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disable help text by default in AllBulletDemos (text slows down many graphics cards)

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improve CollisionDemo.cpp, show multi-contact generation using perturbation
improve ColladaConverter: add hinge/point 2 point constraint conversion support, add btScaledTriangleMeshShape support
Fix Dynamica MayaPlygin: remove 'active' flag, it has to be replaced by mass=0 for active, mass<>0 for passive
Added missing projectfiles
Fixed single-shot contact generation. it is disabled by default to improve performance
Bugfixes for character controller, thanks to John McCutchan for reporting
Constraint solver: better default settings
btDefaultAllocator: aligned allocator uses non-aligned allocator (instead of directly malloc/free)
disable memalign by default, use Bullet's aligned allocator
This commit is contained in:
erwin.coumans
2009-02-06 03:20:43 +00:00
parent 328116d015
commit 2162f6663d
34 changed files with 4029 additions and 239 deletions
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76
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -51,7 +51,7 @@ subject to the following restrictions:
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_numPerturbationIterations = 3;
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
@@ -102,25 +102,53 @@ struct btPerturbedContactResult : public btManifoldResult
btManifoldResult* m_originalManifoldResult;
btTransform m_transformA;
btTransform m_transformB;
btTransform m_unPerturbedTransform;
bool m_perturbA;
btIDebugDraw* m_debugDrawer;
btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB)
btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer)
:m_originalManifoldResult(originalResult),
m_transformA(transformA),
m_transformB(transformB)
m_transformB(transformB),
m_perturbA(perturbA),
m_unPerturbedTransform(unPerturbedTransform),
m_debugDrawer(debugDrawer)
{
}
virtual ~ btPerturbedContactResult()
{
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth)
{
const btVector3& worldPointB = pointInWorld;
btVector3 worldPointA = worldPointB+normalOnBInWorld*depth;
btVector3 localA = m_transformA.invXform(worldPointA);
btVector3 localB = m_transformB.invXform(pointInWorld);
m_originalManifoldResult->addLocalContactPointInternal( normalOnBInWorld,localA,localB);
btVector3 endPt,startPt;
btScalar newDepth;
btVector3 newNormal;
if (m_perturbA)
{
btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
startPt = endPt+normalOnBInWorld*newDepth;
} else
{
endPt = pointInWorld + normalOnBInWorld*orgDepth;
startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld);
newDepth = (endPt - startPt).dot(normalOnBInWorld);
}
//#define DEBUG_CONTACTS 1
#ifdef DEBUG_CONTACTS
m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0));
m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0));
m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1));
#endif //DEBUG_CONTACTS
m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth);
}
};
@@ -188,8 +216,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
//perturbation is work-in-progress, disable until fully finished and tested
if (0)//resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
@@ -211,21 +238,42 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
for ( i=0;i<m_numPerturbationIterations;i++)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB);
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
btScalar curSepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
}
}

10
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -52,14 +52,6 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
m_rootTransB = body1->getWorldTransform();
}
void btManifoldResult::addLocalContactPointInternal(const btVector3& normalOnBInWorld,const btVector3& localPointA,const btVector3& localPointB)
{
btVector3 worldPointA = m_rootTransA( localPointA );
btVector3 worldPointB = m_rootTransB( localPointB );
btScalar depth = (worldPointA - worldPointB).dot(normalOnBInWorld);
addContactPoint(normalOnBInWorld,worldPointB,depth);
}
void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
@@ -100,7 +92,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
{

2
src/BulletCollision/CollisionDispatch/btManifoldResult.h
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@@ -82,8 +82,6 @@ public:
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
virtual void addLocalContactPointInternal(const btVector3& normalOnBInWorld,const btVector3& localPointA,const btVector3& localPointB);
SIMD_FORCE_INLINE void refreshContactPoints()
{
btAssert(m_manifoldPtr);

8
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
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@@ -135,6 +135,9 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
//btScalar clippedDist = GEN_min(angularConservativeRadius,dist);
//btScalar clippedDist = dist;
//don't report time of impact for motion away from the contact normal (or causes minor penetration)
if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
return false;
dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
@@ -196,11 +199,10 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
}
}
//don't report time of impact for motion away from the contact normal (or causes minor penetration)
if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
return false;
result.m_fraction = lambda;
result.m_normal = n;
result.m_hitPoint = c;

3
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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@@ -183,6 +183,9 @@ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
}
if (insertIndex<0)
insertIndex=0;
btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
m_pointCache[insertIndex] = newPoint;
return insertIndex;