120 lines
4.7 KiB
C++
120 lines
4.7 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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 REACTPHYSICS3D_GJK_ALGORITHM_H
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#define REACTPHYSICS3D_GJK_ALGORITHM_H
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// Libraries
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#include "collision/ContactManifoldInfo.h"
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#include "collision/NarrowPhaseInfo.h"
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#include "collision/shapes/ConvexShape.h"
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#include "VoronoiSimplex.h"
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/// ReactPhysics3D namespace
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namespace reactphysics3d {
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// Constants
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constexpr decimal REL_ERROR = decimal(1.0e-3);
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constexpr decimal REL_ERROR_SQUARE = REL_ERROR * REL_ERROR;
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constexpr int MAX_ITERATIONS_GJK_RAYCAST = 32;
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// Class GJKAlgorithm
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/**
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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 Interactive 3D Environments" by Gino van den Bergen.
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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 intersects in their margins, the penetration depth is quickly
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* computed using the GJK algorithm on the original objects (without margin).
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* If the 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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class GJKAlgorithm {
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private :
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// -------------------- Attributes -------------------- //
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#ifdef IS_PROFILING_ACTIVE
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/// Pointer to the profiler
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Profiler* mProfiler;
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#endif
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// -------------------- Methods -------------------- //
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public :
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enum class GJKResult {
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SEPARATED, // The two shapes are separated outside the margin
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COLLIDE_IN_MARGIN, // The two shapes overlap only in the margin (shallow penetration)
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INTERPENETRATE // The two shapes overlap event without the margin (deep penetration)
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};
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// -------------------- Methods -------------------- //
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/// Constructor
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GJKAlgorithm() = default;
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/// Destructor
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~GJKAlgorithm() = default;
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/// Deleted copy-constructor
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GJKAlgorithm(const GJKAlgorithm& algorithm) = delete;
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/// Deleted assignment operator
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GJKAlgorithm& operator=(const GJKAlgorithm& algorithm) = delete;
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/// Compute a contact info if the two bounding volumes collide.
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GJKResult testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts);
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#ifdef IS_PROFILING_ACTIVE
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/// Set the profiler
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void setProfiler(Profiler* profiler);
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#endif
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};
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#ifdef IS_PROFILING_ACTIVE
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// Set the profiler
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inline void GJKAlgorithm::setProfiler(Profiler* profiler) {
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mProfiler = profiler;
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}
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#endif
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}
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#endif
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