public static bool Distance(ConvexShape shape0,ref Matrix wtrs0,ConvexShape shape1,ref Matrix wtrs1,ref Vector3 guess,GjkEpaSolver2Results results)
{
GjkEpaSolver2MinkowskiDiff shape = new GjkEpaSolver2MinkowskiDiff();
Initialize(shape0,ref wtrs0,shape1,ref wtrs1,results,shape,false);
GJK gjk = new GJK();
GJKStatus gjk_status= gjk.Evaluate(shape,ref guess);
if(gjk_status == GJKStatus.Valid)
{
Vector3 w0 = Vector3.Zero;
Vector3 w1 = Vector3.Zero;
for(uint i=0;i<gjk.m_simplex.rank;++i)
{
float p=gjk.m_simplex.p[i];
w0+=shape.Support(ref gjk.m_simplex.c[i].d,0)*p;
Vector3 temp = -gjk.m_simplex.c[i].d;
w1+=shape.Support(ref temp,1)*p;
}
results.witnesses0 = Vector3.Transform(w0,wtrs0);
results.witnesses1 = Vector3.Transform(w1,wtrs0);
results.normal = w0-w1;
results.distance = results.normal.Length();
results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1;
return(true);
}
else
{
//GjkEpaSolver2Status
results.status = (gjk_status==GJKStatus.Inside)?GjkEpaSolver2Status.Penetrating :GjkEpaSolver2Status.GJK_Failed ;
return(false);
}
}
public static void Initialize(ConvexShape shape0,ref Matrix wtrs0,
ConvexShape shape1,ref Matrix wtrs1,
GjkEpaSolver2Results results,
GjkEpaSolver2MinkowskiDiff shapeR,
bool withmargins)
{
/* Results */
results.witnesses0 = Vector3.Zero;
results.witnesses1 = Vector3.Zero;
results.status = GjkEpaSolver2Status.Separated;
/* Shape */
shapeR.m_shapes[0] = shape0;
shapeR.m_shapes[1] = shape1;
shapeR.m_toshape1 = MathUtil.TransposeTimesBasis(ref wtrs1,ref wtrs0);
shapeR.m_toshape0 = MathUtil.InverseTimes(ref wtrs0, ref wtrs1);
if (BulletGlobals.g_streamWriter != null && debugGJK)
{
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "gjksolver2::init::shape0", shapeR.m_toshape0);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "gjksolver2::init::shape1", shapeR.m_toshape1);
}
shapeR.EnableMargin(withmargins);
}
public virtual bool CalcPenDepth(ISimplexSolverInterface simplexSolver, ConvexShape convexA, ConvexShape convexB, ref Matrix transA, ref Matrix transB,
ref Vector3 v, ref Vector3 wWitnessOnA, ref Vector3 wWitnessOnB, IDebugDraw debugDraw)
{
//float radialmargin = 0f;
Vector3 guessVector = (transA.Translation - transB.Translation);
GjkEpaSolver2Results results = new GjkEpaSolver2Results();
if (GjkEpaSolver2.Penetration(convexA, ref transA,
convexB, ref transB,
ref guessVector, results))
{
// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
wWitnessOnA = results.witnesses0;
wWitnessOnB = results.witnesses1;
v = results.normal;
return true;
}
else
{
if (GjkEpaSolver2.Distance(convexA, ref transA, convexB, ref transB, ref guessVector, results))
{
wWitnessOnA = results.witnesses0;
wWitnessOnB = results.witnesses1;
v = results.normal;
return false;
}
}
return false;
}
public static bool Penetration(ConvexShape shape0,ref Matrix wtrs0,ConvexShape shape1,ref Matrix wtrs1,ref Vector3 guess,GjkEpaSolver2Results results,bool usemargins)
{
GjkEpaSolver2MinkowskiDiff shape = new GjkEpaSolver2MinkowskiDiff();
Initialize(shape0,ref wtrs0,shape1,ref wtrs1,results, shape,usemargins);
GJK gjk = new GJK();
Vector3 minusGuess = -guess;
GJKStatus gjk_status=gjk.Evaluate(shape,ref minusGuess);
switch(gjk_status)
{
case GJKStatus.Inside:
{
EPA epa = new EPA();
eStatus epa_status=epa.Evaluate(gjk,ref minusGuess);
if(epa_status!=eStatus.Failed)
{
Vector3 w0 = Vector3.Zero;
for(uint i=0;i<epa.m_result.rank;++i)
{
// order of results here is 'different' , EPA.evaluate.
