Bullet Collision Detection & Physics Library
btPersistentManifold.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
19
20#ifdef BT_USE_DOUBLE_PRECISION
21#define btCollisionObjectData btCollisionObjectDoubleData
22#else
23#define btCollisionObjectData btCollisionObjectFloatData
24#endif
25
34
37 m_body0(0),
38 m_body1(0),
39 m_cachedPoints(0),
40 m_companionIdA(0),
41 m_companionIdB(0),
42 m_index1a(0)
43{
44}
45
46#ifdef DEBUG_PERSISTENCY
47#include <stdio.h>
48void btPersistentManifold::DebugPersistency()
49{
50 int i;
51 printf("DebugPersistency : numPoints %d\n", m_cachedPoints);
52 for (i = 0; i < m_cachedPoints; i++)
53 {
54 printf("m_pointCache[%d].m_userPersistentData = %x\n", i, m_pointCache[i].m_userPersistentData);
55 }
56}
57#endif //DEBUG_PERSISTENCY
58
60{
61 void* oldPtr = pt.m_userPersistentData;
62 if (oldPtr)
63 {
64#ifdef DEBUG_PERSISTENCY
65 int i;
66 int occurance = 0;
67 for (i = 0; i < m_cachedPoints; i++)
68 {
69 if (m_pointCache[i].m_userPersistentData == oldPtr)
70 {
71 occurance++;
72 if (occurance > 1)
73 printf("error in clearUserCache\n");
74 }
75 }
76 btAssert(occurance <= 0);
77#endif //DEBUG_PERSISTENCY
78
79 if (pt.m_userPersistentData && gContactDestroyedCallback)
80 {
81 (*gContactDestroyedCallback)(pt.m_userPersistentData);
82 pt.m_userPersistentData = 0;
83 }
84
85#ifdef DEBUG_PERSISTENCY
87#endif
88 }
89}
90
91static inline btScalar calcArea4Points(const btVector3& p0, const btVector3& p1, const btVector3& p2, const btVector3& p3)
92{
93 // It calculates possible 3 area constructed from random 4 points and returns the biggest one.
94
95 btVector3 a[3], b[3];
96 a[0] = p0 - p1;
97 a[1] = p0 - p2;
98 a[2] = p0 - p3;
99 b[0] = p2 - p3;
100 b[1] = p1 - p3;
101 b[2] = p1 - p2;
102
103 //todo: Following 3 cross production can be easily optimized by SIMD.
104 btVector3 tmp0 = a[0].cross(b[0]);
105 btVector3 tmp1 = a[1].cross(b[1]);
106 btVector3 tmp2 = a[2].cross(b[2]);
107
108 return btMax(btMax(tmp0.length2(), tmp1.length2()), tmp2.length2());
109}
110
112{
113 //calculate 4 possible cases areas, and take biggest area
114 //also need to keep 'deepest'
115
116 int maxPenetrationIndex = -1;
117#define KEEP_DEEPEST_POINT 1
118#ifdef KEEP_DEEPEST_POINT
119 btScalar maxPenetration = pt.getDistance();
120 for (int i = 0; i < 4; i++)
121 {
122 if (m_pointCache[i].getDistance() < maxPenetration)
123 {
126 }
127 }
128#endif //KEEP_DEEPEST_POINT
129
131
133 {
134 if (maxPenetrationIndex != 0)
135 {
136 btVector3 a0 = pt.m_localPointA - m_pointCache[1].m_localPointA;
138 btVector3 cross = a0.cross(b0);
139 res0 = cross.length2();
140 }
141 if (maxPenetrationIndex != 1)
142 {
143 btVector3 a1 = pt.m_localPointA - m_pointCache[0].m_localPointA;
145 btVector3 cross = a1.cross(b1);
146 res1 = cross.length2();
147 }
148
149 if (maxPenetrationIndex != 2)
150 {
151 btVector3 a2 = pt.m_localPointA - m_pointCache[0].m_localPointA;
153 btVector3 cross = a2.cross(b2);
154 res2 = cross.length2();
155 }
156
157 if (maxPenetrationIndex != 3)
158 {
159 btVector3 a3 = pt.m_localPointA - m_pointCache[0].m_localPointA;
161 btVector3 cross = a3.cross(b3);
162 res3 = cross.length2();
163 }
164 }
165 else
166 {
167 if (maxPenetrationIndex != 0)
168 {
170 }
171
172 if (maxPenetrationIndex != 1)
173 {
175 }
176
177 if (maxPenetrationIndex != 2)
178 {
180 }
181
182 if (maxPenetrationIndex != 3)
183 {
185 }
186 }
188 int biggestarea = maxvec.closestAxis4();
189 return biggestarea;
190}
191
193{
195 int size = getNumContacts();
196 int nearestPoint = -1;
197 for (int i = 0; i < size; i++)
198 {
199 const btManifoldPoint& mp = m_pointCache[i];
200
201 btVector3 diffA = mp.m_localPointA - newPoint.m_localPointA;
204 {
206 nearestPoint = i;
207 }
208 }
209 return nearestPoint;
210}
211
213{
214 if (!isPredictive)
215 {
217 }
218
221 {
222#if MANIFOLD_CACHE_SIZE >= 4
223 //sort cache so best points come first, based on area
225#else
226 insertIndex = 0;
227#endif
229 }
230 else
231 {
233 }
234 if (insertIndex < 0)
235 insertIndex = 0;
236
237 btAssert(m_pointCache[insertIndex].m_userPersistentData == 0);
239 return insertIndex;
240}
241
243{
245}
246
248{
249 int i;
250#ifdef DEBUG_PERSISTENCY
251 printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
252 trA.getOrigin().getX(),
253 trA.getOrigin().getY(),
254 trA.getOrigin().getZ(),
255 trB.getOrigin().getX(),
256 trB.getOrigin().getY(),
257 trB.getOrigin().getZ());
258#endif //DEBUG_PERSISTENCY
260 for (i = getNumContacts() - 1; i >= 0; i--)
261 {
264 manifoldPoint.m_positionWorldOnB = trB(manifoldPoint.m_localPointB);
265 manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
266 manifoldPoint.m_lifeTime++;
267 }
268
272 for (i = getNumContacts() - 1; i >= 0; i--)
273 {
275 //contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
277 {
279 }
280 else
281 {
282 //todo: friction anchor may require the contact to be around a bit longer
