Fix temporal coherence in SAT algorithm between two convex polyhedra
This commit is contained in:
Daniel Chappuis
parent
673e487f14
commit
6a22b3a81d
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@ -489,6 +489,24 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
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minFaceIndex = lastFrameInfo.satMinAxisFaceIndex;
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minFaceIndex = lastFrameInfo.satMinAxisFaceIndex;
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isMinPenetrationFaceNormal = true;
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isMinPenetrationFaceNormal = true;
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isMinPenetrationFaceNormalPolyhedron1 = true;
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isMinPenetrationFaceNormalPolyhedron1 = true;
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// Compute the contact points between two faces of two convex polyhedra.
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// If contact points have been found, we report them without running the whole SAT algorithm
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if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2,
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polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex,
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narrowPhaseInfo, minPenetrationDepth)) {
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lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;
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lastFrameInfo.satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1;
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lastFrameInfo.satMinAxisFaceIndex = minFaceIndex;
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return true;
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}
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else { // Contact points have not been found (the set of clipped points was empty)
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// Therefore, we need to run the whole SAT algorithm again
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isTemporalCoherenceValid = false;
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}
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}
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}
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}
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}
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else if (lastFrameInfo.satIsAxisFacePolyhedron2) { // If the previous separating axis (or axis with minimum penetration depth)
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else if (lastFrameInfo.satIsAxisFacePolyhedron2) { // If the previous separating axis (or axis with minimum penetration depth)
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@ -513,6 +531,24 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
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minFaceIndex = lastFrameInfo.satMinAxisFaceIndex;
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minFaceIndex = lastFrameInfo.satMinAxisFaceIndex;
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isMinPenetrationFaceNormal = true;
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isMinPenetrationFaceNormal = true;
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isMinPenetrationFaceNormalPolyhedron1 = false;
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isMinPenetrationFaceNormalPolyhedron1 = false;
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// Compute the contact points between two faces of two convex polyhedra.
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// If contact points have been found, we report them without running the whole SAT algorithm
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if(computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1, polyhedron2,
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polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1, minFaceIndex,
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narrowPhaseInfo, minPenetrationDepth)) {
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lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;
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lastFrameInfo.satIsAxisFacePolyhedron2 = !isMinPenetrationFaceNormalPolyhedron1;
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lastFrameInfo.satMinAxisFaceIndex = minFaceIndex;
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return true;
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}
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else { // Contact points have not been found (the set of clipped points was empty)
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// Therefore, we need to run the whole SAT algorithm again
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isTemporalCoherenceValid = false;
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}
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}
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}
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}
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}
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else { // If the previous separating axis (or axis with minimum penetration depth) was the cross product of two edges
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else { // If the previous separating axis (or axis with minimum penetration depth) was the cross product of two edges
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@ -544,6 +580,12 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
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// we will skip the entire SAT algorithm because the minimum separating axis did not change
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// we will skip the entire SAT algorithm because the minimum separating axis did not change
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isTemporalCoherenceValid = lastFrameInfo.wasColliding;
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isTemporalCoherenceValid = lastFrameInfo.wasColliding;
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// Temporal coherence is valid only if the two edges build a minkowski
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// face (and the cross product is therefore a candidate for separating axis
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if (isTemporalCoherenceValid && !testEdgesBuildMinkowskiFace(polyhedron1, edge1, polyhedron2, edge2, polyhedron1ToPolyhedron2)) {
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isTemporalCoherenceValid = false;
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}
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if (isTemporalCoherenceValid) {
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if (isTemporalCoherenceValid) {
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minPenetrationDepth = penetrationDepth;
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minPenetrationDepth = penetrationDepth;
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@ -672,102 +714,11 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
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if (reportContacts) {
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if (reportContacts) {
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const ConvexPolyhedronShape* referencePolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1 : polyhedron2;
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// Compute the contact points between two faces of two convex polyhedra.
