
} // for pool
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
Initialize(objectA, objectB, simplexSolver, penetrationDepthSolver);
}
public GjkPairDetector() { } // for pool
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
Initialize(objectA, objectB, simplexSolver, penetrationDepthSolver);
}
public void setPenetrationDepthSolver(IConvexPenetrationDepthSolver penetrationDepthSolver)
{
this._penetrationDepthSolver = penetrationDepthSolver;
}
/// <summary>
/// 初期化関数
/// </summary>
/// <param name="constructionInfo">初期化用構造体</param>
private void Constructor(DefaultCollisionConstructionInfo constructionInfo)
{
m_simplexSolver = new VoronoiSimplexSolver();
if (constructionInfo.m_useEpaPenetrationAlgorithm)
{
m_pdSolver = new GjkEpaPenetrationDepthSolver();
}
else
{
m_pdSolver = new MinkowskiPenetrationDepthSolver();
}
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new ConvexConvexAlgorithm.CreateFunc(m_simplexSolver, m_pdSolver);
m_convexConcaveCreateFunc = new ConvexConcaveCollisionAlgorithm.CreateFunc();
m_swappedConvexConcaveCreateFunc = new ConvexConcaveCollisionAlgorithm.SwappedCreateFunc();
m_compoundCreateFunc = new CompoundCollisionAlgorithm.CreateFunc();
m_swappedCompoundCreateFunc = new CompoundCollisionAlgorithm.SwappedCreateFunc();
m_emptyCreateFunc = new EmptyAlgorithm.CreateFunc();
m_sphereSphereCF = new SphereSphereCollisionAlgorithm.CreateFunc();
#if USE_BUGGY_SPHERE_BOX_ALGORITHM
//この中は移植作業を行ってない。
m_sphereBoxCF = new SphereBoxCollisionAlgorithm.CreateFunc();
m_boxSphereCF = new SphereBoxCollisionAlgorithm.CreateFunc();
m_boxSphereCF.m_swapped = true;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF = new SphereTriangleCollisionAlgorithm.CreateFunc();
m_triangleSphereCF = new SphereTriangleCollisionAlgorithm.CreateFunc();
m_triangleSphereCF.m_swapped = true;
m_boxBoxCF = new BoxBoxCollisionAlgorithm.CreateFunc();
//convex versus plane
m_convexPlaneCF = new ConvexPlaneCollisionAlgorithm.CreateFunc();
m_planeConvexCF = new ConvexPlaneCollisionAlgorithm.CreateFunc();
m_planeConvexCF.m_swapped = true;
#if false//未使用らしきメンバ変数の初期化作業
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = constructionInfo.m_stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
}
if (constructionInfo.m_persistentManifoldPool)
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
} else
{
m_ownsPersistentManifoldPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
}
if (constructionInfo.m_collisionAlgorithmPool)
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
} else
{
m_ownsCollisionAlgorithmPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
}
#endif
}
public GjkPairDetector(ConvexShape objectA, ConvexShape objectB, BroadphaseNativeTypes shapeTypeA, BroadphaseNativeTypes shapeTypeB, float marginA, float marginB, ISimplexSolverInterface simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
Initialize(objectA, objectB, shapeTypeA, shapeTypeB, marginA, marginB, simplexSolver,penetrationDepthSolver);
}
public CreateFunc(ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
{
//_ownsSolvers = false;
_simplexSolver = simplexSolver;
_penetrationDepthSolver = penetrationDepthSolver;
}
public ConvexConvexAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB, ISimplexSolver simplexSolver, IConvexPenetrationDepthSolver penetrationDepthSolver)
: base(collisionAlgorithmConstructionInfo)
{
_gjkPairDetector = new GjkPairDetector(null, null, simplexSolver, penetrationDepthSolver);
_ownManifold = false;
_manifold = manifold;
_lowLevelOfDetail = false;
}
public void SetPenetrationDepthSolver(IConvexPenetrationDepthSolver penetrationDepthSolver)
{
m_penetrationDepthSolver = penetrationDepthSolver;
}
//private bool _ownsSolvers;
public CreateFunc()
{
//_ownsSolvers = true;
_simplexSolver = new VoronoiSimplexSolver();
_penetrationDepthSolver = new GjkEpaPenetrationDepthSolver();
}
