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Added Pierre Terdiman's 'internal object' optimization to improve performance for separating axis tests.

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Make the winding consistent in btConvexHullComputer (and related fixes in btPolyhedralConvexShape), thanks to Ole!
Some fixes in the btPolyhedralContactClipping implementation (never report a penetration deeper than GJK/EPA found, to avoid issues due to its approximate contact normal directions)
Properly visualize btPolyhedralConvexHullShape that have a  btConvexPolyhedron (by calling initializePolyhedralFeatures() method)
This commit is contained in:
erwin.coumans
2011-04-15 18:37:28 +00:00
parent 7d37b3c472
commit 1b305562be
12 changed files with 488 additions and 209 deletions
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63
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -17,6 +17,7 @@ subject to the following restrictions:
///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
///with reproduction case
//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
//#define ZERO_MARGIN
#include "btConvexConvexAlgorithm.h"
@@ -416,12 +417,11 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = 0.f;
btScalar minDist = -1e30f;
btVector3 sepNormalWorldSpace;
bool foundSepAxis = true;
@@ -434,8 +434,22 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
sepNormalWorldSpace);
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
//gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
minDist = gjkPairDetector.getCachedSeparatingDistance();
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
#ifdef ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
#endif
}
if (foundSepAxis)
{
@@ -457,20 +471,53 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btVertexArray vertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = gjkPairDetector.getCachedSeparatingDistance();
btVector3 sepNormalWorldSpace;
btScalar minDist =-1e30f;
btScalar maxDist = threshold;
bool foundSepAxis = true;
if (0)
{
polyhedronB->initializePolyhedralFeatures();
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
}
if (foundSepAxis)
{
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0->getWorldTransform(), vertices, minDist-threshold, threshold, *resultOut);
body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
}
if (m_ownManifold)