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const ConvexPolyhedronShape* incidentPolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2 : polyhedron1;
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bool contactsFound = computePolyhedronVsPolyhedronFaceContactPoints(isMinPenetrationFaceNormalPolyhedron1, polyhedron1,
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const Transform& referenceToIncidentTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1ToPolyhedron2 : polyhedron2ToPolyhedron1;
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polyhedron2, polyhedron1ToPolyhedron2, polyhedron2ToPolyhedron1,
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const Transform& incidentToReferenceTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2ToPolyhedron1 : polyhedron1ToPolyhedron2;
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minFaceIndex, narrowPhaseInfo, minPenetrationDepth);
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assert(contactsFound);
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assert(minPenetrationDepth > decimal(0.0));
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const Vector3 axisReferenceSpace = referencePolyhedron->getFaceNormal(minFaceIndex);
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const Vector3 axisIncidentSpace = referenceToIncidentTransform.getOrientation() * axisReferenceSpace;
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// Compute the world normal
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Vector3 normalWorld = isMinPenetrationFaceNormalPolyhedron1 ? narrowPhaseInfo->shape1ToWorldTransform.getOrientation() * axisReferenceSpace :
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-(narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * axisReferenceSpace);
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// Get the reference face
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HalfEdgeStructure::Face referenceFace = referencePolyhedron->getFace(minFaceIndex);
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// Find the incident face on the other polyhedron (most anti-parallel face)
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uint incidentFaceIndex = findMostAntiParallelFaceOnPolyhedron(incidentPolyhedron, axisIncidentSpace);
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// Get the incident face
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HalfEdgeStructure::Face incidentFace = incidentPolyhedron->getFace(incidentFaceIndex);
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std::vector<Vector3> polygonVertices; // Vertices to clip of the incident face
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std::vector<Vector3> planesNormals; // Normals of the clipping planes
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std::vector<Vector3> planesPoints; // Points on the clipping planes
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// Get all the vertices of the incident face (in the reference local-space)
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std::vector<uint>::const_iterator it;
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for (it = incidentFace.faceVertices.begin(); it != incidentFace.faceVertices.end(); ++it) {
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const Vector3 faceVertexIncidentSpace = incidentPolyhedron->getVertexPosition(*it);
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polygonVertices.push_back(incidentToReferenceTransform * faceVertexIncidentSpace);
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}
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// Get the reference face clipping planes
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uint currentEdgeIndex = referenceFace.edgeIndex;
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uint firstEdgeIndex = currentEdgeIndex;
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do {
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// Get the adjacent edge
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HalfEdgeStructure::Edge edge = referencePolyhedron->getHalfEdge(currentEdgeIndex);
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// Get the twin edge
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HalfEdgeStructure::Edge twinEdge = referencePolyhedron->getHalfEdge(edge.twinEdgeIndex);
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// Compute the edge vertices and edge direction
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Vector3 edgeV1 = referencePolyhedron->getVertexPosition(edge.vertexIndex);
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Vector3 edgeV2 = referencePolyhedron->getVertexPosition(twinEdge.vertexIndex);
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Vector3 edgeDirection = edgeV2 - edgeV1;
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// Compute the normal of the clipping plane for this edge
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// The clipping plane is perpendicular to the edge direction and the reference face normal
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Vector3 clipPlaneNormal = axisReferenceSpace.cross(edgeDirection);
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planesNormals.push_back(clipPlaneNormal);
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planesPoints.push_back(edgeV1);
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// Go to the next adjacent edge of the reference face
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currentEdgeIndex = edge.nextEdgeIndex;
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} while (currentEdgeIndex != firstEdgeIndex);
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assert(planesNormals.size() > 0);
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assert(planesNormals.size() == planesPoints.size());
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// Clip the reference faces with the adjacent planes of the reference face
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std::vector<Vector3> clipPolygonVertices = clipPolygonWithPlanes(polygonVertices, planesPoints, planesNormals);
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assert(clipPolygonVertices.size() > 0);
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// We only keep the clipped points that are below the reference face
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const Vector3 referenceFaceVertex = referencePolyhedron->getVertexPosition(referencePolyhedron->getHalfEdge(firstEdgeIndex).vertexIndex);
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std::vector<Vector3>::const_iterator itPoints;
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for (itPoints = clipPolygonVertices.begin(); itPoints != clipPolygonVertices.end(); ++itPoints) {
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// If the clip point is bellow the reference face
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if (((*itPoints) - referenceFaceVertex).dot(axisReferenceSpace) < decimal(0.0)) {
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// Convert the clip incident polyhedron vertex into the incident polyhedron local-space
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Vector3 contactPointIncidentPolyhedron = referenceToIncidentTransform * (*itPoints);
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// Project the contact point onto the reference face
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Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(*itPoints, axisReferenceSpace, referenceFaceVertex);
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// Compute smooth triangle mesh contact if one of the two collision shapes is a triangle
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TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron,
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narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform,
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minPenetrationDepth, normalWorld);
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// Create a new contact point
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narrowPhaseInfo->addContactPoint(normalWorld, minPenetrationDepth,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron);
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}
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}
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}
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}
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lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;
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lastFrameInfo.satIsAxisFacePolyhedron1 = isMinPenetrationFaceNormalPolyhedron1;
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@ -809,6 +760,116 @@ bool SATAlgorithm::testCollisionConvexPolyhedronVsConvexPolyhedron(NarrowPhaseIn
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return true;
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return true;
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}
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}
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// Compute the contact points between two faces of two convex polyhedra.
