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decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)

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tweak pr2 gripper.
This commit is contained in:
erwin coumans
2016-09-20 12:37:13 -07:00
parent 8d4c99801e
commit 0a628f06cc
10 changed files with 214 additions and 40 deletions
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4
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -39,7 +39,7 @@ subject to the following restrictions:
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;
btScalar gGjkEpaPenetrationTolerance = 0.001;
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
@@ -304,7 +304,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
}
bool catchDegeneratePenetrationCase =
(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01));
(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < gGjkEpaPenetrationTolerance));
//if (checkPenetration && !isValid)
if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))