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Diffstat (limited to '')
| -rw-r--r-- | servers/physics/gjk_epa.cpp | 1399 |
1 files changed, 663 insertions, 736 deletions
diff --git a/servers/physics/gjk_epa.cpp b/servers/physics/gjk_epa.cpp index 92ca5ea8d..980ef1763 100644 --- a/servers/physics/gjk_epa.cpp +++ b/servers/physics/gjk_epa.cpp @@ -30,471 +30,434 @@ /*************** Bullet's GJK-EPA2 IMPLEMENTATION *******************/ - // Config +// Config /* GJK */ -#define GJK_MAX_ITERATIONS 128 -#define GJK_ACCURARY ((real_t)0.0001) -#define GJK_MIN_DISTANCE ((real_t)0.0001) -#define GJK_DUPLICATED_EPS ((real_t)0.0001) -#define GJK_SIMPLEX2_EPS ((real_t)0.0) -#define GJK_SIMPLEX3_EPS ((real_t)0.0) -#define GJK_SIMPLEX4_EPS ((real_t)0.0) +#define GJK_MAX_ITERATIONS 128 +#define GJK_ACCURARY ((real_t)0.0001) +#define GJK_MIN_DISTANCE ((real_t)0.0001) +#define GJK_DUPLICATED_EPS ((real_t)0.0001) +#define GJK_SIMPLEX2_EPS ((real_t)0.0) +#define GJK_SIMPLEX3_EPS ((real_t)0.0) +#define GJK_SIMPLEX4_EPS ((real_t)0.0) /* EPA */ -#define EPA_MAX_VERTICES 64 -#define EPA_MAX_FACES (EPA_MAX_VERTICES*2) -#define EPA_MAX_ITERATIONS 255 -#define EPA_ACCURACY ((real_t)0.0001) -#define EPA_FALLBACK (10*EPA_ACCURACY) -#define EPA_PLANE_EPS ((real_t)0.00001) -#define EPA_INSIDE_EPS ((real_t)0.01) +#define EPA_MAX_VERTICES 64 +#define EPA_MAX_FACES (EPA_MAX_VERTICES * 2) +#define EPA_MAX_ITERATIONS 255 +#define EPA_ACCURACY ((real_t)0.0001) +#define EPA_FALLBACK (10 * EPA_ACCURACY) +#define EPA_PLANE_EPS ((real_t)0.00001) +#define EPA_INSIDE_EPS ((real_t)0.01) namespace GjkEpa2 { - -struct sResults { +struct sResults { enum eStatus { - Separated, /* Shapes doesnt penetrate */ - Penetrating, /* Shapes are penetrating */ - GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ + Separated, /* Shapes doesnt penetrate */ + Penetrating, /* Shapes are penetrating */ + GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ } status; - Vector3 witnesses[2]; - Vector3 normal; - real_t distance; + Vector3 witnesses[2]; + Vector3 normal; + real_t distance; }; // Shorthands -typedef unsigned int U; -typedef unsigned char U1; +typedef unsigned int U; +typedef unsigned char U1; // MinkowskiDiff -struct MinkowskiDiff { +struct MinkowskiDiff { - const ShapeSW* m_shapes[2]; + const ShapeSW *m_shapes[2]; Transform transform_A; Transform transform_B; // i wonder how this could be sped up... if it can - _FORCE_INLINE_ Vector3 Support0 ( const Vector3& d ) const { - return transform_A.xform( m_shapes[0]->get_support( transform_A.basis.xform_inv(d).normalized() ) ); + _FORCE_INLINE_ Vector3 Support0(const Vector3 &d) const { + return transform_A.xform(m_shapes[0]->get_support(transform_A.basis.xform_inv(d).normalized())); } - _FORCE_INLINE_ Vector3 Support1 ( const Vector3& d ) const { - return transform_B.xform( m_shapes[1]->get_support( transform_B.basis.xform_inv(d).normalized() ) ); + _FORCE_INLINE_ Vector3 Support1(const Vector3 &d) const { + return transform_B.xform(m_shapes[1]->get_support(transform_B.basis.xform_inv(d).normalized())); } - _FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const { - return ( Support0 ( d )-Support1 ( -d ) ); + _FORCE_INLINE_ Vector3 Support(const Vector3 &d) const { + return (Support0(d) - Support1(-d)); } - _FORCE_INLINE_ Vector3 Support ( const Vector3& d,U index ) const - { - if ( index ) - return ( Support1 ( d ) ); + _FORCE_INLINE_ Vector3 Support(const Vector3 &d, U index) const { + if (index) + return (Support1(d)); else - return ( Support0 ( d ) ); + return (Support0(d)); } }; -typedef MinkowskiDiff tShape; - +typedef MinkowskiDiff tShape; // GJK -struct GJK -{ +struct GJK { /* Types */ - struct sSV - { - Vector3 d,w; + struct sSV { + Vector3 d, w; }; - struct sSimplex - { - sSV* c[4]; - real_t p[4]; - U rank; + struct sSimplex { + sSV *c[4]; + real_t p[4]; + U rank; }; - struct eStatus { enum _ { - Valid, - Inside, - Failed };}; - /* Fields */ - tShape m_shape; - Vector3 m_ray; - real_t m_distance; - sSimplex m_simplices[2]; - sSV m_store[4]; - sSV* m_free[4]; - U m_nfree; - U m_current; - sSimplex* m_simplex; - eStatus::_ m_status; - /* Methods */ - GJK() - { - Initialize(); - } - void Initialize() - { - m_ray = Vector3(0,0,0); - m_nfree = 0; - m_status = eStatus::Failed; - m_current = 0; - m_distance = 0; - } - eStatus::_ Evaluate(const tShape& shapearg,const Vector3& guess) - { - U iterations=0; - real_t sqdist=0; - real_t alpha=0; - Vector3 lastw[4]; - U clastw=0; - /* Initialize solver */ - m_free[0] = &m_store[0]; - m_free[1] = &m_store[1]; - m_free[2] = &m_store[2]; - m_free[3] = &m_store[3]; - m_nfree = 4; - m_current = 0; - m_status = eStatus::Valid; - m_shape = shapearg; - m_distance = 0; - /* Initialize simplex */ - m_simplices[0].rank = 0; - m_ray = guess; - const real_t sqrl= m_ray.length_squared(); - appendvertice(m_simplices[0],sqrl>0?