x
Yes
No
Do you want to visit DriveHQ English website?
首页
产品服务
价格
免费试用
下载客户端
关于我们
云文件服务
|
云备份服务
|
FTP服务
|
企业邮箱服务
|
网站托管
|
客户端软件
云文件服务
云备份服务
FTP服务
企业级邮箱服务
网站托管
客户端软件
btGjkConvexCast.cpp - Hosted on DriveHQ Cloud IT Platform
返回上层目录
上传
下载
共享
发布
新建文件夹
新建文件
复制
剪切
删除
粘贴
评论
升级服务
路径: \\game3dprogramming\materials\DarkPuzzle\libs\bullet_src\BulletCollision\NarrowPhaseCollision\btGjkConvexCast.cpp
旋转
特效
属性
历史版本
/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. */ #include "btGjkConvexCast.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "btGjkPairDetector.h" #include "btPointCollector.h" btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver) :m_simplexSolver(simplexSolver), m_convexA(convexA), m_convexB(convexB) { } bool btGjkConvexCast::calcTimeOfImpact( const btTransform& fromA, const btTransform& toA, const btTransform& fromB, const btTransform& toB, CastResult& result) { btMinkowskiSumShape combi(m_convexA,m_convexB); btMinkowskiSumShape* convex = &combi; btTransform rayFromLocalA; btTransform rayToLocalA; rayFromLocalA = fromA.inverse()* fromB; rayToLocalA = toA.inverse()* toB; btTransform trA,trB; trA = btTransform(fromA); trB = btTransform(fromB); trA.setOrigin(btPoint3(0,0,0)); trB.setOrigin(btPoint3(0,0,0)); convex->setTransformA(trA); convex->setTransformB(trB); btScalar radius = btScalar(0.01); btScalar lambda = btScalar(0.); btVector3 s = rayFromLocalA.getOrigin(); btVector3 r = rayToLocalA.getOrigin()-rayFromLocalA.getOrigin(); btVector3 x = s; btVector3 n; n.setValue(0,0,0); bool hasResult = false; btVector3 c; btScalar lastLambda = lambda; //first solution, using GJK //no penetration support for now, perhaps pass a pointer when we really want it btConvexPenetrationDepthSolver* penSolverPtr = 0; btTransform identityTrans; identityTrans.setIdentity(); btSphereShape raySphere(btScalar(0.0)); raySphere.setMargin(btScalar(0.)); btTransform sphereTr; sphereTr.setIdentity(); sphereTr.setOrigin( rayFromLocalA.getOrigin()); result.drawCoordSystem(sphereTr); { btPointCollector pointCollector1; btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr); btGjkPairDetector::ClosestPointInput input; input.m_transformA = sphereTr; input.m_transformB = identityTrans; gjk.getClosestPoints(input,pointCollector1,0); hasResult = pointCollector1.m_hasResult; c = pointCollector1.m_pointInWorld; n = pointCollector1.m_normalOnBInWorld; } if (hasResult) { btScalar dist; dist = (c-x).length(); if (dist < radius) { //penetration lastLambda = btScalar(1.); } //not close enough while (dist > radius) { n = x - c; btScalar nDotr = n.dot(r); if (nDotr >= -(SIMD_EPSILON*SIMD_EPSILON)) return false; lambda = lambda - n.dot(n) / nDotr; if (lambda <= lastLambda) break; lastLambda = lambda; x = s + lambda * r; sphereTr.setOrigin( x ); result.drawCoordSystem(sphereTr); btPointCollector pointCollector; btGjkPairDetector gjk(&raySphere,convex,m_simplexSolver,penSolverPtr); btGjkPairDetector::ClosestPointInput input; input.m_transformA = sphereTr; input.m_transformB = identityTrans; gjk.getClosestPoints(input,pointCollector,0); if (pointCollector.m_hasResult) { if (pointCollector.m_distance < btScalar(0.)) { //degeneracy, report a hit result.m_fraction = lastLambda; result.m_normal = n; result.m_hitPoint = pointCollector.m_pointInWorld; return true; } c = pointCollector.m_pointInWorld; dist = (c-x).length(); } else { //?? return false; } } if (lastLambda < btScalar(1.)) { result.m_fraction = lastLambda; result.m_normal = n; result.m_hitPoint = c; return true; } } return false; }
btGjkConvexCast.cpp
网页地址
文件地址
上一页
7/27
下一页
下载
( 4 KB )
Comments
Total ratings:
0
Average rating:
无评论
of 10
Would you like to comment?
Join now
, or
Logon
if you are already a member.