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added initial support for per-triangle material properties in a non-convex mesh. needs testing.

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This commit is contained in:
ejcoumans
2006-08-10 08:18:05 +00:00
parent 3a27e8b1bf
commit 16781831dc
22 changed files with 206 additions and 55 deletions
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1
Bullet/BroadphaseCollision/AxisSweep3.cpp
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@@ -3,7 +3,6 @@
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
//
// AxisSweep3
//

4
Bullet/BroadphaseCollision/SimpleBroadphase.cpp
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@@ -14,8 +14,8 @@ subject to the following restrictions:
*/
#include "SimpleBroadphase.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "BroadphaseCollision/CollisionAlgorithm.h"
#include <BroadphaseCollision/Dispatcher.h>
#include <BroadphaseCollision/CollisionAlgorithm.h>
#include "SimdVector3.h"
#include "SimdTransform.h"

22
Bullet/CollisionDispatch/CollisionObject.h
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@@ -45,7 +45,7 @@ struct CollisionObject
{
isStatic = 1,
noContactResponse = 2,
customMaterialCallback = 4,//this allows per-triangle material (friction/restitution)
};
int m_collisionFlags;
@@ -54,6 +54,9 @@ struct CollisionObject
int m_activationState1;
float m_deactivationTime;
SimdScalar m_friction;
SimdScalar m_restitution;
BroadphaseProxy* m_broadphaseHandle;
CollisionShape* m_collisionShape;
@@ -102,6 +105,23 @@ struct CollisionObject
return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
}
void setRestitution(float rest)
{
m_restitution = rest;
}
float getRestitution() const
{
return m_restitution;
}
void setFriction(float frict)
{
m_friction = frict;
}
float getFriction() const
{
return m_friction;
}
};

1
Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
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@@ -112,6 +112,7 @@ void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, i
ob->m_collisionShape = &tm;
ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexProxy,&m_triangleProxy);
cvxcvxalgo.SetShapeIdentifiers(-1,-1,partId,triangleIndex);
cvxcvxalgo.ProcessCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
ob->m_collisionShape = tmpShape;

8
Bullet/CollisionDispatch/ConvexConvexAlgorithm.h
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@@ -55,7 +55,13 @@ public:
void SetLowLevelOfDetail(bool useLowLevel);
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
m_gjkPairDetector.m_partId0=partId0;
m_gjkPairDetector.m_partId1=partId1;
m_gjkPairDetector.m_index0=index0;
m_gjkPairDetector.m_index1=index1;
}
const PersistentManifold* GetManifold()
{

39
Bullet/CollisionDispatch/ManifoldResult.cpp
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@@ -18,6 +18,31 @@ subject to the following restrictions:
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "CollisionDispatch/CollisionObject.h"
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
inline SimdScalar calculateCombinedFriction(const CollisionObject* body0,const CollisionObject* body1)
{
SimdScalar friction = body0->getFriction() * body1->getFriction();
const SimdScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline SimdScalar calculateCombinedRestitution(const CollisionObject* body0,const CollisionObject* body1)
{
return body0->getRestitution() * body1->getRestitution();
}
ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr)
:m_manifoldPtr(manifoldPtr),
m_body0(body0),
@@ -56,6 +81,20 @@ void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const S
} else
{
newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->m_collisionFlags & CollisionObject::customMaterialCallback) ||
(m_body1->m_collisionFlags & CollisionObject::customMaterialCallback)))
{
//experimental feature info, for per-triangle material etc.
(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
}
m_manifoldPtr->AddManifoldPoint(newPt);
}
}

19
Bullet/CollisionDispatch/ManifoldResult.h
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@@ -20,8 +20,10 @@ subject to the following restrictions:
#include "NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h"
struct CollisionObject;
class PersistentManifold;
class ManifoldPoint;
typedef bool (*ContactAddedCallback)(ManifoldPoint& cp, const CollisionObject* colObj0,int partId0,int index0,const CollisionObject* colObj1,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
@@ -31,15 +33,28 @@ class ManifoldResult : public DiscreteCollisionDetectorInterface::Result
PersistentManifold* m_manifoldPtr;
CollisionObject* m_body0;
CollisionObject* m_body1;
int m_partId0;
int m_partId1;
int m_index0;
int m_index1;
public:
ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr);
virtual ~ManifoldResult() {};
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
m_partId0=partId0;
m_partId1=partId1;
m_index0=index0;
m_index1=index1;
}
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth);
};
#endif //MANIFOLD_RESULT_H

3
Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
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@@ -34,6 +34,9 @@ struct DiscreteCollisionDetectorInterface
void operator delete(void* ptr) {};
virtual ~Result(){}
///SetShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)=0;
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
};

