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add support for clipFaceAgainstHull, so we can clip convex polyhedra against triangles (without connectivity information)

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in addition to the existing clipHullAgainstHull
Fix for debug drawing of contact points
comment-out some debug drawing code for triangle meshes
This commit is contained in:
erwin.coumans
2011-03-29 21:58:15 +00:00
parent 8847b21eb7
commit 2a856f8c32
5 changed files with 104 additions and 76 deletions
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47
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -26,6 +26,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@@ -395,18 +397,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
{
btScalar maxDist = 0.f;
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
if (dispatchInfo.m_convexMaxDistanceUseCPT)
{
maxDist = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
} else
{
maxDist = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
}
maxDist =0.f;
btVector3 sepNormalWorldSpace;
//#define USE_SAT_TEST
#ifdef USE_SAT_TEST
@@ -421,10 +413,12 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#endif //USE_SAT_TEST
if (foundSepAxis)
{
btPolyhedralContactClipping::clipFaceContacts(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(), maxDist, *resultOut);
btScalar minDist = gjkPairDetector.getCachedSeparatingDistance();
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
if (m_ownManifold)
{
resultOut->refreshContactPoints();
@@ -433,6 +427,31 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
}
} else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
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]);
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = gjkPairDetector.getCachedSeparatingDistance();
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0->getWorldTransform(), vertices, minDist-threshold, threshold, *resultOut);
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
}
}
}