Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

94
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
View File

@@ -24,6 +24,9 @@ subject to the following restrictions:
#include <float.h> //for FLT_MAX
int gExpectedNbTests=0;
int gActualNbTests = 0;
bool gUseInternalObject = true;
// Clips a face to the back of a plane
void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
@@ -75,19 +78,19 @@ void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertex
#include <stdio.h>
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, float& depth)
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
{
float Min0,Max0;
float Min1,Max1;
btScalar Min0,Max0;
btScalar Min1,Max1;
hullA.project(transA,sep_axis, Min0, Max0);
hullB.project(transB, sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
float d0 = Max0 - Min1;
btScalar d0 = Max0 - Min1;
assert(d0>=0.0f);
float d1 = Max1 - Min0;
btScalar d1 = Max1 - Min0;
assert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
@@ -103,18 +106,77 @@ inline bool IsAlmostZero(const btVector3& v)
return true;
}
#define TEST_INTERNAL_OBJECTS 1
#ifdef TEST_INTERNAL_OBJECTS
__forceinline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
{
// This version is ~11.000 cycles (4%) faster overall in one of the tests.
// IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
// IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
// IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
}
void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
{
const btMatrix3x3& rot = tr.getBasis();
const btVector3& r0 = rot[0];
const btVector3& r1 = rot[1];
const btVector3& r2 = rot[2];
const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
out.setValue(x, y, z);
}
bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
{
const btScalar dp = delta_c.dot(axis);
btVector3 localAxis0;
InverseTransformPoint3x3(localAxis0, axis,trans0);
btVector3 localAxis1;
InverseTransformPoint3x3(localAxis1, axis,trans1);
btScalar p0[3];
BoxSupport(convex0.m_extents, localAxis0, p0);
btScalar p1[3];
BoxSupport(convex1.m_extents, localAxis1, p1);
const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
const btScalar MinMaxRadius = MaxRadius + MinRadius;
const btScalar d0 = MinMaxRadius + dp;
const btScalar d1 = MinMaxRadius - dp;
const btScalar depth = d0<d1 ? d0:d1;
if(depth>dmin)
return false;
return true;
}
#endif //TEST_INTERNAL_OBJECTS
bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
{
gActualSATPairTests++;
#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.mLocalCenter;
const btVector3 c1 = transB * hullB.mLocalCenter;
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
#endif
float dmin = FLT_MAX;
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
@@ -127,12 +189,12 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, faceANormalWS, hullA, hullB, dmin))
if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
float d;
btScalar d;
if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
return false;
@@ -158,7 +220,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
gActualNbTests++;
#endif
float d;
btScalar d;
if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
return false;
@@ -195,7 +257,7 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
gActualNbTests++;
#endif
float dist;
btScalar dist;
if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
return false;
@@ -285,7 +347,13 @@ void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
{
btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
if (depth <=maxDist && depth >=minDist)
if (depth <=minDist)
{
// printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
depth = minDist;
}
if (depth <=maxDist)
{
btVector3 point = pVtxIn->at(i);
#ifdef ONLY_REPORT_DEEPEST_POINT