-m_ray:Vector3(1,0,0)); - m_simplices[0].p[0] = 1; - m_ray = m_simplices[0].c[0]->w; - sqdist = sqrl; - lastw[0] = - lastw[1] = - lastw[2] = - lastw[3] = m_ray; - /* Loop */ - do { - const U next=1-m_current; - sSimplex& cs=m_simplices[m_current]; - sSimplex& ns=m_simplices[next]; - /* Check zero */ - const real_t rl=m_ray.length(); - if(rl<GJK_MIN_DISTANCE) - {/* Touching or inside */ - m_status=eStatus::Inside; - break; - } - /* Append new vertice in -'v' direction */ - appendvertice(cs,-m_ray); - const Vector3& w=cs.c[cs.rank-1]->w; - bool found=false; - for(U i=0;i<4;++i) - { - if((w-lastw[i]).length_squared()<GJK_DUPLICATED_EPS) - { found=true;break; } - } - if(found) - {/* Return old simplex */ - removevertice(m_simplices[m_current]); - break; - } - else - {/* Update lastw */ - lastw[clastw=(clastw+1)&3]=w; - } - /* Check for termination */ - const real_t omega=vec3_dot(m_ray,w)/rl; - alpha=MAX(omega,alpha); - if(((rl-alpha)-(GJK_ACCURARY*rl))<=0) - {/* Return old simplex */ - removevertice(m_simplices[m_current]); + struct eStatus { + enum _ { + Valid, + Inside, + Failed + }; + }; + /* Fields */ + tShape m_shape; + Vector3 m_ray; + real_t m_distance; + sSimplex m_simplices[2]; + sSV m_store[4]; + sSV *m_free[4]; + U m_nfree; + U m_current; + sSimplex *m_simplex; + eStatus::_ m_status; + /* Methods */ + GJK() { + Initialize(); + } + void Initialize() { + m_ray = Vector3(0, 0, 0); + m_nfree = 0; + m_status = eStatus::Failed; + m_current = 0; + m_distance = 0; + } + eStatus::_ Evaluate(const tShape &shapearg, const Vector3 &guess) { + U iterations = 0; + real_t sqdist = 0; + real_t alpha = 0; + Vector3 lastw[4]; + U clastw = 0; + /* Initialize solver */ + m_free[0] = &m_store[0]; + m_free[1] = &m_store[1]; + m_free[2] = &m_store[2]; + m_free[3] = &m_store[3]; + m_nfree = 4; + m_current = 0; + m_status = eStatus::Valid; + m_shape = shapearg; + m_distance = 0; + /* Initialize simplex */ + m_simplices[0].rank = 0; + m_ray = guess; + const real_t sqrl = m_ray.length_squared(); + appendvertice(m_simplices[0], sqrl > 0 ? -m_ray : Vector3(1, 0, 0)); + m_simplices[0].p[0] = 1; + m_ray = m_simplices[0].c[0]->w; + sqdist = sqrl; + lastw[0] = + lastw[1] = + lastw[2] = + lastw[3] = m_ray; + /* Loop */ + do { + const U next = 1 - m_current; + sSimplex &cs = m_simplices[m_current]; + sSimplex &ns = m_simplices[next]; + /* Check zero */ + const real_t rl = m_ray.length(); + if (rl < GJK_MIN_DISTANCE) { /* Touching or inside */ + m_status = eStatus::Inside; + break; + } + /* Append new vertice in -'v' direction */ + appendvertice(cs, -m_ray); + const Vector3 &w = cs.c[cs.rank - 1]->w; + bool found = false; + for (U i = 0; i < 4; ++i) { + if ((w - lastw[i]).length_squared() < GJK_DUPLICATED_EPS) { + found = true; break; } - /* Reduce simplex */ - real_t weights[4]; - U mask=0; - switch(cs.rank) - { - case 2: sqdist=projectorigin( cs.c[0]->w, + } + if (found) { /* Return old simplex */ + removevertice(m_simplices[m_current]); + break; + } else { /* Update lastw */ + lastw[clastw = (clastw + 1) & 3] = w; + } + /* Check for termination */ + const real_t omega = vec3_dot(m_ray, w) / rl; + alpha = MAX(omega, alpha); + if (((rl - alpha) - (GJK_ACCURARY * rl)) <= 0) { /* Return old simplex */ + removevertice(m_simplices[m_current]); + break; + } + /* Reduce simplex */ + real_t weights[4]; + U mask = 0; + switch (cs.rank) { + case 2: sqdist = projectorigin(cs.c[0]->w, cs.c[1]->w, - weights,mask);break; - case 3: sqdist=projectorigin( cs.c[0]->w, + weights, mask); + break; + case 3: sqdist = projectorigin(cs.c[0]->w, cs.c[1]->w, cs.c[2]->w, - weights,mask);break; - case 4: sqdist=projectorigin( cs.c[0]->w, + weights, mask); + break; + case 4: sqdist = projectorigin(cs.c[0]->w, cs.c[1]->w, cs.c[2]->w, cs.c[3]->w, - weights,mask);break; - } - if(sqdist>=0) - {/* Valid */ - ns.rank = 0; - m_ray = Vector3(0,0,0); - m_current = next; - for(U i=0,ni=cs.rank;i<ni;++i) - { - if(mask&(1<<i)) - { - ns.c[ns.rank] = cs.c[i]; - ns.p[ns.rank++] = weights[i]; - m_ray += cs.c[i]->w*weights[i]; - } - else - { - m_free[m_nfree++] = cs.c[i]; - } - } - if(mask==15) m_status=eStatus::Inside; - } - else - {/* Return old simplex */ - removevertice(m_simplices[m_current]); - break; - } - m_status=((++iterations)<GJK_MAX_ITERATIONS)?m_status:eStatus::Failed; - } while(m_status==eStatus::Valid); - m_simplex=&m_simplices[m_current]; - switch(m_status) - { - case eStatus::Valid: m_distance=m_ray.length();break; - case eStatus::Inside: m_distance=0;break; - default: {} + weights, mask); + break; } - return(m_status); - } - bool EncloseOrigin() - { - switch(m_simplex->rank) - { - case 1: - { - for(U i=0;i<3;++i) - { - Vector3 