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LinearConvexCastDemo.cpp

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
 */



/*
      LinearConvexCastDemo implements an efficient continuous collision detection algorithm.
      Both linear and angular velocities are supported. Gjk or Simplex based methods.
      Motion using Exponential Map.
      Comparison with Screwing Motion. 
      Also comparision with Algebraic CCD and Interval Arithmetic methods (Stephane Redon)
*/

#include "SimdQuaternion.h"
#include "SimdTransform.h"
#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "CollisionShapes/BoxShape.h"
#include "CollisionShapes/MinkowskiSumShape.h"

#include "NarrowPhaseCollision/GjkPairDetector.h"
#include "NarrowPhaseCollision/GjkConvexCast.h"
#include "NarrowPhaseCollision/ContinuousConvexCollision.h"
#include "NarrowPhaseCollision/SubsimplexConvexCast.h"
#include "NarrowPhaseCollision/BU_CollisionPair.h"

#include "CollisionShapes/SphereShape.h"

#include "CollisionShapes/Simplex1to4Shape.h"

#include "GL_ShapeDrawer.h"
#include <GL/glut.h>
#include "GlutStuff.h"


float yaw=0.f,pitch=0.f,roll=0.f;
const int maxNumObjects = 4;
const int numObjects = 2;


PolyhedralConvexShape*  shapePtr[maxNumObjects];

SimdTransform tr[numObjects];
int screenWidth = 640.f;
int screenHeight = 480.f;
void DrawRasterizerLine(float const* , float const*, int)
{

}

int main(int argc,char** argv)
{

      setCameraDistance(30.f);
      tr[0].setOrigin(SimdVector3(0,0,0));
      tr[1].setOrigin(SimdVector3(0,10,0));

      SimdMatrix3x3 basisA;
      basisA.setValue(0.99999958f,0.00022980258f,0.00090992288f,
            -0.00029313788f,0.99753088f,0.070228584f,
            -0.00089153741f,-0.070228823f,0.99753052f);

      SimdMatrix3x3 basisB;
      basisB.setValue(1.0000000f,4.4865553e-018f,-4.4410586e-017f,
            4.4865495e-018f,0.97979438f,0.20000751f,
            4.4410586e-017f,-0.20000751f,0.97979438f);

      tr[0].setBasis(basisA);
      tr[1].setBasis(basisB);



      SimdVector3 boxHalfExtentsA(0.2,4,4);
      SimdVector3 boxHalfExtentsB(6,6,6);

      BoxShape    boxA(boxHalfExtentsA);
/*    BU_Simplex1to4    boxB;
      boxB.AddVertex(SimdPoint3(-5,0,-5));
      boxB.AddVertex(SimdPoint3(5,0,-5));
      boxB.AddVertex(SimdPoint3(0,0,5));
      boxB.AddVertex(SimdPoint3(0,5,0));
*/

      BoxShape    boxB(boxHalfExtentsB);
      shapePtr[0] = &boxA;
      shapePtr[1] = &boxB;

      shapePtr[0]->SetMargin(0.01f);
      shapePtr[1]->SetMargin(0.01f);

//    boxA.SetMargin(1.f);
//    boxB.SetMargin(1.f);


      SimdTransform tr;
      tr.setIdentity();


      return glutmain(argc, argv,screenWidth,screenHeight,"Linear Convex Cast Demo");
}

//to be implemented by the demo

void clientMoveAndDisplay()
{
      
      clientDisplay();
}

#include "NarrowPhaseCollision/VoronoiSimplexSolver.h"
#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"

static VoronoiSimplexSolver sVoronoiSimplexSolver;

SimplexSolverInterface& gGjkSimplexSolver = sVoronoiSimplexSolver;

bool drawLine= false;

void clientDisplay(void) {

    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
      glDisable(GL_LIGHTING);

      //GL_ShapeDrawer::DrawCoordSystem();

      float m[16];
      int i;

      for (i=0;i<numObjects;i++)
      {
            tr[i].getOpenGLMatrix( m );
            GL_ShapeDrawer::DrawOpenGL(m,shapePtr[i],SimdVector3(1,1,1),getDebugMode());
      }

      
      int shapeIndex = 1;

      SimdQuaternion orn;
      orn.setEuler(yaw,pitch,roll);
      tr[shapeIndex].setRotation(orn);
      
      extern bool stepping;
      extern bool singleStep;

      if (stepping || singleStep)
      {
            singleStep = false;
            pitch += 0.005f;
            yaw += 0.01f;
      }

      SimdVector3 fromA(-25,11,0);
      SimdVector3 toA(15,11,0);

      SimdQuaternion ornFromA(0.f,0.f,0.f,1.f);
      SimdQuaternion ornToA(0.f,0.f,0.f,1.f);

      SimdTransform     rayFromWorld(ornFromA,fromA);
      SimdTransform     rayToWorld(ornToA,toA);

      tr[0] = rayFromWorld;

      if (drawLine)
      {
            glBegin(GL_LINES);
            glColor3f(0, 0, 1);
            glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
            glVertex3d(rayToWorld.getOrigin().x(),rayToWorld.getOrigin().y(),rayToWorld.getOrigin().z());
            glEnd();
      }

      //now perform a raycast on the shapes, in local (shape) space
      
      //choose one of the following lines

      

      for (i=1;i<numObjects;i++)
      {
            ContinuousConvexCollision convexCaster0(shapePtr[0],shapePtr[i],&gGjkSimplexSolver,0);
            GjkConvexCast     convexCaster1(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
            
            //BU_CollisionPair (algebraic version) is currently broken, will look into this
            BU_CollisionPair convexCaster2(shapePtr[0],shapePtr[i]);
            SubsimplexConvexCast convexCaster3(shapePtr[0],shapePtr[i],&gGjkSimplexSolver);
                        
            gGjkSimplexSolver.reset();

            ConvexCast::CastResult rayResult;
            
      

            if (convexCaster3.calcTimeOfImpact(rayFromWorld,rayToWorld,tr[i],tr[i],rayResult))
            {

                  glDisable(GL_DEPTH_TEST);
                  SimdVector3 hitPoint;
                  hitPoint.setInterpolate3(rayFromWorld.getOrigin(),rayToWorld.getOrigin(),rayResult.m_fraction);
                  
                  //draw the raycast result
                  glBegin(GL_LINES);
                  glColor3f(1, 1, 1);
                  glVertex3d(rayFromWorld.getOrigin().x(), rayFromWorld.getOrigin().y(),rayFromWorld.getOrigin().z());
                  glVertex3d(hitPoint.x(),hitPoint.y(),hitPoint.z());
                  glEnd();
                  glEnable(GL_DEPTH_TEST);

                  SimdTransform     toTransWorld;
                  toTransWorld = tr[0];
                  toTransWorld.setOrigin(hitPoint);

                  toTransWorld.getOpenGLMatrix( m );
                  GL_ShapeDrawer::DrawOpenGL(m,shapePtr[0],SimdVector3(0,1,1),getDebugMode());


            }
      }

      glFlush();
    glutSwapBuffers();
}
void clientResetScene()
{
}

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