cd47b3e617
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@466 92aac97c-a6ce-11dd-a772-7fcde58d38e6
80 lines
4.4 KiB
C++
80 lines
4.4 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef GJK_ALGORITHM_H
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#define GJK_ALGORITHM_H
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// Libraries
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#include "../NarrowPhaseAlgorithm.h"
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#include "../../ContactInfo.h"
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#include "../../../colliders/Collider.h"
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#include "../EPA/EPAAlgorithm.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Constants
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const decimal REL_ERROR = 1.0e-3;
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const decimal REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;
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/* -------------------------------------------------------------------
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Class GJKAlgorithm :
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This class implements a narrow-phase collision detection algorithm. This
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algorithm uses the ISA-GJK algorithm and the EPA algorithm. This
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implementation is based on the implementation discussed in the book
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"Collision Detection in 3D Environments".
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This method implements the Hybrid Technique for calculating the
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penetration depth. The two objects are enlarged with a small margin. If
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the object intersection, the penetration depth is quickly computed using
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GJK algorithm on the original objects (without margin). If the
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original objects (without margin) intersect, we run again the GJK
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algorithm on the enlarged objects (with margin) to compute simplex
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polytope that contains the origin and give it to the EPA (Expanding
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Polytope Algorithm) to compute the correct penetration depth between the
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enlarged objects.
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-------------------------------------------------------------------
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*/
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class GJKAlgorithm : public NarrowPhaseAlgorithm {
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private :
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EPAAlgorithm algoEPA; // EPA Algorithm
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bool computePenetrationDepthForEnlargedObjects(const Collider* collider1, const Transform& transform1,
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const Collider* collider2, const Transform& transform2,
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ContactInfo*& contactInfo, Vector3& v); // Compute the penetration depth for enlarged objects
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public :
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GJKAlgorithm(MemoryPool<ContactInfo>& memoryPoolContactInfos); // Constructor
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~GJKAlgorithm(); // Destructor
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virtual bool testCollision(const Collider* collider1, const Transform& transform1,
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const Collider* collider2, const Transform& transform2,
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ContactInfo*& contactInfo); // Return true and compute a contact info if the two bounding volume collide
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};
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} // End of the ReactPhysics3D namespace
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#endif
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