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fixed collision bug involving meshes/compounds: always keep point with deepest penetration

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increased default number of objects/overlaps in broadphase to 20k/60k
This commit is contained in:
ejcoumans
2006-09-04 18:54:36 +00:00
parent b76e642506
commit 1048793061
3 changed files with 27 additions and 11 deletions
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2
Bullet/BroadphaseCollision/AxisSweep3.h
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@@ -91,7 +91,7 @@ private:
void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true); void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
public: public:
AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 1024, int maxOverlaps = 8192); AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 20000, int maxOverlaps = 60000);
virtual ~AxisSweep3(); virtual ~AxisSweep3();
virtual void RefreshOverlappingPairs() virtual void RefreshOverlappingPairs()

4
Bullet/BroadphaseCollision/OverlappingPairCache.cpp
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@@ -98,7 +98,9 @@ void OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
} }
///this FindPair becomes really slow. Either sort the list to speedup the query, or
///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
BroadphasePair* OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) BroadphasePair* OverlappingPairCache::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
{ {
BroadphasePair* foundPair = 0; BroadphasePair* foundPair = 0;

32
Bullet/NarrowPhaseCollision/PersistentManifold.cpp
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@@ -91,33 +91,51 @@ void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
} }
int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt) int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
{ {
//calculate 4 possible cases areas, and take biggest area //calculate 4 possible cases areas, and take biggest area
//also need to keep 'deepest'
SimdScalar res0,res1,res2,res3;
int maxPenetrationIndex = -1;
#define KEEP_DEEPEST_POINT 1
#ifdef KEEP_DEEPEST_POINT
float maxPenetration = pt.GetDistance();
for (int i=0;i<4;i++)
{
if (m_pointCache[i].GetDistance() < maxPenetration)
{
maxPenetrationIndex = i;
maxPenetration = m_pointCache[i].GetDistance();
}
}
#endif //KEEP_DEEPEST_POINT
SimdScalar res0(0.f),res1(0.f),res2(0.f),res3(0.f);
if (maxPenetrationIndex != 0)
{ {
SimdVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA; SimdVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA; SimdVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
SimdVector3 cross = a0.cross(b0); SimdVector3 cross = a0.cross(b0);
res0 = cross.length2(); res0 = cross.length2();
} }
if (maxPenetrationIndex != 1)
{ {
SimdVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA; SimdVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA; SimdVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
SimdVector3 cross = a1.cross(b1); SimdVector3 cross = a1.cross(b1);
res1 = cross.length2(); res1 = cross.length2();
} }
if (maxPenetrationIndex != 2)
{ {
SimdVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA; SimdVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA; SimdVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 cross = a2.cross(b2); SimdVector3 cross = a2.cross(b2);
res2 = cross.length2(); res2 = cross.length2();
} }
if (maxPenetrationIndex != 3)
{ {
SimdVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA; SimdVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA; SimdVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
@@ -127,14 +145,10 @@ int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
SimdVector4 maxvec(res0,res1,res2,res3); SimdVector4 maxvec(res0,res1,res2,res3);
int biggestarea = maxvec.closestAxis4(); int biggestarea = maxvec.closestAxis4();
return biggestarea; return biggestarea;
} }
int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
{ {
SimdScalar shortestDist = GetContactBreakingTreshold() * GetContactBreakingTreshold(); SimdScalar shortestDist = GetContactBreakingTreshold() * GetContactBreakingTreshold();