w0+=shape.Support(ref epa.m_result.c[i].d,0)*epa.m_result.p[i];
}
results.status = GjkEpaSolver2Status.Penetrating;
results.witnesses0 = Vector3.Transform(w0,wtrs0);
results.witnesses1 = Vector3.Transform((w0-epa.m_normal*epa.m_depth),wtrs0);
results.normal = -epa.m_normal;
results.distance = -epa.m_depth;
return(true);
} else results.status=GjkEpaSolver2Status.EPA_Failed;
}
break;
case GJKStatus.Failed:
results.status=GjkEpaSolver2Status.GJK_Failed;
break;
}
return(false);
}
public static bool Penetration(ConvexShape shape0, ref Matrix wtrs0, ConvexShape shape1, ref Matrix wtrs1, ref Vector3 guess, GjkEpaSolver2Results results)
{
return Penetration(shape0, ref wtrs0, shape1, ref wtrs1, ref guess, results, true);
}
//
public bool SignedDistance(ConvexShape shape0,ref Matrix wtrs0,ConvexShape shape1,ref Matrix wtrs1,ref Vector3 guess,GjkEpaSolver2Results results)
{
if(!Distance(shape0,ref wtrs0,shape1,ref wtrs1,ref guess,results))
return(Penetration(shape0,ref wtrs0,shape1,ref wtrs1,ref guess,results,false));
else
return(true);
}
//
public float SignedDistance(ref Vector3 position, float margin, ConvexShape shape0, ref Matrix wtrs0, GjkEpaSolver2Results results)
{
GjkEpaSolver2MinkowskiDiff shape = new GjkEpaSolver2MinkowskiDiff();
SphereShape shape1 = new SphereShape(margin);
Matrix wtrs1 = Matrix.CreateFromQuaternion(Quaternion.Identity);
wtrs0.Translation = position;
Initialize(shape0,ref wtrs0,shape1,ref wtrs1,results,shape,false);
GJK gjk = new GJK();
Vector3 guess = new Vector3(1,1,1);
GJKStatus gjk_status=gjk.Evaluate(shape,ref guess);
if(gjk_status==GJKStatus.Valid)
{
Vector3 w0=Vector3.Zero;
Vector3 w1=Vector3.Zero;
for(int i=0;i<gjk.m_simplex.rank;++i)
{
float p=gjk.m_simplex.p[i];
w0+=shape.Support( ref gjk.m_simplex.c[i].d,0)*p;
Vector3 temp = -gjk.m_simplex.c[i].d;
w1+=shape.Support(ref temp,1)*p;
}
results.witnesses0 = Vector3.Transform(w0,wtrs0);
results.witnesses1 = Vector3.Transform(w1,wtrs0);
Vector3 delta= results.witnesses1-results.witnesses0;
float margin2 = shape0.GetMarginNonVirtual()+shape1.GetMarginNonVirtual();
float length = delta.Length();
results.normal = delta/length;
results.witnesses0 += results.normal*margin2;
return(length-margin2);
}
else
{
if(gjk_status==GJKStatus.Inside)
{
if(Penetration(shape0,ref wtrs0,shape1,ref wtrs1,ref gjk.m_ray,results))
{
Vector3 delta= results.witnesses0-results.witnesses1;
float length= delta.Length();
if (length >= MathUtil.SIMD_EPSILON)
results.normal = delta/length;
return(-length);
}
}
}
return(MathUtil.SIMD_INFINITY);
}
