public static void GetPlaneEquationTransformed(StaticPlaneShape plane,ref IndexedMatrix trans, out IndexedVector4 equation)
{
equation = new IndexedVector4();
IndexedVector3 planeNormal = plane.GetPlaneNormal();
equation.X = trans._basis.GetRow(0).Dot(ref planeNormal);
equation.Y = trans._basis.GetRow(1).Dot(ref planeNormal);
equation.Z = trans._basis.GetRow(2).Dot(ref planeNormal);
equation.W = trans._origin.Dot(ref planeNormal) + plane.GetPlaneConstant();
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject convexObj = m_isSwapped ? body1 : body0;
CollisionObject planeObj = m_isSwapped ? body0 : body1;
ConvexShape convexShape = convexObj.GetCollisionShape() as ConvexShape;
StaticPlaneShape planeShape = planeObj.GetCollisionShape() as StaticPlaneShape;
bool hasCollision = false;
IndexedVector3 planeNormal = planeShape.GetPlaneNormal();
float planeConstant = planeShape.GetPlaneConstant();
IndexedMatrix planeInConvex;
planeInConvex = convexObj.GetWorldTransform().Inverse() * planeObj.GetWorldTransform();
IndexedMatrix convexInPlaneTrans;
convexInPlaneTrans = planeObj.GetWorldTransform().Inverse() * convexObj.GetWorldTransform();
IndexedVector3 vtx = convexShape.LocalGetSupportingVertex(planeInConvex._basis * -planeNormal);
IndexedVector3 vtxInPlane = convexInPlaneTrans * vtx;
float distance = (planeNormal.Dot(vtxInPlane) - planeConstant);
IndexedVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
IndexedVector3 vtxInPlaneWorld = planeObj.GetWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr.GetContactBreakingThreshold();
resultOut.SetPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
IndexedVector3 normalOnSurfaceB = planeObj.GetWorldTransform()._basis *planeNormal;
IndexedVector3 pOnB = vtxInPlaneWorld;
resultOut.AddContactPoint(normalOnSurfaceB, pOnB, distance);
}
////first perform a collision query with the non-perturbated collision objects
//{
// IndexedQuaternion rotq = IndexedQuaternion.Identity;
// CollideSingleContact(ref rotq, body0, body1, dispatchInfo, resultOut);
//}
if (convexShape.IsPolyhedral() && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold)
{
IndexedVector3 v0;
IndexedVector3 v1;
TransformUtil.PlaneSpace1(ref planeNormal, out v0, out v1);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radius = convexShape.GetAngularMotionDisc();
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radius;
if (perturbeAngle > angleLimit)
{
perturbeAngle = angleLimit;
}
IndexedQuaternion perturbeRot = new IndexedQuaternion(v0, perturbeAngle);
for (int i = 0; i < m_numPerturbationIterations; i++)
{
float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations);
IndexedQuaternion rotq = new IndexedQuaternion(planeNormal, iterationAngle);
rotq = IndexedQuaternion.Inverse(rotq) * perturbeRot * rotq;
CollideSingleContact(ref rotq, body0, body1, dispatchInfo, resultOut);
}
}
if (m_ownManifold)
{
if (m_manifoldPtr.GetNumContacts() > 0)
{
resultOut.RefreshContactPoints();
}
}
}
public static void GetPlaneEquation(StaticPlaneShape plane,out IndexedVector4 equation)
{
equation = new IndexedVector4(plane.GetPlaneNormal(),plane.GetPlaneConstant());
}
public static void GetPlaneEquation(StaticPlaneShape plane, out IndexedVector4 equation)
{
equation = new IndexedVector4(plane.GetPlaneNormal(), plane.GetPlaneConstant());
}