91 lines
4.1 KiB
C++
91 lines
4.1 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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// Libraries
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#include "SphereVsConvexPolyhedronAlgorithm.h"
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#include "GJK/GJKAlgorithm.h"
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#include "SAT/SATAlgorithm.h"
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Compute the narrow-phase collision detection between a sphere and a convex polyhedron
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// This technique is based on the "Robust Contact Creation for Physics Simulations" presentation
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// by Dirk Gregorius.
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bool SphereVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfo* narrowPhaseInfo, bool reportContacts,
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Allocator& memoryAllocator) {
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assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::CONVEX_POLYHEDRON ||
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narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::CONVEX_POLYHEDRON);
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assert(narrowPhaseInfo->collisionShape1->getType() == CollisionShapeType::SPHERE ||
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narrowPhaseInfo->collisionShape2->getType() == CollisionShapeType::SPHERE);
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// Get the last frame collision info
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LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfo->getLastFrameCollisionInfo();
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// First, we run the GJK algorithm
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GJKAlgorithm gjkAlgorithm;
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#ifdef IS_PROFILING_ACTIVE
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gjkAlgorithm.setProfiler(mProfiler);
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#endif
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GJKAlgorithm::GJKResult result = gjkAlgorithm.testCollision(narrowPhaseInfo, reportContacts);
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lastFrameCollisionInfo->wasUsingGJK = true;
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lastFrameCollisionInfo->wasUsingSAT = false;
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// If we have found a contact point inside the margins (shallow penetration)
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if (result == GJKAlgorithm::GJKResult::COLLIDE_IN_MARGIN) {
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// Return true
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return true;
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}
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// If we have overlap even without the margins (deep penetration)
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if (result == GJKAlgorithm::GJKResult::INTERPENETRATE) {
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// Run the SAT algorithm to find the separating axis and compute contact point
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SATAlgorithm satAlgorithm(memoryAllocator);
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#ifdef IS_PROFILING_ACTIVE
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satAlgorithm.setProfiler(mProfiler);
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#endif
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bool isColliding = satAlgorithm.testCollisionSphereVsConvexPolyhedron(narrowPhaseInfo, reportContacts);
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lastFrameCollisionInfo->wasUsingGJK = false;
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lastFrameCollisionInfo->wasUsingSAT = true;
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return isColliding;
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}
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return false;
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}
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