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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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100
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
View File

@@ -208,29 +208,17 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
}
}
return true;
}
void btPolyhedralContactClipping::clipFaceContacts(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut)
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVertexArray worldVertsB2;
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
pVtxOut->reserve(pVtxIn->size());
btScalar curMaxDist=maxDist;
int closestFaceA=-1, closestFaceB=-1;
{
btScalar dmax = -FLT_MAX;
for(int face=0;face<hullB.m_faces.size();face++)
{
const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
btScalar d = WorldNormal.dot(separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
int closestFaceA=-1;
{
btScalar dmin = FLT_MAX;
for(int face=0;face<hullA.m_faces.size();face++)
@@ -246,31 +234,12 @@ void btPolyhedralContactClipping::clipFaceContacts(const btVector3& separatingNo
}
}
}
if (closestFaceA<0 || closestFaceB<0)
{
if (closestFaceA<0)
return;
}
// setup initial clip face (minimizing face from hull B)
btVertexArray worldVertsB1;
btVertexArray worldVertsB2;
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
const btFace& polyA = hullA.m_faces[closestFaceA];
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
for(int e0=0;e0<numVertices;e0++)
{
const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
pVtxIn->push_back(transB*b);
}
}
pVtxOut->reserve(pVtxIn->size());
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = pVtxIn->size();
int numVerticesA = polyA.m_indices.size();
for(int e0=0;e0<numVerticesA;e0++)
@@ -309,7 +278,7 @@ void btPolyhedralContactClipping::clipFaceContacts(const btVector3& separatingNo
{
btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
if (depth <=0)
if (depth <=maxDist && depth >=minDist)
{
btVector3 point = pVtxIn->at(i);
#ifdef ONLY_REPORT_DEEPEST_POINT
@@ -334,4 +303,51 @@ void btPolyhedralContactClipping::clipFaceContacts(const btVector3& separatingNo
}
#endif //ONLY_REPORT_DEEPEST_POINT
}
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btScalar curMaxDist=maxDist;
int closestFaceB=-1;
{
btScalar dmax = -FLT_MAX;
for(int face=0;face<hullB.m_faces.size();face++)
{
const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
btScalar d = WorldNormal.dot(separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
if (closestFaceB<0)
{
return;
}
// setup initial clip face (minimizing face from hull B)
btVertexArray worldVertsB1;
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
for(int e0=0;e0<numVertices;e0++)
{
const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
worldVertsB1.push_back(transB*b);
}
}
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
}

9
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
View File

@@ -32,11 +32,14 @@ typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipFaceContacts(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
///the clipFace method is used internally
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
};
#endif // __POLYHEDRAL_CONTACT_CLIPPING_H