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Differential D1739 Diff 5899 extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp

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extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp

Show First 20 Lines • Show All 59 Lines • ▼ Show 20 Linesbool btSubsimplexConvexCast::calcTimeOfImpact(
btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis())); btVector3 supVertexA = fromA(m_convexA->localGetSupportingVertex(-r*fromA.getBasis()));
btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis())); btVector3 supVertexB = fromB(m_convexB->localGetSupportingVertex(r*fromB.getBasis()));
v = supVertexA-supVertexB; v = supVertexA-supVertexB;
int maxIter = MAX_ITERATIONS; int maxIter = MAX_ITERATIONS;
btVector3 n; btVector3 n;
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
bool hasResult = false;
btVector3 c; btVector3 c;
btScalar lastLambda = lambda;
btScalar dist2 = v.length2(); btScalar dist2 = v.length2();
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
btScalar epsilon = btScalar(0.0001); btScalar epsilon = btScalar(0.0001);
#else #else
btScalar epsilon = btScalar(0.0001); btScalar epsilon = btScalar(0.0001);
#endif //BT_USE_DOUBLE_PRECISION #endif //BT_USE_DOUBLE_PRECISION
Show All 24 Lines if ( VdotW > btScalar(0.))
lambda = lambda - VdotW / VdotR; lambda = lambda - VdotW / VdotR;
//interpolate to next lambda //interpolate to next lambda
// x = s + lambda * r; // x = s + lambda * r;
interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda); interpolatedTransA.getOrigin().setInterpolate3(fromA.getOrigin(),toA.getOrigin(),lambda);
interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda); interpolatedTransB.getOrigin().setInterpolate3(fromB.getOrigin(),toB.getOrigin(),lambda);
//m_simplexSolver->reset(); //m_simplexSolver->reset();
//check next line //check next line
w = supVertexA-supVertexB; w = supVertexA-supVertexB;
lastLambda = lambda;
n = v; n = v;
hasResult = true;
} }
} }
///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc. ///Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.
if (!m_simplexSolver->inSimplex(w)) if (!m_simplexSolver->inSimplex(w))
m_simplexSolver->addVertex( w, supVertexA , supVertexB); m_simplexSolver->addVertex( w, supVertexA , supVertexB);
if (m_simplexSolver->closest(v)) if (m_simplexSolver->closest(v))
{ {
dist2 = v.length2(); dist2 = v.length2();
hasResult = true;
//todo: check this normal for validity //todo: check this normal for validity
//n=v; //n=v;
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]); //printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
//printf("DIST2=%f\n",dist2); //printf("DIST2=%f\n",dist2);
//printf("numverts = %i\n",m_simplexSolver->numVertices()); //printf("numverts = %i\n",m_simplexSolver->numVertices());
} else } else
{ {
dist2 = btScalar(0.); dist2 = btScalar(0.);
Show All 28 Lines