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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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122
src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
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@@ -17,7 +17,7 @@ subject to the following restrictions:
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#define TEST_INTERNAL_OBJECTS 1
#include "btConvexPolyhedron.h"
#include "LinearMath/btHashMap.h"
@@ -72,11 +72,39 @@ struct btInternalEdge
//
#ifdef TEST_INTERNAL_OBJECTS
bool btConvexPolyhedron::testContainment() const
{
for(int p=0;p<8;p++)
{
btVector3 LocalPt;
if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
if(d>0.0f)
return false;
}
}
return true;
}
#endif
void btConvexPolyhedron::initialize()
{
btHashMap<btInternalVertexPair,btInternalEdge> edges;
float TotalArea = 0.0f;
btScalar TotalArea = 0.0f;
m_localCenter.setValue(0, 0, 0);
for(int i=0;i<m_faces.size();i++)
@@ -153,7 +181,7 @@ void btConvexPolyhedron::initialize()
int k = (j+1)%numVertices;
const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
float Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btVector3 Center = (p0+p1+p2)/3.0f;
m_localCenter += Area * Center;
TotalArea += Area;
@@ -161,10 +189,92 @@ void btConvexPolyhedron::initialize()
}
m_localCenter /= TotalArea;
#ifdef TEST_INTERNAL_OBJECTS
if(1)
{
m_radius = FLT_MAX;
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
if(dist<m_radius)
m_radius = dist;
}
btScalar MinX = FLT_MAX;
btScalar MinY = FLT_MAX;
btScalar MinZ = FLT_MAX;
btScalar MaxX = -FLT_MAX;
btScalar MaxY = -FLT_MAX;
btScalar MaxZ = -FLT_MAX;
for(int i=0; i<m_vertices.size(); i++)
{
const btVector3& pt = m_vertices[i];
if(pt.x()<MinX) MinX = pt.x();
if(pt.x()>MaxX) MaxX = pt.x();
if(pt.y()<MinY) MinY = pt.y();
if(pt.y()>MaxY) MaxY = pt.y();
if(pt.z()<MinZ) MinZ = pt.z();
if(pt.z()>MaxZ) MaxZ = pt.z();
}
mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
// const btScalar r = m_radius / sqrtf(2.0f);
const btScalar r = m_radius / sqrtf(3.0f);
const int LargestExtent = mE.maxAxis();
const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
bool FoundBox = false;
for(int j=0;j<1024;j++)
{
if(testContainment())
{
FoundBox = true;
break;
}
m_extents[LargestExtent] -= Step;
}
if(!FoundBox)
{
m_extents[0] = m_extents[1] = m_extents[2] = r;
}
else
{
// Refine the box
const btScalar Step = (m_radius - r)/1024.0f;
const int e0 = (1<<LargestExtent) & 3;
const int e1 = (1<<e0) & 3;
for(int j=0;j<1024;j++)
{
const btScalar Saved0 = m_extents[e0];
const btScalar Saved1 = m_extents[e1];
m_extents[e0] += Step;
m_extents[e1] += Step;
if(!testContainment())
{
m_extents[e0] = Saved0;
m_extents[e1] = Saved1;
break;
}
}
}
}
#endif
}
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, float& min, float& max) const
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
@@ -172,13 +282,13 @@ void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir,
for(int i=0;i<numVerts;i++)
{
btVector3 pt = trans * m_vertices[i];
float dp = pt.dot(dir);
btScalar dp = pt.dot(dir);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
float tmp = min;
btScalar tmp = min;
min = max;
max = tmp;
}