65 lines
3.6 KiB
C++
65 lines
3.6 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2020 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 <reactphysics3d/collision/narrowphase/ConvexPolyhedronVsConvexPolyhedronAlgorithm.h>
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#include <reactphysics3d/collision/narrowphase/GJK/GJKAlgorithm.h>
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#include <reactphysics3d/collision/narrowphase/SAT/SATAlgorithm.h>
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#include <reactphysics3d/collision/narrowphase/NarrowPhaseInfoBatch.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 two convex polyhedra
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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 ConvexPolyhedronVsConvexPolyhedronAlgorithm::testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch,
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size_t batchStartIndex, size_t batchNbItems,
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bool clipWithPreviousAxisIfStillColliding, MemoryAllocator& memoryAllocator) {
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// Run the SAT algorithm to find the separating axis and compute contact point
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SATAlgorithm satAlgorithm(clipWithPreviousAxisIfStillColliding, memoryAllocator);
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#ifdef IS_RP3D_PROFILING_ENABLED
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satAlgorithm.setProfiler(mProfiler);
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#endif
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bool isCollisionFound = satAlgorithm.testCollisionConvexPolyhedronVsConvexPolyhedron(narrowPhaseInfoBatch, batchStartIndex, batchNbItems);
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for (size_t batchIndex = batchStartIndex; batchIndex < batchStartIndex + batchNbItems; batchIndex++) {
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// Get the last frame collision info
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LastFrameCollisionInfo* lastFrameCollisionInfo = narrowPhaseInfoBatch.lastFrameCollisionInfos[batchIndex];
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lastFrameCollisionInfo->wasUsingSAT = true;
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lastFrameCollisionInfo->wasUsingGJK = false;
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}
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return isCollisionFound;
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}
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