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try the tippeTop again, but I can't get to work with convex hull shape.
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newton-4.00/sdk/dCollision/ndShapeUserDefinedImplicit.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,148 @@ | ||
| /* Copyright (c) <2003-2022> <Julio Jerez, Newton Game Dynamics> | ||
| * | ||
| * 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 "ndCoreStdafx.h" | ||
| #include "ndCollisionStdafx.h" | ||
| #include "ndContact.h" | ||
| #include "ndContactSolver.h" | ||
| #include "ndShapeUserDefinedImplicit.h" | ||
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| ndShapeUserDefinedImplicit::ndShapeUserDefinedImplicit() | ||
| :ndShapeConvex(m_userDefinedImplicit) | ||
| { | ||
| ndAssert(0); | ||
| } | ||
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| ndShapeUserDefinedImplicit::~ndShapeUserDefinedImplicit() | ||
| { | ||
| } | ||
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| void ndShapeUserDefinedImplicit::MassProperties() | ||
| { | ||
| ndAssert(0); | ||
| } | ||
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| void ndShapeUserDefinedImplicit::CalculateAabb(const ndMatrix& matrix, ndVector &p0, ndVector &p1) const | ||
| { | ||
| ndAssert(0); | ||
| //ndVector size(m_radius); | ||
| //p0 = (matrix[3] - size) & ndVector::m_triplexMask; | ||
| //p1 = (matrix[3] + size) & ndVector::m_triplexMask; | ||
| } | ||
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| ndVector ndShapeUserDefinedImplicit::SupportVertexSpecialProjectPoint(const ndVector&, const ndVector& dir) const | ||
| { | ||
| ndAssert(0); | ||
| return ndVector::m_zero; | ||
| // return dir.Scale(m_radius - D_PENETRATION_TOL); | ||
| } | ||
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| ndVector ndShapeUserDefinedImplicit::SupportVertexSpecial(const ndVector&, ndFloat32) const | ||
| { | ||
| ndAssert(0); | ||
| return ndVector::m_zero; | ||
| } | ||
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| ndVector ndShapeUserDefinedImplicit::SupportVertex(const ndVector& dir) const | ||
| { | ||
| ndAssert(0); | ||
| return ndVector::m_zero; | ||
| //ndAssert(dir.m_w == ndFloat32(0.0f)); | ||
| //ndAssert(ndAbs(dir.DotProduct(dir).GetScalar() - ndFloat32(1.0f)) < ndFloat32(1.0e-3f)); | ||
| //ndAssert(dir.m_w == 0.0f); | ||
| //return dir.Scale(m_radius); | ||
| } | ||
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| ndInt32 ndShapeUserDefinedImplicit::CalculatePlaneIntersection(const ndVector& normal, const ndVector& point, ndVector* const contactsOut) const | ||
| { | ||
| ndAssert(0); | ||
| ndAssert(normal.m_w == 0.0f); | ||
| ndAssert(normal.DotProduct(normal).GetScalar() > ndFloat32(0.999f)); | ||
| contactsOut[0] = normal * normal.DotProduct(point); | ||
| return 1; | ||
| } | ||
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| ndFloat32 ndShapeUserDefinedImplicit::RayCast(ndRayCastNotify&, const ndVector& localP0, const ndVector& localP1, ndFloat32 maxT, const ndBody* const, ndContactPoint& contactOut) const | ||
| { | ||
| ndAssert(0); | ||
| return 0; | ||
| //ndFloat32 t = ndRayCastSphere(localP0, localP1, ndVector::m_zero, m_radius); | ||
| //if (t < maxT) | ||
| //{ | ||
| // ndVector contact(localP0 + (localP1 - localP0).Scale(t)); | ||
| // ndAssert(contact.m_w == ndFloat32(0.0f)); | ||
| // //contactOut.m_normal = contact.Scale (dgRsqrt (contact.DotProduct(contact).GetScalar())); | ||
| // contactOut.m_normal = contact.Normalize(); | ||
| // //contactOut.m_userId = SetUserDataID(); | ||
| //} | ||
| //return t; | ||
| } | ||
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| ndShapeInfo ndShapeUserDefinedImplicit::GetShapeInfo() const | ||
| { | ||
| ndAssert(0); | ||
| ndShapeInfo info(ndShapeConvex::GetShapeInfo()); | ||
| //info.m_sphere.m_radius = m_radius; | ||
| return info; | ||
| } | ||
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| void ndShapeUserDefinedImplicit::DebugShape(const ndMatrix& matrix, ndShapeDebugNotify& debugCallback) const | ||
| { | ||
| ndAssert(0); | ||
| //ndVector tmpVectex[1024 * 2]; | ||
| //ndShapeDebugNotify::ndEdgeType edgeType[1024 * 2]; | ||