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/// The method returns true if contact points have been found
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bool SATAlgorithm::computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1,
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const ConvexPolyhedronShape* polyhedron1, const ConvexPolyhedronShape* polyhedron2,
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const Transform& polyhedron1ToPolyhedron2, const Transform& polyhedron2ToPolyhedron1,
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uint minFaceIndex, NarrowPhaseInfo* narrowPhaseInfo, decimal minPenetrationDepth) const {
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const ConvexPolyhedronShape* referencePolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1 : polyhedron2;
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const ConvexPolyhedronShape* incidentPolyhedron = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2 : polyhedron1;
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const Transform& referenceToIncidentTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron1ToPolyhedron2 : polyhedron2ToPolyhedron1;
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const Transform& incidentToReferenceTransform = isMinPenetrationFaceNormalPolyhedron1 ? polyhedron2ToPolyhedron1 : polyhedron1ToPolyhedron2;
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assert(minPenetrationDepth > decimal(0.0));
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const Vector3 axisReferenceSpace = referencePolyhedron->getFaceNormal(minFaceIndex);
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const Vector3 axisIncidentSpace = referenceToIncidentTransform.getOrientation() * axisReferenceSpace;
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// Compute the world normal
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Vector3 normalWorld = isMinPenetrationFaceNormalPolyhedron1 ? narrowPhaseInfo->shape1ToWorldTransform.getOrientation() * axisReferenceSpace :
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-(narrowPhaseInfo->shape2ToWorldTransform.getOrientation() * axisReferenceSpace);
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// Get the reference face
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HalfEdgeStructure::Face referenceFace = referencePolyhedron->getFace(minFaceIndex);
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// Find the incident face on the other polyhedron (most anti-parallel face)
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uint incidentFaceIndex = findMostAntiParallelFaceOnPolyhedron(incidentPolyhedron, axisIncidentSpace);
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// Get the incident face
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HalfEdgeStructure::Face incidentFace = incidentPolyhedron->getFace(incidentFaceIndex);
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std::vector<Vector3> polygonVertices; // Vertices to clip of the incident face
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std::vector<Vector3> planesNormals; // Normals of the clipping planes
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std::vector<Vector3> planesPoints; // Points on the clipping planes
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// Get all the vertices of the incident face (in the reference local-space)
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std::vector<uint>::const_iterator it;
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for (it = incidentFace.faceVertices.begin(); it != incidentFace.faceVertices.end(); ++it) {
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const Vector3 faceVertexIncidentSpace = incidentPolyhedron->getVertexPosition(*it);
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polygonVertices.push_back(incidentToReferenceTransform * faceVertexIncidentSpace);
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}
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// Get the reference face clipping planes
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uint currentEdgeIndex = referenceFace.edgeIndex;
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uint firstEdgeIndex = currentEdgeIndex;
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do {
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// Get the adjacent edge
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HalfEdgeStructure::Edge edge = referencePolyhedron->getHalfEdge(currentEdgeIndex);
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// Get the twin edge
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HalfEdgeStructure::Edge twinEdge = referencePolyhedron->getHalfEdge(edge.twinEdgeIndex);
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// Compute the edge vertices and edge direction
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Vector3 edgeV1 = referencePolyhedron->getVertexPosition(edge.vertexIndex);
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Vector3 edgeV2 = referencePolyhedron->getVertexPosition(twinEdge.vertexIndex);
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Vector3 edgeDirection = edgeV2 - edgeV1;
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// Compute the normal of the clipping plane for this edge
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// The clipping plane is perpendicular to the edge direction and the reference face normal
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Vector3 clipPlaneNormal = axisReferenceSpace.cross(edgeDirection);
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planesNormals.push_back(clipPlaneNormal);
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planesPoints.push_back(edgeV1);
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// Go to the next adjacent edge of the reference face
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currentEdgeIndex = edge.nextEdgeIndex;
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} while (currentEdgeIndex != firstEdgeIndex);
