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Outsource the contact manifold, SAT, and some shapes.

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This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
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344
src/geometry/sat.rs
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@@ -1,20 +1,7 @@
use crate::geometry::{cuboid, Cuboid, Polygon, Segment, Triangle};
use crate::geometry::{Cuboid, Polygon, Segment, Triangle};
use crate::math::{Isometry, Point, Vector, DIM};
use crate::utils::WSign;
use na::Unit;
use ncollide::shape::SupportMap;
#[allow(dead_code)]
pub fn support_map_support_map_compute_separation(
sm1: &impl SupportMap<f32>,
sm2: &impl SupportMap<f32>,
m12: &Isometry<f32>,
dir1: &Unit<Vector<f32>>,
) -> f32 {
let p1 = sm1.local_support_point_toward(dir1);
let p2 = sm2.support_point_toward(m12, &-*dir1);
(p2 - p1).dot(dir1)
}
#[allow(dead_code)]
pub fn polygon_polygon_compute_separation_features(
@@ -38,332 +25,3 @@ pub fn polygon_polygon_compute_separation_features(
(max_separation, separation_features.0, separation_features.1)
}
#[cfg(feature = "dim3")]
pub fn cuboid_cuboid_compute_separation_wrt_local_line(
cube1: &Cuboid,
cube2: &Cuboid,
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
axis1: &Vector<f32>,
) -> (f32, Vector<f32>) {
let signum = pos12.translation.vector.dot(axis1).copy_sign_to(1.0);
let axis1 = axis1 * signum;
let local_pt1 = cuboid::local_support_point(cube1, axis1);
let local_pt2 = cuboid::local_support_point(cube2, pos21 * -axis1);
let pt2 = pos12 * local_pt2;
let separation = (pt2 - local_pt1).dot(&axis1);
(separation, axis1)
}
#[cfg(feature = "dim3")]
pub fn cuboid_cuboid_find_local_separating_edge_twoway(
cube1: &Cuboid,
cube2: &Cuboid,
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
) -> (f32, Vector<f32>) {
use approx::AbsDiffEq;
let mut best_separation = -std::f32::MAX;
let mut best_dir = Vector::zeros();
let x2 = pos12 * Vector::x();
let y2 = pos12 * Vector::y();
let z2 = pos12 * Vector::z();
// We have 3 * 3 = 9 axes to test.
let axes = [
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -x2.z, x2.y),
Vector::new(x2.z, 0.0, -x2.x),
Vector::new(-x2.y, x2.x, 0.0),
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -y2.z, y2.y),
Vector::new(y2.z, 0.0, -y2.x),
Vector::new(-y2.y, y2.x, 0.0),
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -z2.z, z2.y),
Vector::new(z2.z, 0.0, -z2.x),
Vector::new(-z2.y, z2.x, 0.0),
];
for axis1 in &axes {
let norm1 = axis1.norm();
if norm1 > f32::default_epsilon() {
let (separation, axis1) = cuboid_cuboid_compute_separation_wrt_local_line(
cube1,
cube2,
pos12,
pos21,
&(axis1 / norm1),
);
if separation > best_separation {
best_separation = separation;
best_dir = axis1;
}
}
}
(best_separation, best_dir)
}
pub fn cuboid_cuboid_find_local_separating_normal_oneway(
cube1: &Cuboid,
cube2: &Cuboid,
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
) -> (f32, Vector<f32>) {
let mut best_separation = -std::f32::MAX;
let mut best_dir = Vector::zeros();
for i in 0..DIM {
let sign = pos12.translation.vector[i].copy_sign_to(1.0);
let axis1 = Vector::ith(i, sign);
let local_pt2 = cuboid::local_support_point(cube2, pos21 * -axis1);
let pt2 = pos12 * local_pt2;
let separation = pt2[i] * sign - cube1.half_extents[i];
if separation > best_separation {
best_separation = separation;
best_dir = axis1;
}
}
(best_separation, best_dir)
}
/*
*
*
* Triangles.
*
*
*/
#[cfg(feature = "dim3")]
pub fn cube_support_map_compute_separation_wrt_local_line<S: SupportMap<f32>>(
cube1: &Cuboid,
shape2: &S,
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
axis1: &Unit<Vector<f32>>,
) -> (f32, Unit<Vector<f32>>) {
let signum = pos12.translation.vector.dot(axis1).copy_sign_to(1.0);
let axis1 = Unit::new_unchecked(**axis1 * signum);
let local_pt1 = cuboid::local_support_point(cube1, *axis1);
let local_pt2 = shape2.local_support_point_toward(&(pos21 * -axis1));
let pt2 = pos12 * local_pt2;
let separation = (pt2 - local_pt1).dot(&axis1);
(separation, axis1)
}
#[cfg(feature = "dim3")]
pub fn cube_support_map_find_local_separating_edge_twoway(
cube1: &Cuboid,
shape2: &impl SupportMap<f32>,
axes: &[Vector<f32>],
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
) -> (f32, Vector<f32>) {
use approx::AbsDiffEq;
let mut best_separation = -std::f32::MAX;
let mut best_dir = Vector::zeros();
for axis1 in axes {
if let Some(axis1) = Unit::try_new(*axis1, f32::default_epsilon()) {
let (separation, axis1) = cube_support_map_compute_separation_wrt_local_line(
cube1, shape2, pos12, pos21, &axis1,
);
if separation > best_separation {
best_separation = separation;
best_dir = *axis1;
}
}
}
(best_separation, best_dir)
}
#[cfg(feature = "dim3")]
pub fn cube_triangle_find_local_separating_edge_twoway(
cube1: &Cuboid,
triangle2: &Triangle,
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
) -> (f32, Vector<f32>) {
let x2 = pos12 * (triangle2.b - triangle2.a);
let y2 = pos12 * (triangle2.c - triangle2.b);
let z2 = pos12 * (triangle2.a - triangle2.c);
// We have 3 * 3 = 3 axes to test.