| // | ||
| //ndVector p0(ndFloat32(1.0f), ndFloat32(0.0f), ndFloat32(0.0f), ndFloat32(0.0f)); | ||
| //ndVector p1(-ndFloat32(1.0f), ndFloat32(0.0f), ndFloat32(0.0f), ndFloat32(0.0f)); | ||
| //ndVector p2(ndFloat32(0.0f), ndFloat32(1.0f), ndFloat32(0.0f), ndFloat32(0.0f)); | ||
| //ndVector p3(ndFloat32(0.0f), -ndFloat32(1.0f), ndFloat32(0.0f), ndFloat32(0.0f)); | ||
| //ndVector p4(ndFloat32(0.0f), ndFloat32(0.0f), ndFloat32(1.0f), ndFloat32(0.0f)); | ||
| //ndVector p5(ndFloat32(0.0f), ndFloat32(0.0f), -ndFloat32(1.0f), ndFloat32(0.0f)); | ||
| // | ||
| //ndInt32 index = 3; | ||
| //ndInt32 count = 0; | ||
| //TesselateTriangle(index, p4, p0, p2, count, tmpVectex); | ||
| //TesselateTriangle(index, p4, p2, p1, count, tmpVectex); | ||
| //TesselateTriangle(index, p4, p1, p3, count, tmpVectex); | ||
| //TesselateTriangle(index, p4, p3, p0, count, tmpVectex); | ||
| //TesselateTriangle(index, p5, p2, p0, count, tmpVectex); | ||
| //TesselateTriangle(index, p5, p1, p2, count, tmpVectex); | ||
| //TesselateTriangle(index, p5, p3, p1, count, tmpVectex); | ||
| //TesselateTriangle(index, p5, p0, p3, count, tmpVectex); | ||
| // | ||
| //for (ndInt32 i = 0; i < count; ++i) | ||
| //{ | ||
| // edgeType[i] = ndShapeDebugNotify::m_shared; | ||
| // tmpVectex[i] = matrix.TransformVector(tmpVectex[i].Scale(m_radius)) & ndVector::m_triplexMask; | ||
| //} | ||
| // | ||
| //for (ndInt32 i = 0; i < count; i += 3) | ||
| //{ | ||
| // debugCallback.DrawPolygon(3, &tmpVectex[i], &edgeType[i]); | ||
| //} | ||
| } | ||
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| ndUnsigned64 ndShapeUserDefinedImplicit::GetHash(ndUnsigned64 hash) const | ||
| { | ||
| ndAssert(0); | ||
| ndShapeInfo info(GetShapeInfo()); | ||
| return info.GetHash(hash); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| /* Copyright (c) <2003-2022> <Julio Jerez, Newton Game Dynamics> | ||
| * | ||
| * 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. | ||
| */ | ||
|
|
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| #ifndef __ND_USER_DEFINED_IMPLICIT_H__ | ||
| #define __ND_USER_DEFINED_IMPLICIT_H__ | ||
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| #include "ndShapeConvex.h" | ||
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| D_MSV_NEWTON_ALIGN_32 | ||
| class ndShapeUserDefinedImplicit: public ndShapeConvex | ||
| { | ||
| public: | ||
| D_CLASS_REFLECTION(ndShapeUserDefinedImplicit,ndShapeConvex) | ||
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| D_COLLISION_API ndShapeUserDefinedImplicit(); | ||
| D_COLLISION_API virtual ~ndShapeUserDefinedImplicit(); | ||
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| virtual ndShapeUserDefinedImplicit* GetAsShape() { return this; } | ||
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| protected: | ||
| D_COLLISION_API virtual void MassProperties(); | ||
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| D_COLLISION_API virtual ndShapeInfo GetShapeInfo() const; | ||
| D_COLLISION_API virtual ndUnsigned64 GetHash(ndUnsigned64 hash) const; | ||
| D_COLLISION_API virtual void CalculateAabb(const ndMatrix& matrix, ndVector& p0, ndVector& p1) const; | ||
| D_COLLISION_API virtual void DebugShape(const ndMatrix& matrix, ndShapeDebugNotify& debugCallback) const; | ||
| D_COLLISION_API virtual ndVector SupportVertexSpecialProjectPoint(const ndVector& point, const ndVector& dir) const; | ||
| D_COLLISION_API virtual ndVector SupportVertex(const ndVector& dir) const; | ||
| D_COLLISION_API virtual ndVector SupportVertexSpecial(const ndVector& dir, ndFloat32 skinMargin) const; | ||
| D_COLLISION_API virtual ndFloat32 RayCast(ndRayCastNotify& callback, const ndVector& localP0, const ndVector& localP1, ndFloat32 maxT, const ndBody* const body, ndContactPoint& contactOut) const; | ||
| D_COLLISION_API virtual ndInt32 CalculatePlaneIntersection(const ndVector& normal, const ndVector& point, ndVector* const contactsOut) const; | ||
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| } D_GCC_NEWTON_ALIGN_32; | ||
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| #endif | ||
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