axis=Vector3(0,0,0); - axis[i]=1; - appendvertice(*m_simplex, axis); - if(EncloseOrigin()) return(true); - removevertice(*m_simplex); - appendvertice(*m_simplex,-axis); - if(EncloseOrigin()) return(true); - removevertice(*m_simplex); + if (sqdist >= 0) { /* Valid */ + ns.rank = 0; + m_ray = Vector3(0, 0, 0); + m_current = next; + for (U i = 0, ni = cs.rank; i < ni; ++i) { + if (mask & (1 << i)) { + ns.c[ns.rank] = cs.c[i]; + ns.p[ns.rank++] = weights[i]; + m_ray += cs.c[i]->w * weights[i]; + } else { + m_free[m_nfree++] = cs.c[i]; } } + if (mask == 15) m_status = eStatus::Inside; + } else { /* Return old simplex */ + removevertice(m_simplices[m_current]); break; - case 2: - { - const Vector3 d=m_simplex->c[1]->w-m_simplex->c[0]->w; - for(U i=0;i<3;++i) - { - Vector3 axis=Vector3(0,0,0); - axis[i]=1; - const Vector3 p=vec3_cross(d,axis); - if(p.length_squared()>0) - { - appendvertice(*m_simplex, p); - if(EncloseOrigin()) return(true); - removevertice(*m_simplex); - appendvertice(*m_simplex,-p); - if(EncloseOrigin()) return(true); - removevertice(*m_simplex); - } - } + } + m_status = ((++iterations) < GJK_MAX_ITERATIONS) ? m_status : eStatus::Failed; + } while (m_status == eStatus::Valid); + m_simplex = &m_simplices[m_current]; + switch (m_status) { + case eStatus::Valid: m_distance = m_ray.length(); break; + case eStatus::Inside: m_distance = 0; break; + default: {} + } + return (m_status); + } + bool EncloseOrigin() { + switch (m_simplex->rank) { + case 1: { + for (U i = 0; i < 3; ++i) { + Vector3 axis = Vector3(0, 0, 0); + axis[i] = 1; + appendvertice(*m_simplex, axis); + if (EncloseOrigin()) return (true); + removevertice(*m_simplex); + appendvertice(*m_simplex, -axis); + if (EncloseOrigin()) return (true); + removevertice(*m_simplex); } - break; - case 3: - { - const Vector3 n=vec3_cross(m_simplex->c[1]->w-m_simplex->c[0]->w, - m_simplex->c[2]->w-m_simplex->c[0]->w); - if(n.length_squared()>0) - { - appendvertice(*m_simplex,n); - if(EncloseOrigin()) return(true); + } break; + case 2: { + const Vector3 d = m_simplex->c[1]->w - m_simplex->c[0]->w; + for (U i = 0; i < 3; ++i) { + Vector3 axis = Vector3(0, 0, 0); + axis[i] = 1; + const Vector3 p = vec3_cross(d, axis); + if (p.length_squared() > 0) { + appendvertice(*m_simplex, p); + if (EncloseOrigin()) return (true); removevertice(*m_simplex); - appendvertice(*m_simplex,-n); - if(EncloseOrigin()) return(true); + appendvertice(*m_simplex, -p); + if (EncloseOrigin()) return (true); removevertice(*m_simplex); } } - break; - case 4: - { - if(Math::abs(det( m_simplex->c[0]->w-m_simplex->c[3]->w, - m_simplex->c[1]->w-m_simplex->c[3]->w, - m_simplex->c[2]->w-m_simplex->c[3]->w))>0) - return(true); + } break; + case 3: { + const Vector3 n = vec3_cross(m_simplex->c[1]->w - m_simplex->c[0]->w, + m_simplex->c[2]->w - m_simplex->c[0]->w); + if (n.length_squared() > 0) { + appendvertice(*m_simplex, n); + if (EncloseOrigin()) return (true); + removevertice(*m_simplex); + appendvertice(*m_simplex, -n); + if (EncloseOrigin()) return (true); + removevertice(*m_simplex); } - break; - } - return(false); - } - /* Internals */ - void getsupport(const Vector3& d,sSV& sv) const - { - sv.d = d/d.length(); - sv.w = m_shape.Support(sv.d); - } - void removevertice(sSimplex& simplex) - { - m_free[m_nfree++]=simplex.c[--simplex.rank]; - } - void appendvertice(sSimplex& simplex,const Vector3& v) - { - simplex.p[simplex.rank]=0; - simplex.c[simplex.rank]=m_free[--m_nfree]; - getsupport(v,*simplex.c[simplex.rank++]); + } break; + case 4: { + if (Math::abs(det(m_simplex->c[0]->w - m_simplex->c[3]->w, + m_simplex->c[1]->w - m_simplex->c[3]->w, + m_simplex->c[2]->w - m_simplex->c[3]->w)) > 0) + return (true); + } break; } - static real_t det(const Vector3& a,const Vector3& b,const Vector3& c) - { - return( a.y*b.z*c.x+a.z*b.x*c.y- - a.x*b.z*c.y-a.y*b.x*c.z+ - a.x*b.y*c.z-a.z*b.y*c.x); - } - static real_t projectorigin( const Vector3& a, - const Vector3& b, - real_t* w,U& m) - { - const Vector3 d=b-a; - const real_t l=d.length_squared(); - if(l>GJK_SIMPLEX2_EPS) - { - const real_t t(l>0?-vec3_dot(a,d)/l:0); - if(t>=1) { w[0]=0;w[1]=1;m=2;return(b.length_squared()); } - else if(t<=0) { w[0]=1;w[1]=0;m=1;return(a.length_squared()); } - else { w[0]=1-(w[1]=t);m=3;return((a+d*t).length_squared()); } + return (false); + } + /* Internals */ + void getsupport(const Vector3 &d, sSV &sv) const { + sv.d = d / d.length(); + sv.w = m_shape.Support(sv.d); + } + void removevertice(sSimplex &simplex) { + m_free[m_nfree++] = simplex.c[--simplex.rank]; + } + void appendvertice(sSimplex &simplex, const Vector3 &v) { + simplex.p[simplex.rank] = 0; + simplex.c[simplex.rank] = m_free[--m_nfree]; + getsupport(v, *simplex.c[simplex.rank++]); + } + static real_t det(const Vector3 &a, const Vector3 &b, const Vector3 &c) { + return (a.y * b.z * c.x + a.z * b.x * c.y - + a.x * b.z * c.y - a.y * b.x * c.z + + a.x * b.y * c.z - a.z * b.y * c.x); + } + static real_t projectorigin(const Vector3 &a, + const Vector3 &b, + real_t *w, U &m) { + const Vector3 d = b - a; + const real_t l = d.length_squared(); + if (l > GJK_SIMPLEX2_EPS) { + const real_t t(l > 0 ? -vec3_dot(a, d) / l : 0); + if (t >= 1) { + w[0] = 0; + w[1] = 1; + m = 2; + return (b.length_squared()); + } else if (t <= 0) { + w[0] = 1; + w[1] = 0; + m = 1; + return (a.length_squared()); + } else { + w[0] = 1 - (w[1] = t); + m = 3; + return ((a + d * t).length_squared()); } - return(-1); } - static real_t projectorigin( const Vector3& a, - const Vector3& b, - const Vector3& c, - real_t* w,U& m) - { - static const U imd3[]={1,2,0}; - const Vector3* vt[]={&a,&b,&c}; - const Vector3 dl[]={a-b,b-c,c-a}; - const Vector3 n=vec3_cross(dl[0],dl[1]); - const real_t l=n.length_squared(); - if(l>GJK_SIMPLEX3_EPS) - { - real_t mindist=-1; - real_t subw[2]; - U subm; - for(U i=0;i<3;++i) - { - if(vec3_dot(*vt[i],vec3_cross(dl[i],n))>0) - { - const U j=imd3[i]; - const real_t subd(projectorigin(*vt[i],*vt[j],subw,subm)); - if((mindist<0)||(subd<mindist)) - { - mindist = subd; - m = static_cast<U>(((subm&1)?1<<i:0)+((subm&2)?1<<j:0)); - w[i] = subw[0]; - w[j] = subw[1]; - w[imd3[j]] = 0; - } + return (-1); + } + static real_t projectorigin(const Vector3 &a, + const Vector3 &b, + const Vector3 &c, + real_t *w, U &m) { + static const U imd3[] = { 1, 2, 0 }; + const Vector3 *vt[] = { &a, &b, &c }; + const Vector3 dl[] = { a - b, b - c, c - a }; + const Vector3 n = vec3_cross(dl[0], dl[1]); + const real_t l = n.length_squared(); + if (l > GJK_SIMPLEX3_EPS) { + real_t mindist = -1; + real_t subw[2]; + U subm; + for (U i = 0; i < 3; ++i) { + if (vec3_dot(*vt[i], vec3_cross(dl[i], n)) > 0) { + const U j = imd3[i]; + const real_t subd(projectorigin(*vt[i], *vt[j], subw, subm)); + if ((mindist < 0) || (subd < mindist)) { + mindist = subd; + m = static_cast<U>(((subm & 1) ? 1 << i : 0) + ((subm & 2) ? 1 << j : 0)); + w[i] = subw[0]; + w[j] = subw[1]; + w[imd3[j]] = 0; } } - if(mindist<0) - { - const real_t d=vec3_dot(a,n); - const real_t s=Math::sqrt(l); - const Vector3 p=n*(d/l); - mindist = p.length_squared(); - m = 7; - w[0] = (vec3_cross(dl[1],b-p)).length()/s; - w[1] = (vec3_cross(dl[2],c-p)).length()/s; - w[2] = 1-(w[0]+w[1]); - } - return(mindist); } - return(-1); + if (mindist < 0) { + const real_t d = vec3_dot(a, n); + const real_t s = Math::sqrt(l); + const Vector3 p = n * (d / l); + mindist = p.length_squared(); + m = 7; + w[0] = (vec3_cross(dl[1], b - p)).length() / s; + w[1] = (vec3_cross(dl[2], c - p)).length() / s; + w[2] = 1 - (w[0] + w[1]); + } + return (mindist); } - static real_t projectorigin( const Vector3& a, - const Vector3& b, - const Vector3& c, - const Vector3& d, - real_t* w,U& m) - { - static const U imd3[]={1,2,0}; - const Vector3* vt[]={&a,&b,&c,&d}; - const Vector3 dl[]={a-d,b-d,c-d}; - const real_t vl=det(dl[0],dl[1],dl[2]); - const bool ng=(vl*vec3_dot(a,vec3_cross(b-c,a-b)))<=0; - if(ng&&(Math::abs(vl)>GJK_SIMPLEX4_EPS)) - { - real_t mindist=-1; - real_t subw[3]; - U subm; - for(U i=0;i<3;++i) - { - const U j=imd3[i]; - const real_t s=vl*vec3_dot(d,vec3_cross(dl[i],dl[j])); - if(s>0) - { - const real_t subd=projectorigin(*vt[i],*vt[j],d,subw,subm); - if((mindist<0)||(subd<mindist)) - { - mindist = subd; - m = static_cast<U>((subm&1?1<<i:0)+ - (subm&2?1<<j:0)+ - (subm&4?8:0)); - w[i] = subw[0]; - w[j] = subw[1]; - w[imd3[j]] = 0; - w[3] = subw[2]; - } + return (-1); + } + static real_t projectorigin(const Vector3 &a, + const Vector3 &b, + const Vector3 &c, + const Vector3 &d, + real_t *w, U &m) { + static const U imd3[] = { 1, 2, 0 }; + const Vector3 *vt[] = { &a, &b, &c, &d }; + const Vector3 dl[] = { a - d, b - d, c - d }; + const real_t vl = det(dl[0], dl[1], dl[2]); + const bool ng = (vl * vec3_dot(a, vec3_cross(b - c, a - b))) <= 0; + if (ng && (Math::abs(vl) > GJK_SIMPLEX4_EPS)) { + real_t mindist = -1; + real_t subw[3]; + U subm; + for (U i = 0; i < 3; ++i) { + const U j = imd3[i]; + const real_t s = vl * vec3_dot(d, vec3_cross(dl[i], dl[j])); + if (s > 0) { + const real_t subd = projectorigin(*vt[i], *vt[j], d, subw, subm); + if ((mindist < 0) || (subd < mindist)) { + mindist = subd; + m = static_cast<U>((subm & 1 ? 1 << i : 0) + + (subm & 2 ? 1 << j : 0) + + (subm & 4 ? 