8
Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
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@@ -35,7 +35,11 @@ m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
m_ignoreMargin(false)
m_ignoreMargin(false),
m_partId0(-1),
m_index0(-1),
m_partId1(-1),
m_index1(-1)
{
}
@@ -207,6 +211,8 @@ int curIter = 0;
if (isValid)
{
output.SetShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1);
output.AddContactPoint(
normalInB,
pointOnB,

8
Bullet/NarrowPhaseCollision/GjkPairDetector.h
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@@ -40,8 +40,16 @@ class GjkPairDetector : public DiscreteCollisionDetectorInterface
ConvexShape* m_minkowskiB;
bool m_ignoreMargin;
public:
//experimental feature information, per triangle, per convex etc.
//'material combiner' / contact added callback
int m_partId0;
int m_index0;
int m_partId1;
int m_index1;
GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~GjkPairDetector() {};

4
Bullet/NarrowPhaseCollision/ManifoldPoint.h
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@@ -40,6 +40,8 @@ class ManifoldPoint
m_localPointB( pointB ),
m_normalWorldOnB( normal ),
m_distance1( distance ),
m_combinedFriction(0.f),
m_combinedRestitution(0.f),
m_userPersistentData(0),
m_lifeTime(0)
{
@@ -57,6 +59,8 @@ class ManifoldPoint
SimdVector3 m_normalWorldOnB;
float m_distance1;
float m_combinedFriction;
float m_combinedRestitution;
void* m_userPersistentData;

3
Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
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@@ -32,6 +32,9 @@ struct MyResult : public DiscreteCollisionDetectorInterface::Result
float m_depth;
bool m_hasResult;
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;

7
Bullet/NarrowPhaseCollision/PersistentManifold.cpp
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@@ -19,7 +19,8 @@ subject to the following restrictions:
#include <assert.h>
float gContactBreakingTreshold = 0.02f;
ContactDestroyedCallback gContactCallback = 0;
ContactDestroyedCallback gContactDestroyedCallback = 0;
PersistentManifold::PersistentManifold()
@@ -75,9 +76,9 @@ void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
assert(occurance<=0);
#endif //DEBUG_PERSISTENCY
if (pt.m_userPersistentData && gContactCallback)
if (pt.m_userPersistentData && gContactDestroyedCallback)
{
(*gContactCallback)(pt.m_userPersistentData);
(*gContactDestroyedCallback)(pt.m_userPersistentData);
pt.m_userPersistentData = 0;
}

2
Bullet/NarrowPhaseCollision/PersistentManifold.h
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@@ -27,8 +27,8 @@ struct CollisionResult;
extern float gContactBreakingTreshold;
typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
extern ContactDestroyedCallback gContactDestroyedCallback;
extern ContactDestroyedCallback gContactCallback;

5
Bullet/NarrowPhaseCollision/PointCollector.h
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@@ -35,6 +35,11 @@ struct PointCollector : public DiscreteCollisionDetectorInterface::Result
{
}
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
//??
}
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
if (depth< m_distance)

18
BulletDynamics/ConstraintSolver/ContactConstraint.cpp
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@@ -33,18 +33,7 @@ SimdScalar contactTau = .02f;//0.02f;//*0.02f;
SimdScalar calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
{
SimdScalar friction = body0.getFriction() * body1.getFriction();
const SimdScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
//bilateral constraint between two dynamic objects
@@ -128,9 +117,6 @@ float resolveSingleCollision(
SimdScalar rel_vel;
rel_vel = normal.dot(vel);
float combinedRestitution = body1.getRestitution() * body2.getRestitution();
SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
@@ -187,17 +173,19 @@ float resolveSingleFriction(
)
{
const SimdVector3& pos1 = contactPoint.GetPositionWorldOnA();
const SimdVector3& pos2 = contactPoint.GetPositionWorldOnB();
const SimdVector3& normal = contactPoint.m_normalWorldOnB;
SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
float combinedFriction = calculateCombinedFriction(body1,body2);
ConstraintPersistentData* cpd = (ConstraintPersistentData*) contactPoint.m_userPersistentData;
assert(cpd);
float combinedFriction = cpd->m_friction;
SimdScalar limit = cpd->m_appliedImpulse * combinedFriction;
//if (contactPoint.m_appliedImpulse>0.f)
//friction

2
BulletDynamics/ConstraintSolver/ContactConstraint.h
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@@ -34,6 +34,7 @@ struct ConstraintPersistentData
m_jacDiagABInv(0.f),
m_persistentLifeTime(0),
m_restitution(0.f),
m_friction(0.f),
m_penetration(0.f)
{
}
@@ -50,6 +51,7 @@ struct ConstraintPersistentData
float m_jacDiagABInvTangent1;
int m_persistentLifeTime;
float m_restitution;
float m_friction;
float m_penetration;
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;

