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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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22
src/LinearMath/btConvexHullComputer.cpp
View File

@@ -1974,17 +1974,21 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st
medAxis = 3 - maxAxis - minAxis;
s /= btScalar(10216);
if (((medAxis + 1) % 3) != maxAxis)
{
s *= -1;
}
scaling = s;
if (s[0] > 0)
if (s[0] != 0)
{
s[0] = btScalar(1) / s[0];
}
if (s[1] > 0)
if (s[1] != 0)
{
s[1] = btScalar(1) / s[1];
}
if (s[2] > 0)
if (s[2] != 0)
{
s[2] = btScalar(1) / s[2];
}
@@ -2065,9 +2069,7 @@ btVector3 btConvexHullInternal::toBtVector(const Point32& v)
btVector3 btConvexHullInternal::getBtNormal(Face* face)
{
btVector3 normal = toBtVector(face->dir0).cross(toBtVector(face->dir1));
normal /= ((medAxis + 1 == maxAxis) || (medAxis - 2 == maxAxis)) ? normal.length() : -normal.length();
return normal;
return toBtVector(face->dir0).cross(toBtVector(face->dir1)).normalized();
}
btVector3 btConvexHullInternal::getCoordinates(const Vertex* v)
@@ -2203,15 +2205,15 @@ btScalar btConvexHullInternal::shrink(btScalar amount, btScalar clampAmount)
bool btConvexHullInternal::shiftFace(Face* face, btScalar amount, btAlignedObjectArray<Vertex*> stack)
{
btVector3 origShift = getBtNormal(face) * -amount;
if (scaling[0] > 0)
if (scaling[0] != 0)
{
origShift[0] /= scaling[0];
}
if (scaling[1] > 0)
if (scaling[1] != 0)
{
origShift[1] /= scaling[1];
}
if (scaling[2] > 0)
if (scaling[2] != 0)
{
origShift[2] /= scaling[2];
}

4
src/LinearMath/btConvexHullComputer.h
View File

@@ -48,12 +48,12 @@ class btConvexHullComputer
return targetVertex;
}
const Edge* getNextEdgeOfVertex() const // counter-clockwise list of all edges of a vertex
const Edge* getNextEdgeOfVertex() const // clockwise list of all edges of a vertex
{
return this + next;
}
const Edge* getNextEdgeOfFace() const // clockwise list of all edges of a face
const Edge* getNextEdgeOfFace() const // counter-clockwise list of all edges of a face
{
return (this + reverse)->getNextEdgeOfVertex();
}