8 : 0)); + w[i] = subw[0]; + w[j] = subw[1]; + w[imd3[j]] = 0; + w[3] = subw[2]; } } - if(mindist<0) - { - mindist = 0; - m = 15; - w[0] = det(c,b,d)/vl; - w[1] = det(a,c,d)/vl; - w[2] = det(b,a,d)/vl; - w[3] = 1-(w[0]+w[1]+w[2]); - } - return(mindist); } - return(-1); + if (mindist < 0) { + mindist = 0; + m = 15; + w[0] = det(c, b, d) / vl; + w[1] = det(a, c, d) / vl; + w[2] = det(b, a, d) / vl; + w[3] = 1 - (w[0] + w[1] + w[2]); + } + return (mindist); } + return (-1); + } }; - // EPA - struct EPA - { - /* Types */ - typedef GJK::sSV sSV; - struct sFace - { - Vector3 n; - real_t d; - real_t p; - sSV* c[3]; - sFace* f[3]; - sFace* l[2]; - U1 e[3]; - U1 pass; - }; - struct sList - { - sFace* root; - U count; - sList() : root(0),count(0) {} - }; - struct sHorizon - { - sFace* cf; - sFace* ff; - U nf; - sHorizon() : cf(0),ff(0),nf(0) {} - }; - struct eStatus { enum _ { +// EPA +struct EPA { + /* Types */ + typedef GJK::sSV sSV; + struct sFace { + Vector3 n; + real_t d; + real_t p; + sSV *c[3]; + sFace *f[3]; + sFace *l[2]; + U1 e[3]; + U1 pass; + }; + struct sList { + sFace *root; + U count; + sList() + : root(0), count(0) {} + }; + struct sHorizon { + sFace *cf; + sFace *ff; + U nf; + sHorizon() + : cf(0), ff(0), nf(0) {} + }; + struct eStatus { + enum _ { Valid, Touching, Degenerated, @@ -504,271 +467,255 @@ struct GJK OutOfVertices, AccuraryReached, FallBack, - Failed };}; - /* Fields */ - eStatus::_ m_status; - GJK::sSimplex m_result; - Vector3 m_normal; - real_t m_depth; - sSV m_sv_store[EPA_MAX_VERTICES]; - sFace m_fc_store[EPA_MAX_FACES]; - U m_nextsv; - sList m_hull; - sList m_stock; - /* Methods */ - EPA() - { - Initialize(); - } - + Failed + }; + }; + /* Fields */ + eStatus::_ m_status; + GJK::sSimplex m_result; + Vector3 m_normal; + real_t m_depth; + sSV m_sv_store[EPA_MAX_VERTICES]; + sFace m_fc_store[EPA_MAX_FACES]; + U m_nextsv; + sList m_hull; + sList m_stock; + /* Methods */ + EPA() { + Initialize(); + } - static inline void bind(sFace* fa,U ea,sFace* fb,U eb) - { - fa->e[ea]=(U1)eb;fa->f[ea]=fb; - fb->e[eb]=(U1)ea;fb->f[eb]=fa; - } - static inline void append(sList& list,sFace* face) - { - face->l[0] = 0; - face->l[1] = list.root; - if(list.root) list.root->l[0]=face; - list.root = face; - ++list.count; - } - static inline void remove(sList& list,sFace* face) - { - if(face->l[1]) face->l[1]->l[0]=face->l[0]; - if(face->l[0]) face->l[0]->l[1]=face->l[1]; - if(face==list.root) list.root=face->l[1]; - --list.count; - } + static inline void bind(sFace *fa, U ea, sFace *fb, U eb) { + fa->e[ea] = (U1)eb; + fa->f[ea] = fb; + fb->e[eb] = (U1)ea; + fb->f[eb] = fa; + } + static inline void append(sList &list, sFace *face) { + face->l[0] = 0; + face->l[1] = list.root; + if (list.root) list.root->l[0] = face; + list.root = face; + ++list.count; + } + static inline void remove(sList &list, sFace *face) { + if (face->l[1]) face->l[1]->l[0] = face->l[0]; + if (face->l[0]) face->l[0]->l[1] = face->l[1]; + if (face == list.root) list.root = face->l[1]; + --list.count; + } + void Initialize() { + m_status = eStatus::Failed; + m_normal = Vector3(0, 0, 0); + m_depth = 0; + m_nextsv = 0; + for (U i = 0; i < EPA_MAX_FACES; ++i) { + append(m_stock, &m_fc_store[EPA_MAX_FACES - i - 1]); + } + } + eStatus::_ Evaluate(GJK &gjk, const Vector3 &guess) { + GJK::sSimplex &simplex = *gjk.m_simplex; + if ((simplex.rank > 1) && gjk.EncloseOrigin()) { - void Initialize() - { - m_status = eStatus::Failed; - m_normal = Vector3(0,0,0); - m_depth = 0; - m_nextsv = 0; - for(U i=0;i<EPA_MAX_FACES;++i) - { - append(m_stock,&m_fc_store[EPA_MAX_FACES-i-1]); - } + /* Clean up */ + while (m_hull.root) { + sFace *f = m_hull.root; + remove(m_hull, f); + append(m_stock, f); } - eStatus::_ Evaluate(GJK& gjk,const Vector3& guess) - { - GJK::sSimplex& simplex=*gjk.m_simplex; - if((simplex.rank>1)&&gjk.EncloseOrigin()) - { - - /* Clean up */ - while(m_hull.root) - { - sFace* f = m_hull.root; - remove(m_hull,f); - append(m_stock,f); - } - m_status = eStatus::Valid; - m_nextsv = 0; - /* Orient simplex */ - if(gjk.det( simplex.c[0]->w-simplex.c[3]->w, - simplex.c[1]->w-simplex.c[3]->w, - simplex.c[2]->w-simplex.c[3]->w)<0) - { - SWAP(simplex.c[0],simplex.c[1]); - SWAP(simplex.p[0],simplex.p[1]); - } - /* Build initial hull */ - sFace* tetra[]={newface(simplex.c[0],simplex.c[1],simplex.c[2],true), - newface(simplex.c[1],simplex.c[0],simplex.c[3],true), - newface(simplex.c[2],simplex.c[1],simplex.c[3],true), - newface(simplex.c[0],simplex.c[2],simplex.c[3],true)}; - if(m_hull.count==4) - { - sFace* best=findbest(); - sFace outer=*best; - U pass=0; - U iterations=0; - bind(tetra[0],0,tetra[1],0); - bind(tetra[0],1,tetra[2],0); - bind(tetra[0],2,tetra[3],0); - bind(tetra[1],1,tetra[3],2); - bind(tetra[1],2,tetra[2],1); - bind(tetra[2],2,tetra[3],1); - m_status=eStatus::Valid; - for(;iterations<EPA_MAX_ITERATIONS;++iterations) - { - if(m_nextsv<EPA_MAX_VERTICES) - { - sHorizon horizon; - sSV* w=&m_sv_store[m_nextsv++]; - bool valid=true; - best->pass = (U1)(++pass); - gjk.getsupport(best->n,*w); - const real_t wdist=vec3_dot(best->n,w->w)-best->d; - if(wdist>EPA_ACCURACY) - { - for(U