6
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
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@@ -47,7 +47,7 @@ bool MyContactDestroyedCallback(void* userPersistentData)
SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
{
gContactCallback = &MyContactDestroyedCallback;
gContactDestroyedCallback = &MyContactDestroyedCallback;
}
@@ -188,10 +188,10 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
SimdScalar rel_vel;
rel_vel = cp.m_normalWorldOnB.dot(vel);
float combinedRestitution = body0->getRestitution() * body1->getRestitution();
float combinedRestitution = cp.m_combinedRestitution;
cpd->m_penetration = cp.GetDistance();
cpd->m_friction = cp.m_combinedFriction;
cpd->m_restitution = restitutionCurve(rel_vel, combinedRestitution);
if (cpd->m_restitution <= 0.) //0.f)
{

2
BulletDynamics/Dynamics/ContactJoint.cpp
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@@ -178,7 +178,7 @@ void ContactJoint::GetInfo2(Info2 *info)
c2[1] = relativePositionB[1];
c2[2] = relativePositionB[2];
//combined friction is available in the contact point
float friction = FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
// first friction direction

7
BulletDynamics/Dynamics/RigidBody.cpp
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@@ -32,10 +32,13 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_friction(friction),
m_restitution(restitution),
m_kinematicTimeStep(0.f)
{
//moved to CollisionObject
m_friction = friction;
m_restitution = restitution;
m_debugBodyId = uniqueId++;
setMassProps(massProps.m_mass, massProps.m_inertiaLocal);

19
BulletDynamics/Dynamics/RigidBody.h
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@@ -172,22 +172,7 @@ public:
void getAabb(SimdVector3& aabbMin,SimdVector3& aabbMax) const;
void setRestitution(float rest)
{
m_restitution = rest;
}
float getRestitution() const
{
return m_restitution;
}
void setFriction(float frict)
{
m_friction = frict;
}
float getFriction() const
{
return m_friction;
}
inline float ComputeImpulseDenominator(const SimdPoint3& pos, const SimdVector3& normal) const
@@ -227,8 +212,6 @@ private:
SimdScalar m_angularDamping;
SimdScalar m_inverseMass;
SimdScalar m_friction;
SimdScalar m_restitution;
SimdScalar m_kinematicTimeStep;

69
Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
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@@ -91,9 +91,69 @@ static const int NUM_TRIANGLES=4;
SimdVector3 gVertices[NUM_VERTICES];
int gIndices[NUM_TRIANGLES*3];
const float TRIANGLE_SIZE=80.f;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
inline SimdScalar calculateCombinedFriction(float friction0,float friction1)
{
SimdScalar friction = friction0 * friction1;
const SimdScalar MAX_FRICTION = 10.f;
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline SimdScalar calculateCombinedRestitution(float restitution0,float restitution1)
{
return restitution0 * restitution1;
}
bool CustomMaterialCombinerCallback(ManifoldPoint& cp, const CollisionObject* colObj0,int partId0,int index0,const CollisionObject* colObj1,int partId1,int index1)
{
float friction0 = colObj0->getFriction();
float friction1 = colObj1->getFriction();
float restitution0 = colObj0->getRestitution();
float restitution1 = colObj1->getRestitution();
if (colObj0->m_collisionFlags & CollisionObject::customMaterialCallback)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1->m_collisionFlags & CollisionObject::customMaterialCallback)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
extern ContactAddedCallback gContactAddedCallback;
int main(int argc,char** argv)
{
gContactAddedCallback = CustomMaterialCombinerCallback;
printf("BroadphaseProxy: %i\n",sizeof(BroadphaseProxy));
printf("AxisSweep3::Handle : %i\n",sizeof(AxisSweep3::Handle));
@@ -190,7 +250,7 @@ int main(int argc,char** argv)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*10.f,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*10.f);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
@@ -280,11 +340,13 @@ int main(int argc,char** argv)
if (!i)
{
ccdObjectCi.m_friction = 0.0f;
//SimdQuaternion orn(0,0,0.1*SIMD_HALF_PI);
//ms[i].setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
//ms[i].setWorldPosition(0,-10,0);
} else
{
ccdObjectCi.m_friction = 0.5f;
ms[i].setWorldPosition(10,i*15-10,0);
}
@@ -299,11 +361,14 @@ int main(int argc,char** argv)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags = CollisionObject::customMaterialCallback;
}
else
{
shapeProps.m_mass = 1.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_collisionFlags =0;
}
@@ -315,12 +380,12 @@ int main(int argc,char** argv)
{
localInertia.setValue(0.f,0.f,0.f);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
ccdObjectCi.m_collisionShape = shapePtr[shapeIndex[i]];
physObjects[i]= new CcdPhysicsController( ccdObjectCi);
physicsEnvironmentPtr->addCcdPhysicsController( physObjects[i]);