let axes = [
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -x2.z, x2.y),
Vector::new(x2.z, 0.0, -x2.x),
Vector::new(-x2.y, x2.x, 0.0),
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -y2.z, y2.y),
Vector::new(y2.z, 0.0, -y2.x),
Vector::new(-y2.y, y2.x, 0.0),
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -z2.z, z2.y),
Vector::new(z2.z, 0.0, -z2.x),
Vector::new(-z2.y, z2.x, 0.0),
];
cube_support_map_find_local_separating_edge_twoway(cube1, triangle2, &axes, pos12, pos21)
}
#[cfg(feature = "dim3")]
pub fn cube_segment_find_local_separating_edge_twoway(
cube1: &Cuboid,
segment2: &Segment,
pos12: &Isometry<f32>,
pos21: &Isometry<f32>,
) -> (f32, Vector<f32>) {
let x2 = pos12 * (segment2.b - segment2.a);
let axes = [
// Vector::{x, y ,z}().cross(y2)
Vector::new(0.0, -x2.z, x2.y),
Vector::new(x2.z, 0.0, -x2.x),
Vector::new(-x2.y, x2.x, 0.0),
];
cube_support_map_find_local_separating_edge_twoway(cube1, segment2, &axes, pos12, pos21)
}
pub fn cube_support_map_find_local_separating_normal_oneway<S: SupportMap<f32>>(
cube1: &Cuboid,
shape2: &S,
pos12: &Isometry<f32>,
) -> (f32, Vector<f32>) {
let mut best_separation = -std::f32::MAX;
let mut best_dir = Vector::zeros();
for i in 0..DIM {
for sign in &[-1.0, 1.0] {
let axis1 = Vector::ith(i, *sign);
let pt2 = shape2.support_point_toward(&pos12, &Unit::new_unchecked(-axis1));
let separation = pt2[i] * *sign - cube1.half_extents[i];
if separation > best_separation {
best_separation = separation;
best_dir = axis1;
}
}
}
(best_separation, best_dir)
}
// NOTE: this only works with cuboid on the rhs because it has its symmetry origin at zero
// (therefore we can check only one normal direction).
pub fn point_cuboid_find_local_separating_normal_oneway(
point1: Point<f32>,
normal1: Option<Unit<Vector<f32>>>,
shape2: &Cuboid,
pos12: &Isometry<f32>,
) -> (f32, Vector<f32>) {
let mut best_separation = -std::f32::MAX;
let mut best_dir = Vector::zeros();
if let Some(normal1) = normal1 {
let axis1 = if (pos12.translation.vector - point1.coords).dot(&normal1) >= 0.0 {
normal1
} else {
-normal1
};
let pt2 = shape2.support_point_toward(&pos12, &-axis1);
let separation = (pt2 - point1).dot(&axis1);
if separation > best_separation {
best_separation = separation;
best_dir = *axis1;
}
}
(best_separation, best_dir)
}
pub fn triangle_cuboid_find_local_separating_normal_oneway(
triangle1: &Triangle,
shape2: &Cuboid,
pos12: &Isometry<f32>,
) -> (f32, Vector<f32>) {
point_cuboid_find_local_separating_normal_oneway(triangle1.a, triangle1.normal(), shape2, pos12)
}
#[cfg(feature = "dim2")]
pub fn segment_cuboid_find_local_separating_normal_oneway(
segment1: &Segment,
shape2: &Cuboid,
pos12: &Isometry<f32>,
) -> (f32, Vector<f32>) {
point_cuboid_find_local_separating_normal_oneway(segment1.a, segment1.normal(), shape2, pos12)
}
/*
* Capsules
*/
#[cfg(feature = "dim3")]
pub fn triangle_segment_find_local_separating_normal_oneway(
triangle1: &Triangle,
segment2: &Segment,
m12: &Isometry<f32>,
) -> (f32, Vector<f32>) {
if let Some(dir) = triangle1.normal() {
let p2a = segment2.support_point_toward(m12, &-dir);
let p2b = segment2.support_point_toward(m12, &dir);
let sep_a = (p2a - triangle1.a).dot(&dir);
let sep_b = -(p2b - triangle1.a).dot(&dir);
if sep_a >= sep_b {
(sep_a, *dir)
} else {
(sep_b, -*dir)
}
} else {
(-f32::MAX, Vector::zeros())
}
}
#[cfg(feature = "dim3")]
pub fn segment_triangle_find_local_separating_edge(
segment1: &Segment,
triangle2: &Triangle,
pos12: &Isometry<f32>,
) -> (f32, Vector<f32>) {
let x2 = pos12 * (triangle2.b - triangle2.a);
let y2 = pos12 * (triangle2.c - triangle2.b);
let z2 = pos12 * (triangle2.a - triangle2.c);
let dir1 = segment1.scaled_direction();
let crosses1 = [dir1.cross(&x2), dir1.cross(&y2), dir1.cross(&z2)];
let axes1 = [
crosses1[0],
crosses1[1],
crosses1[2],
-crosses1[0],
-crosses1[1],
-crosses1[2],
];
let mut max_separation = -f32::MAX;
let mut sep_dir = axes1[0];
for axis1 in &axes1 {
if let Some(axis1) = Unit::try_new(*axis1, 0.0) {
let sep =
support_map_support_map_compute_separation(segment1, triangle2, pos12, &axis1);
if sep > max_separation {
max_separation = sep;
sep_dir = *axis1;
}
}
}
(max_separation, sep_dir)
}