283 //contact also becomes invalid when relative movement orthogonal to normal exceeds margin
284 projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
285 projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
288 {
290 }
291 else
292 {
293 //contact point processed callback
295 (*gContactProcessedCallback)(manifoldPoint, (void*)m_body0, (void*)m_body1);
296 }
297 }
298 }
299#ifdef DEBUG_PERSISTENCY
301#endif //
302}
303
305{
306 return sizeof(btPersistentManifoldData);
307}
308
310{
313
314 dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
315 dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
316 dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
317 dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
318 dataOut->m_numCachedPoints = manifold->getNumContacts();
319 dataOut->m_companionIdA = manifold->m_companionIdA;
320 dataOut->m_companionIdB = manifold->m_companionIdB;
321 dataOut->m_index1a = manifold->m_index1a;
322 dataOut->m_objectType = manifold->m_objectType;
323
324 for (int i = 0; i < this->getNumContacts(); i++)
325 {
326 const btManifoldPoint& pt = manifold->getContactPoint(i);
327 dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
328 dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
329 dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
330 dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
331 pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
332 pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);
333 pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]);
334 dataOut->m_pointCacheDistance[i] = pt.m_distance1;
335 dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1;
336 dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1;
337 dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime;
338 dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM;
339 dataOut->m_pointCacheContactERP[i] = pt.m_contactERP;
340 dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM;
341 dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags;
342 dataOut->m_pointCacheIndex0[i] = pt.m_index0;
343 dataOut->m_pointCacheIndex1[i] = pt.m_index1;
344 dataOut->m_pointCachePartId0[i] = pt.m_partId0;
345 dataOut->m_pointCachePartId1[i] = pt.m_partId1;
346 pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]);
347 pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]);
348 dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction;
349 pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]);
350 pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]);
351 dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction;
352 dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction;
353 dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution;
354 dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1;
355 dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2;
356 }
358}
359
361{
362 m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
363 m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
364 m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
365 m_companionIdA = manifoldDataPtr->m_companionIdA;
366 m_companionIdB = manifoldDataPtr->m_companionIdB;
367 //m_index1a = manifoldDataPtr->m_index1a;
368 m_objectType = manifoldDataPtr->m_objectType;
369
370 for (int i = 0; i < this->getNumContacts(); i++)
371 {
373
374 pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
375 pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
376 pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
377 pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
378 pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
379 pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]);
380 pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
381 pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
382 pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
383 pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
384 pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
385 pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
386 pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
387 pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
388 pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
389 pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
390 pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
391 pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
392 pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
393 pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
394 pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
395 pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
396 pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
397 pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
398 pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
399 pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
400 pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
401 pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
