1 /*
2 Copyright (c) 2003-2013 Gino van den Bergen / Erwin Coumans http://bulletphysics.org
3
4 This software is provided 'as-is', without any express or implied warranty.
5 In no event will the authors be held liable for any damages arising from the use of this software.
6 Permission is granted to anyone to use this software for any purpose,
7 including commercial applications, and to alter it and redistribute it freely,
8 subject to the following restrictions:
9
10 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.
11 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12 3. This notice may not be removed or altered from any source distribution.
13 */
14
15 #ifndef B3_TRANSFORM_UTIL_H
16 #define B3_TRANSFORM_UTIL_H
17
18 #include "b3Transform.h"
19 #define B3_ANGULAR_MOTION_THRESHOLD b3Scalar(0.5) * B3_HALF_PI
20
b3AabbSupport(const b3Vector3 & halfExtents,const b3Vector3 & supportDir)21 B3_FORCE_INLINE b3Vector3 b3AabbSupport(const b3Vector3& halfExtents, const b3Vector3& supportDir)
22 {
23 return b3MakeVector3(supportDir.getX() < b3Scalar(0.0) ? -halfExtents.getX() : halfExtents.getX(),
24 supportDir.getY() < b3Scalar(0.0) ? -halfExtents.getY() : halfExtents.getY(),
25 supportDir.getZ() < b3Scalar(0.0) ? -halfExtents.getZ() : halfExtents.getZ());
26 }
27
28 /// Utils related to temporal transforms
29 class b3TransformUtil
30 {
31 public:
integrateTransform(const b3Transform & curTrans,const b3Vector3 & linvel,const b3Vector3 & angvel,b3Scalar timeStep,b3Transform & predictedTransform)32 static void integrateTransform(const b3Transform& curTrans, const b3Vector3& linvel, const b3Vector3& angvel, b3Scalar timeStep, b3Transform& predictedTransform)
33 {
34 predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
35 // #define QUATERNION_DERIVATIVE
36 #ifdef QUATERNION_DERIVATIVE
37 b3Quaternion predictedOrn = curTrans.getRotation();
38 predictedOrn += (angvel * predictedOrn) * (timeStep * b3Scalar(0.5));
39 predictedOrn.normalize();
40 #else
41 //Exponential map
42 //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
43
44 b3Vector3 axis;
45 b3Scalar fAngle = angvel.length();
46 //limit the angular motion
47 if (fAngle * timeStep > B3_ANGULAR_MOTION_THRESHOLD)
48 {
49 fAngle = B3_ANGULAR_MOTION_THRESHOLD / timeStep;
50 }
51
52 if (fAngle < b3Scalar(0.001))
53 {
54 // use Taylor's expansions of sync function
55 axis = angvel * (b3Scalar(0.5) * timeStep - (timeStep * timeStep * timeStep) * (b3Scalar(0.020833333333)) * fAngle * fAngle);
56 }
57 else
58 {
59 // sync(fAngle) = sin(c*fAngle)/t
60 axis = angvel * (b3Sin(b3Scalar(0.5) * fAngle * timeStep) / fAngle);
61 }
62 b3Quaternion dorn(axis.getX(), axis.getY(), axis.getZ(), b3Cos(fAngle * timeStep * b3Scalar(0.5)));
63 b3Quaternion orn0 = curTrans.getRotation();
64
65 b3Quaternion predictedOrn = dorn * orn0;
66 predictedOrn.normalize();
67 #endif
68 predictedTransform.setRotation(predictedOrn);
69 }
70
calculateVelocityQuaternion(const b3Vector3 & pos0,const b3Vector3 & pos1,const b3Quaternion & orn0,const b3Quaternion & orn1,b3Scalar timeStep,b3Vector3 & linVel,b3Vector3 & angVel)71 static void calculateVelocityQuaternion(const b3Vector3& pos0, const b3Vector3& pos1, const b3Quaternion& orn0, const b3Quaternion& orn1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel)
72 {
73 linVel = (pos1 - pos0) / timeStep;
74 b3Vector3 axis;
75 b3Scalar angle;
76 if (orn0 != orn1)
77 {
78 calculateDiffAxisAngleQuaternion(orn0, orn1, axis, angle);
79 angVel = axis * angle / timeStep;
80 }
81 else
82 {
83 angVel.setValue(0, 0, 0);
84 }
85 }
86
calculateDiffAxisAngleQuaternion(const b3Quaternion & orn0,const b3Quaternion & orn1a,b3Vector3 & axis,b3Scalar & angle)87 static void calculateDiffAxisAngleQuaternion(const b3Quaternion& orn0, const b3Quaternion& orn1a, b3Vector3& axis, b3Scalar& angle)
88 {
89 b3Quaternion orn1 = orn0.nearest(orn1a);
90 b3Quaternion dorn = orn1 * orn0.inverse();
91 angle = dorn.getAngle();
92 axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ());
93 axis[3] = b3Scalar(0.);
94 //check for axis length
95 b3Scalar len = axis.length2();
96 if (len < B3_EPSILON * B3_EPSILON)
97 axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.));
98 else