j=0;(j<3)&&valid;++j) - { - valid&=expand( pass,w, - best->f[j],best->e[j], - horizon); - } - if(valid&&(horizon.nf>=3)) - { - bind(horizon.cf,1,horizon.ff,2); - remove(m_hull,best); - append(m_stock,best); - best=findbest(); - if(best->p>=outer.p) outer=*best; - } else { m_status=eStatus::InvalidHull;break; } - } else { m_status=eStatus::AccuraryReached;break; } - } else { m_status=eStatus::OutOfVertices;break; } + m_status = eStatus::Valid; + m_nextsv = 0; + /* Orient simplex */ + if (gjk.det(simplex.c[0]->w - simplex.c[3]->w, + simplex.c[1]->w - simplex.c[3]->w, + simplex.c[2]->w - simplex.c[3]->w) < 0) { + SWAP(simplex.c[0], simplex.c[1]); + SWAP(simplex.p[0], simplex.p[1]); + } + /* Build initial hull */ + sFace *tetra[] = { newface(simplex.c[0], simplex.c[1], simplex.c[2], true), + newface(simplex.c[1], simplex.c[0], simplex.c[3], true), + newface(simplex.c[2], simplex.c[1], simplex.c[3], true), + newface(simplex.c[0], simplex.c[2], simplex.c[3], true) }; + if (m_hull.count == 4) { + sFace *best = findbest(); + sFace outer = *best; + U pass = 0; + U iterations = 0; + bind(tetra[0], 0, tetra[1], 0); + bind(tetra[0], 1, tetra[2], 0); + bind(tetra[0], 2, tetra[3], 0); + bind(tetra[1], 1, tetra[3], 2); + bind(tetra[1], 2, tetra[2], 1); + bind(tetra[2], 2, tetra[3], 1); + m_status = eStatus::Valid; + for (; iterations < EPA_MAX_ITERATIONS; ++iterations) { + if (m_nextsv < EPA_MAX_VERTICES) { + sHorizon horizon; + sSV *w = &m_sv_store[m_nextsv++]; + bool valid = true; + best->pass = (U1)(++pass); + gjk.getsupport(best->n, *w); + const real_t wdist = vec3_dot(best->n, w->w) - best->d; + if (wdist > EPA_ACCURACY) { + for (U j = 0; (j < 3) && valid; ++j) { + valid &= expand(pass, w, + best->f[j], best->e[j], + horizon); + } + if (valid && (horizon.nf >= 3)) { + bind(horizon.cf, 1, horizon.ff, 2); + remove(m_hull, best); + append(m_stock, best); + best = findbest(); + if (best->p >= outer.p) outer = *best; + } else { + m_status = eStatus::InvalidHull; + break; + } + } else { + m_status = eStatus::AccuraryReached; + break; } - const Vector3 projection=outer.n*outer.d; - m_normal = outer.n; - m_depth = outer.d; - m_result.rank = 3; - m_result.c[0] = outer.c[0]; - m_result.c[1] = outer.c[1]; - m_result.c[2] = outer.c[2]; - m_result.p[0] = vec3_cross( outer.c[1]->w-projection, - outer.c[2]->w-projection).length(); - m_result.p[1] = vec3_cross( outer.c[2]->w-projection, - outer.c[0]->w-projection).length(); - m_result.p[2] = vec3_cross( outer.c[0]->w-projection, - outer.c[1]->w-projection).length(); - const real_t sum=m_result.p[0]+m_result.p[1]+m_result.p[2]; - m_result.p[0] /= sum; - m_result.p[1] /= sum; - m_result.p[2] /= sum; - return(m_status); + } else { + m_status = eStatus::OutOfVertices; + break; } } - /* Fallback */ - m_status = eStatus::FallBack; - m_normal = -guess; - const real_t nl=m_normal.length(); - if(nl>0) - m_normal = m_normal/nl; - else - m_normal = Vector3(1,0,0); - m_depth = 0; - m_result.rank=1; - m_result.c[0]=simplex.c[0]; - m_result.p[0]=1; - return(m_status); - } - sFace* newface(sSV* a,sSV* b,sSV* c,bool forced) - { - if(m_stock.root) - { - sFace* face=m_stock.root; - remove(m_stock,face); - append(m_hull,face); - face->pass = 0; - face->c[0] = a; - face->c[1] = b; - face->c[2] = c; - face->n = vec3_cross(b->w-a->w,c->w-a->w); - const real_t l=face->n.length(); - const bool v=l>EPA_ACCURACY; - face->p = MIN(MIN( - vec3_dot(a->w,vec3_cross(face->n,a->w-b->w)), - vec3_dot(b->w,vec3_cross(face->n,b->w-c->w))), - vec3_dot(c->w,vec3_cross(face->n,c->w-a->w))) / - (v?l:1); - face->p = face->p>=-EPA_INSIDE_EPS?0:face->p; - if(v) - { - face->d = vec3_dot(a->w,face->n)/l; - face->n /= l; - if(forced||(face->d>=-EPA_PLANE_EPS)) - { - return(face); - } else m_status=eStatus::NonConvex; - } else m_status=eStatus::Degenerated; - remove(m_hull,face); - append(m_stock,face); - return(0); - } - m_status=m_stock.root?eStatus::OutOfVertices:eStatus::OutOfFaces; - return(0); + const Vector3 projection = outer.n * outer.d; + m_normal = outer.n; + m_depth = outer.d; + m_result.rank = 3; + m_result.c[0] = outer.c[0]; + m_result.c[1] = outer.c[1]; + m_result.c[2] = outer.c[2]; + m_result.p[0] = vec3_cross(outer.c[1]->w - projection, + outer.c[2]->w - projection) + .length(); + m_result.p[1] = vec3_cross(outer.c[2]->w - projection, + outer.c[0]->w - projection) + .length(); + m_result.p[2] = vec3_cross(outer.c[0]->w - projection, + outer.c[1]->w - projection) + .length(); + const real_t sum = m_result.p[0] + m_result.p[1] + m_result.p[2]; + m_result.p[0] /= sum; + m_result.p[1] /= sum; + m_result.p[2] /= sum; + return (m_status); } - sFace* findbest() - { - sFace* minf=m_hull.root; - real_t mind=minf->d*minf->d; - real_t maxp=minf->p; - for(sFace* f=minf->l[1];f;f=f->l[1]) - { - const real_t