402 pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
403 }
404}
405
407{
408 m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
409 m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
410 m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
411 m_companionIdA = manifoldDataPtr->m_companionIdA;
412 m_companionIdB = manifoldDataPtr->m_companionIdB;
413 //m_index1a = manifoldDataPtr->m_index1a;
414 m_objectType = manifoldDataPtr->m_objectType;
415
416 for (int i = 0; i < this->getNumContacts(); i++)
417 {
419
420 pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
421 pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
422 pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
423 pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
424 pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
425 pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
426 pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
427 pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
428 pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
429 pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
430 pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
431 pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
432 pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
433 pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
434 pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
435 pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
436 pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
437 pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
438 pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
439 pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
440 pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
441 pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
442 pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
443 pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
444 pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
445 pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
446 pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
447 pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
448 pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
449 }
450}
#define btCollisionObjectData
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
Definition btDbvt.cpp:52
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
bool gContactCalcArea3Points
gContactCalcArea3Points will approximate the convex hull area using 3 points when setting it to false...
ContactEndedCallback gContactEndedCallback
static btScalar calcArea4Points(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2, const btVector3 &p3)
ContactStartedCallback gContactStartedCallback
ContactProcessedCallback gContactProcessedCallback
ContactDestroyedCallback gContactDestroyedCallback
btScalar gContactBreakingThreshold
maximum contact breaking and merging threshold
void(* ContactEndedCallback)(btPersistentManifold *const &manifold)
void(* ContactStartedCallback)(btPersistentManifold *const &manifold)
ContactProcessedCallback gContactProcessedCallback
bool(* ContactDestroyedCallback)(void *userPersistentData)
#define btPersistentManifoldDataName
#define btPersistentManifoldData
@ BT_PERSISTENT_MANIFOLD_TYPE
ContactDestroyedCallback gContactDestroyedCallback
#define MANIFOLD_CACHE_SIZE
bool(* ContactProcessedCallback)(btManifoldPoint &cp, void *body0, void *body1)
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
#define btAssert(x)
Definition btScalar.h:153
ManifoldContactPoint collects and maintains persistent contactpoints.
btScalar getDistance() const
btVector3 m_localPointA
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
btScalar m_appliedImpulse
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
const btCollisionObject * m_body1
bool validContactDistance(const btManifoldPoint &pt) const
const char * serialize(const class btPersistentManifold *manifold, void *dataBuffer, class btSerializer *serializer) const
int getCacheEntry(const btManifoldPoint &newPoint) const
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
int sortCachedPoints(const btManifoldPoint &pt)
sort cached points so most isolated points come first
void clearUserCache(btManifoldPoint &pt)
void removeContactPoint(int index)
void deSerialize(const struct btPersistentManifoldDoubleData *manifoldDataPtr)
int addManifoldPoint(const btManifoldPoint &newPoint, bool isPredictive=false)
btScalar getContactBreakingThreshold() const
const btCollisionObject * m_body0
this two body pointers can point to the physics rigidbody class.
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
Definition btVector3.h:380
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition btVector3.h:229
btScalar length2() const
Return the length of the vector squared.
Definition btVector3.h:251
rudimentary class to provide type info
Definition btScalar.h:800