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assert(planesNormals.size() > 0);
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assert(planesNormals.size() == planesPoints.size());
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// Clip the reference faces with the adjacent planes of the reference face
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std::vector<Vector3> clipPolygonVertices = clipPolygonWithPlanes(polygonVertices, planesPoints, planesNormals);
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assert(clipPolygonVertices.size() > 0);
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// We only keep the clipped points that are below the reference face
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const Vector3 referenceFaceVertex = referencePolyhedron->getVertexPosition(referencePolyhedron->getHalfEdge(firstEdgeIndex).vertexIndex);
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std::vector<Vector3>::const_iterator itPoints;
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bool contactPointsFound = false;
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for (itPoints = clipPolygonVertices.begin(); itPoints != clipPolygonVertices.end(); ++itPoints) {
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// If the clip point is bellow the reference face
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if (((*itPoints) - referenceFaceVertex).dot(axisReferenceSpace) < decimal(0.0)) {
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contactPointsFound = true;
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// Convert the clip incident polyhedron vertex into the incident polyhedron local-space
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Vector3 contactPointIncidentPolyhedron = referenceToIncidentTransform * (*itPoints);
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// Project the contact point onto the reference face
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Vector3 contactPointReferencePolyhedron = projectPointOntoPlane(*itPoints, axisReferenceSpace, referenceFaceVertex);
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// Compute smooth triangle mesh contact if one of the two collision shapes is a triangle
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TriangleShape::computeSmoothTriangleMeshContact(narrowPhaseInfo->collisionShape1, narrowPhaseInfo->collisionShape2,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron,
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narrowPhaseInfo->shape1ToWorldTransform, narrowPhaseInfo->shape2ToWorldTransform,
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minPenetrationDepth, normalWorld);
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// Create a new contact point
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narrowPhaseInfo->addContactPoint(normalWorld, minPenetrationDepth,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointReferencePolyhedron : contactPointIncidentPolyhedron,
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isMinPenetrationFaceNormalPolyhedron1 ? contactPointIncidentPolyhedron : contactPointReferencePolyhedron);
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}
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}
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return contactPointsFound;
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}
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// Find and return the index of the polyhedron face with the most anti-parallel face normal given a direction vector
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// Find and return the index of the polyhedron face with the most anti-parallel face normal given a direction vector
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// This is used to find the incident face on a polyhedron of a given reference face of another polyhedron
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// This is used to find the incident face on a polyhedron of a given reference face of another polyhedron
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uint SATAlgorithm::findMostAntiParallelFaceOnPolyhedron(const ConvexPolyhedronShape* polyhedron, const Vector3& direction) const {
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uint SATAlgorithm::findMostAntiParallelFaceOnPolyhedron(const ConvexPolyhedronShape* polyhedron, const Vector3& direction) const {
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@ -96,6 +96,13 @@ class SATAlgorithm {
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const Vector3& edgeDirectionCapsuleSpace,
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const Vector3& edgeDirectionCapsuleSpace,
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const Transform& polyhedronToCapsuleTransform, Vector3& outAxis) const;
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const Transform& polyhedronToCapsuleTransform, Vector3& outAxis) const;
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/// Compute the contact points between two faces of two convex polyhedra.
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bool computePolyhedronVsPolyhedronFaceContactPoints(bool isMinPenetrationFaceNormalPolyhedron1, const ConvexPolyhedronShape* polyhedron1,
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const ConvexPolyhedronShape* polyhedron2, const Transform& polyhedron1ToPolyhedron2,
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const Transform& polyhedron2ToPolyhedron1, uint minFaceIndex,
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NarrowPhaseInfo* narrowPhaseInfo, decimal minPenetrationDepth) const;
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public :
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public :
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// -------------------- Methods -------------------- //
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// -------------------- Methods -------------------- //
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