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Make getShapeType() a non virtual function.

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Add localGetSupportVertexNonVirtual, localGetSupportVertexWithoutMarginNonVirtual, getAabbNonVirtual and getMarginNonVirtual methods to convex shape classes
This commit is contained in:
john.mccutchan
2008-09-29 22:47:05 +00:00
parent 41b6eaa87f
commit 2b71784c86
50 changed files with 968 additions and 168 deletions
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4
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -72,9 +72,9 @@ struct MinkowskiDiff
void EnableMargin(bool enable)
{
if(enable)
Ls=&btConvexShape::localGetSupportingVertex;
Ls=&btConvexShape::localGetSupportVertexNonVirtual;
else
Ls=&btConvexShape::localGetSupportingVertexWithoutMargin;
Ls=&btConvexShape::localGetSupportVertexWithoutMarginNonVirtual;
}
inline btVector3 Support0(const btVector3& d) const
{

8
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
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@@ -17,7 +17,15 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "btGjkEpaPenetrationDepthSolver.h"
#ifndef __SPU__
//#define USE_ORIGINAL_GJK 1
#endif
#ifdef USE_ORIGINAL_GJK
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#endif
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,

38
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -23,6 +23,7 @@ subject to the following restrictions:
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
//#define DEBUG_SPU_COLLISION_DETECTION 1
#endif //__SPU__
#endif
@@ -58,16 +59,22 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
btScalar marginA = m_minkowskiA->getMargin();
btScalar marginB = m_minkowskiB->getMargin();
btScalar marginA = m_minkowskiA->getMarginNonVirtual();
btScalar marginB = m_minkowskiB->getMarginNonVirtual();
gNumGjkChecks++;
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("inside gjk\n");
#endif
//for CCD we don't use margins
if (m_ignoreMargin)
{
marginA = btScalar(0.);
marginB = btScalar(0.);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("ignoring margin\n");
#endif
}
m_curIter = 0;
@@ -98,11 +105,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
btPoint3 pWorld = localTransA(pInA);
btPoint3 qWorld = localTransB(qInB);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("got local supporting vertices\n");
#endif
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
@@ -133,9 +144,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
checkSimplex = true;
break;
}
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 1\n");
#endif
//add current vertex to simplex
m_simplexSolver->addVertex(w, pWorld, qWorld);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 2\n");
#endif
//calculate the closest point to the origin (update vector v)
if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
{
@@ -167,7 +184,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (m_curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG)
#if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
@@ -290,10 +307,17 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
#endif //__CELLOS_LV2__
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 1\n");
#endif
output.addContactPoint(
normalInB,
pointOnB+positionOffset,
distance);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 2\n");
#endif
//printf("gjk add:%f",distance);
}

17
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -19,9 +19,6 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
{
@@ -117,7 +114,9 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 seperatingAxisInA,seperatingAxisInB;
btVector3 pInA,qInB,pWorld,qWorld,w;
#ifndef __SPU__
#define USE_BATCHED_SUPPORT 1
#endif
#ifdef USE_BATCHED_SUPPORT
btVector3 supportVerticesABatch[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
@@ -200,6 +199,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
int numSampleDirections = NUM_UNITSPHERE_POINTS;
#ifndef __SPU__
{
int numPDA = convexA->getNumPreferredPenetrationDirections();
if (numPDA)
@@ -229,14 +229,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
}
}
}
#endif // __SPU__
for (int i=0;i<numSampleDirections;i++)
{
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
qInB = convexB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
qInB = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
pWorld = transA(pInA);
qWorld = transB(qInB);
w = qWorld - pWorld;
@@ -254,13 +255,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
//add the margins
minA += minNorm*convexA->getMargin();
minB -= minNorm*convexB->getMargin();
minA += minNorm*convexA->getMarginNonVirtual();
minB -= minNorm*convexB->getMarginNonVirtual();
//no penetration
if (minProj < btScalar(0.))
return false;
minProj += (convexA->getMargin() + convexB->getMargin());
minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());

1
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
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@@ -30,7 +30,6 @@ public:
btVector3& v, btPoint3& pa, btPoint3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
);
};
#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H