99 axis /= b3Sqrt(len);
100 }
101
calculateVelocity(const b3Transform & transform0,const b3Transform & transform1,b3Scalar timeStep,b3Vector3 & linVel,b3Vector3 & angVel)102 static void calculateVelocity(const b3Transform& transform0, const b3Transform& transform1, b3Scalar timeStep, b3Vector3& linVel, b3Vector3& angVel)
103 {
104 linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
105 b3Vector3 axis;
106 b3Scalar angle;
107 calculateDiffAxisAngle(transform0, transform1, axis, angle);
108 angVel = axis * angle / timeStep;
109 }
110
calculateDiffAxisAngle(const b3Transform & transform0,const b3Transform & transform1,b3Vector3 & axis,b3Scalar & angle)111 static void calculateDiffAxisAngle(const b3Transform& transform0, const b3Transform& transform1, b3Vector3& axis, b3Scalar& angle)
112 {
113 b3Matrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
114 b3Quaternion dorn;
115 dmat.getRotation(dorn);
116
117 ///floating point inaccuracy can lead to w component > 1..., which breaks
118 dorn.normalize();
119
120 angle = dorn.getAngle();
121 axis = b3MakeVector3(dorn.getX(), dorn.getY(), dorn.getZ());
122 axis[3] = b3Scalar(0.);
123 //check for axis length
124 b3Scalar len = axis.length2();
125 if (len < B3_EPSILON * B3_EPSILON)
126 axis = b3MakeVector3(b3Scalar(1.), b3Scalar(0.), b3Scalar(0.));
127 else
128 axis /= b3Sqrt(len);
129 }
130 };
131
132 ///The b3ConvexSeparatingDistanceUtil can help speed up convex collision detection
133 ///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
134 class b3ConvexSeparatingDistanceUtil
135 {
136 b3Quaternion m_ornA;
137 b3Quaternion m_ornB;
138 b3Vector3 m_posA;
139 b3Vector3 m_posB;
140
141 b3Vector3 m_separatingNormal;
142
143 b3Scalar m_boundingRadiusA;
144 b3Scalar m_boundingRadiusB;
145 b3Scalar m_separatingDistance;
146
147 public:
b3ConvexSeparatingDistanceUtil(b3Scalar boundingRadiusA,b3Scalar boundingRadiusB)148 b3ConvexSeparatingDistanceUtil(b3Scalar boundingRadiusA, b3Scalar boundingRadiusB)
149 : m_boundingRadiusA(boundingRadiusA),
150 m_boundingRadiusB(boundingRadiusB),
151 m_separatingDistance(0.f)
152 {
153 }
154
getConservativeSeparatingDistance()155 b3Scalar getConservativeSeparatingDistance()
156 {
157 return m_separatingDistance;
158 }
159
updateSeparatingDistance(const b3Transform & transA,const b3Transform & transB)160 void updateSeparatingDistance(const b3Transform& transA, const b3Transform& transB)
161 {
162 const b3Vector3& toPosA = transA.getOrigin();
163 const b3Vector3& toPosB = transB.getOrigin();
164 b3Quaternion toOrnA = transA.getRotation();
165 b3Quaternion toOrnB = transB.getRotation();
166
167 if (m_separatingDistance > 0.f)
168 {
169 b3Vector3 linVelA, angVelA, linVelB, angVelB;
170 b3TransformUtil::calculateVelocityQuaternion(m_posA, toPosA, m_ornA, toOrnA, b3Scalar(1.), linVelA, angVelA);
171 b3TransformUtil::calculateVelocityQuaternion(m_posB, toPosB, m_ornB, toOrnB, b3Scalar(1.), linVelB, angVelB);
172 b3Scalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
173 b3Vector3 relLinVel = (linVelB - linVelA);
174 b3Scalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
175 if (relLinVelocLength < 0.f)
176 {
177 relLinVelocLength = 0.f;
178 }
179
180 b3Scalar projectedMotion = maxAngularProjectedVelocity + relLinVelocLength;
181 m_separatingDistance -= projectedMotion;
182 }
183
184 m_posA = toPosA;
185 m_posB = toPosB;
186 m_ornA = toOrnA;
187 m_ornB = toOrnB;
188 }
189
initSeparatingDistance(const b3Vector3 & separatingVector,b3Scalar separatingDistance,const b3Transform & transA,const b3Transform & transB)190 void initSeparatingDistance(const b3Vector3& separatingVector, b3Scalar separatingDistance, const b3Transform& transA, const b3Transform& transB)
191 {
192 m_separatingDistance = separatingDistance;
193
194 if (m_separatingDistance > 0.f)
195 {
196 m_separatingNormal = separatingVector;
197
198 const b3Vector3& toPosA = transA.getOrigin();
199 const b3Vector3& toPosB = transB.getOrigin();
200 b3Quaternion toOrnA = transA.getRotation();
201 b3Quaternion toOrnB = transB.getRotation();
202 m_posA = toPosA;
203 m_posB = toPosB;
204 m_ornA = toOrnA;
205 m_ornB = toOrnB;
206 }
207 }
208 };
209
210 #endif //B3_TRANSFORM_UTIL_H
211