sqd=f->d*f->d; - if((f->p>=maxp)&&(sqd<mind)) - { - minf=f; - mind=sqd; - maxp=f->p; - } - } - return(minf); + } + /* Fallback */ + m_status = eStatus::FallBack; + m_normal = -guess; + const real_t nl = m_normal.length(); + if (nl > 0) + m_normal = m_normal / nl; + else + m_normal = Vector3(1, 0, 0); + m_depth = 0; + m_result.rank = 1; + m_result.c[0] = simplex.c[0]; + m_result.p[0] = 1; + return (m_status); + } + sFace *newface(sSV *a, sSV *b, sSV *c, bool forced) { + if (m_stock.root) { + sFace *face = m_stock.root; + remove(m_stock, face); + append(m_hull, face); + face->pass = 0; + face->c[0] = a; + face->c[1] = b; + face->c[2] = c; + face->n = vec3_cross(b->w - a->w, c->w - a->w); + const real_t l = face->n.length(); + const bool v = l > EPA_ACCURACY; + face->p = MIN(MIN( + vec3_dot(a->w, vec3_cross(face->n, a->w - b->w)), + vec3_dot(b->w, vec3_cross(face->n, b->w - c->w))), + vec3_dot(c->w, vec3_cross(face->n, c->w - a->w))) / + (v ? l : 1); + face->p = face->p >= -EPA_INSIDE_EPS ? 0 : face->p; + if (v) { + face->d = vec3_dot(a->w, face->n) / l; + face->n /= l; + if (forced || (face->d >= -EPA_PLANE_EPS)) { + return (face); + } else + m_status = eStatus::NonConvex; + } else + m_status = eStatus::Degenerated; + remove(m_hull, face); + append(m_stock, face); + return (0); + } + m_status = m_stock.root ? eStatus::OutOfVertices : eStatus::OutOfFaces; + return (0); + } + sFace *findbest() { + sFace *minf = m_hull.root; + real_t mind = minf->d * minf->d; + real_t maxp = minf->p; + for (sFace *f = minf->l[1]; f; f = f->l[1]) { + const real_t sqd = f->d * f->d; + if ((f->p >= maxp) && (sqd < mind)) { + minf = f; + mind = sqd; + maxp = f->p; } - bool expand(U pass,sSV* w,sFace* f,U e,sHorizon& horizon) - { - static const U i1m3[]={1,2,0}; - static const U i2m3[]={2,0,1}; - if(f->pass!=pass) - { - const U e1=i1m3[e]; - if((vec3_dot(f->n,w->w)-f->d)<-EPA_PLANE_EPS) - { - sFace* nf=newface(f->c[e1],f->c[e],w,false); - if(nf) - { - bind(nf,0,f,e); - if(horizon.cf) bind(horizon.cf,1,nf,2); else horizon.ff=nf; - horizon.cf=nf; - ++horizon.nf; - return(true); - } - } + } + return (minf); + } + bool expand(U pass, sSV *w, sFace *f, U e, sHorizon &horizon) { + static const U i1m3[] = { 1, 2, 0 }; + static const U i2m3[] = { 2, 0, 1 }; + if (f->pass != pass) { + const U e1 = i1m3[e]; + if ((vec3_dot(f->n, w->w) - f->d) < -EPA_PLANE_EPS) { + sFace *nf = newface(f->c[e1], f->c[e], w, false); + if (nf) { + bind(nf, 0, f, e); + if (horizon.cf) + bind(horizon.cf, 1, nf, 2); else - { - const U e2=i2m3[e]; - f->pass = (U1)pass; - if( expand(pass,w,f->f[e1],f->e[e1],horizon)&& - expand(pass,w,f->f[e2],f->e[e2],horizon)) - { - remove(m_hull,f); - append(m_stock,f); - return(true); - } - } + horizon.ff = nf; + horizon.cf = nf; + ++horizon.nf; + return (true); + } + } else { + const U e2 = i2m3[e]; + f->pass = (U1)pass; + if (expand(pass, w, f->f[e1], f->e[e1], horizon) && + expand(pass, w, f->f[e2], f->e[e2], horizon)) { + remove(m_hull, f); + append(m_stock, f); + return (true); } - return(false); } - - }; - - // - static void Initialize( const ShapeSW* shape0,const Transform& wtrs0, - const ShapeSW* shape1,const Transform& wtrs1, - sResults& results, - tShape& shape, - bool withmargins) - { - /* Results */ - results.witnesses[0] = - results.witnesses[1] = Vector3(0,0,0); - results.status = sResults::Separated; - /* Shape */ - shape.m_shapes[0] = shape0; - shape.m_shapes[1] = shape1; - shape.transform_A = wtrs0; - shape.transform_B = wtrs1; - + } + return (false); } +}; - +// +static void Initialize(const ShapeSW *shape0, const Transform &wtrs0, + const ShapeSW *shape1, const Transform &wtrs1, + sResults &results, + tShape &shape, + bool withmargins) { + /* Results */ + results.witnesses[0] = + results.witnesses[1] = Vector3(0, 0, 0); + results.status = sResults::Separated; + /* Shape */ + shape.m_shapes[0] = shape0; + shape.m_shapes[1] = shape1; + shape.transform_A = wtrs0; + shape.transform_B = wtrs1; +} // // Api @@ -777,87 +724,75 @@ struct GJK // // -bool Distance( const ShapeSW* shape0, - const Transform& wtrs0, - const ShapeSW* shape1, - const Transform& wtrs1, - const Vector3& guess, - sResults& results) -{ - tShape shape; - Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); - GJK gjk; - GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess); - if(gjk_status==GJK::eStatus::Valid) - { - Vector3 w0=Vector3(0,0,0); - Vector3 w1=Vector3(0,0,0); - for(U i=0;i<gjk.m_simplex->rank;++i) - { - const real_t p=gjk.m_simplex->p[i]; - w0+=shape.Support( gjk.m_simplex->c[i]->d,0)*p; - w1+=shape.Support(-gjk.m_simplex->c[i]->d,1)*p; +bool Distance(const ShapeSW *shape0, + const Transform &wtrs0, + const ShapeSW *shape1, + const Transform &wtrs1, + const Vector3 &guess, + sResults &results) { + tShape shape; + Initialize(shape0, wtrs0, shape1, wtrs1, results, shape, false); + GJK gjk; + GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, guess); + if (gjk_status == GJK::eStatus::Valid) { + Vector3 w0 = Vector3(0, 0, 0); + Vector3 w1 = Vector3(0, 0, 0); + for (U i = 0; i < gjk.m_simplex->rank; ++i) { + const real_t p = gjk.m_simplex->p[i]; + w0 += shape.Support(gjk.m_simplex->c[i]->d, 0) * p; + w1 += shape.Support(-gjk.m_simplex->c[i]->d, 1) * p; } - results.witnesses[0] = w0; - results.witnesses[1] = w1; - results.normal = w0-w1; - results.distance = results.normal.length(); - results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1; - return(true); - } - else - { - results.status = gjk_status==GJK::eStatus::Inside? - sResults::Penetrating : - sResults::GJK_Failed ; - return(false); + results.witnesses[0] = w0; + results.witnesses[1] = w1; + results.normal = w0 - w1; + results.distance = results.normal.length(); + results.normal /= results.distance > GJK_MIN_DISTANCE ? results.distance : 1; + return (true); + } else { + results.status = gjk_status == GJK::eStatus::Inside ? + sResults::Penetrating : + sResults::GJK_Failed; + return (false); } } // -bool Penetration( const ShapeSW* shape0, - const Transform& wtrs0, - const ShapeSW* shape1, - const Transform& wtrs1, - const Vector3& guess, - sResults& results - ) -{ - tShape shape; - Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false); - GJK gjk; - GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess); - switch(gjk_status) - { - case GJK::eStatus::Inside: - { - EPA epa; - EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess); - if(epa_status!=EPA::eStatus::Failed) - { - Vector3 w0=Vector3(0,0,0); - for(U i=0;i<epa.m_result.rank;++i) - { - w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i]; +bool Penetration(const ShapeSW *shape0, + const Transform &wtrs0, + const ShapeSW *shape1, + const Transform &wtrs1, + const Vector3 &guess, + sResults &results) { + tShape shape; + Initialize(shape0, wtrs0, shape1, wtrs1, results, shape, false); + GJK gjk; + GJK::eStatus::_ gjk_status = gjk.Evaluate(shape, -guess); + switch (gjk_status) { + case GJK::eStatus::Inside: { + EPA epa; + EPA::eStatus::_ epa_status = epa.Evaluate(gjk, -guess); + if (epa_status != EPA::eStatus::Failed) { + Vector3 w0 = Vector3(0, 0, 0); + for (U i = 0; i < epa.m_result.rank; ++i) { + w0 += shape.Support(epa.m_result.c[i]->d, 0) * epa.m_result.p[i]; } - results.status = sResults::Penetrating; - results.witnesses[0] = w0; - results.witnesses[1] = w0-epa.m_normal*epa.m_depth; - results.normal = -epa.m_normal; - results.distance = -epa.m_depth; - return(true); - } else results.status=sResults::EPA_Failed; - } - break; - case GJK::eStatus::Failed: - results.status=sResults::GJK_Failed; - break; - default: {} + results.status = sResults::Penetrating; + results.witnesses[0] = w0; + results.witnesses[1] = w0 - epa.m_normal * epa.m_depth; + results.normal = -epa.m_normal; + results.distance = -epa.m_depth; + return (true); + } else + results.status = sResults::EPA_Failed; + } break; + case GJK::eStatus::Failed: + results.status = sResults::GJK_Failed; + break; + default: {} } - return(false); + return (false); } - /* Symbols cleanup */ #undef GJK_MAX_ITERATIONS @@ -876,43 +811,35 @@ bool Penetration( const ShapeSW* shape0, #undef EPA_PLANE_EPS #undef EPA_INSIDE_EPS - } // end of namespace - - - - -bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, Vector3& r_result_A, Vector3& r_result_B) { - +bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) { GjkEpa2::sResults res; - if (GjkEpa2::Distance(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_transform_B.origin-p_transform_A.origin,res)) { + if (GjkEpa2::Distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) { - r_result_A=res.witnesses[0]; - r_result_B=res.witnesses[1]; + r_result_A = res.witnesses[0]; + r_result_B = res.witnesses[1]; return true; } return false; - } -bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform& p_transform_A, const ShapeSW *p_shape_B, const Transform& p_transform_B, CollisionSolverSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap ) { +bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap) { GjkEpa2::sResults res; - if (GjkEpa2::Penetration(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_transform_B.origin-p_transform_A.origin,res)) { + if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) { if (p_result_callback) { if (p_swap) - p_result_callback(res.witnesses[1],res.witnesses[0],p_userdata); + p_result_callback(res.witnesses[1], res.witnesses[0], p_userdata); else - p_result_callback(res.witnesses[0],res.witnesses[1],p_userdata); + p_result_callback(res.witnesses[0], res.witnesses[1], p_userdata); } return true; } return false; } - |