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Merge pull request #581 from erwincoumans/master

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Use higher precision GJK/EPA collision tolerances in double precision mode. Fix Lua example
This commit is contained in:
erwincoumans
2016-03-12 08:58:16 -08:00
parent de3b6c31c1 87e5128ba8
commit 2ef8669e75
5 changed files with 58 additions and 21 deletions
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6
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
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@@ -34,7 +34,7 @@ namespace gjkepa2_impl2
/* GJK */
#define GJK_MAX_ITERATIONS 128
#define GJK_ACCURARY ((b3Scalar)0.0001)
#define GJK_ACCURACY ((b3Scalar)0.0001)
#define GJK_MIN_DISTANCE ((b3Scalar)0.0001)
#define GJK_DUPLICATED_EPS ((b3Scalar)0.0001)
#define GJK_SIMPLEX2_EPS ((b3Scalar)0.0)
@@ -216,7 +216,7 @@ namespace gjkepa2_impl2
/* Check for termination */
const b3Scalar omega=b3Dot(m_ray,w)/rl;
alpha=b3Max(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
@@ -998,7 +998,7 @@ bool b3GjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
/* Symbols cleanup */
#undef GJK_MAX_ITERATIONS
#undef GJK_ACCURARY
#undef GJK_ACCURACY
#undef GJK_MIN_DISTANCE
#undef GJK_DUPLICATED_EPS
#undef GJK_SIMPLEX2_EPS

39
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
View File

@@ -41,21 +41,38 @@ namespace gjkepa2_impl
/* GJK */
#define GJK_MAX_ITERATIONS 128
#define GJK_ACCURARY ((btScalar)0.0001)
#define GJK_MIN_DISTANCE ((btScalar)0.0001)
#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
#ifdef BT_USE_DOUBLE_PRECISION
#define GJK_ACCURACY ((btScalar)1e-12)
#define GJK_MIN_DISTANCE ((btScalar)1e-12)
#define GJK_DUPLICATED_EPS ((btScalar)1e-12)
#else
#define GJK_ACCURACY ((btScalar)0.0001)
#define GJK_MIN_DISTANCE ((btScalar)0.0001)
#define GJK_DUPLICATED_EPS ((btScalar)0.0001)
#endif //BT_USE_DOUBLE_PRECISION
#define GJK_SIMPLEX2_EPS ((btScalar)0.0)
#define GJK_SIMPLEX3_EPS ((btScalar)0.0)
#define GJK_SIMPLEX4_EPS ((btScalar)0.0)
/* EPA */
#define EPA_MAX_VERTICES 64
#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
#define EPA_MAX_VERTICES 128
#define EPA_MAX_ITERATIONS 255
#define EPA_ACCURACY ((btScalar)0.0001)
#define EPA_FALLBACK (10*EPA_ACCURACY)
#define EPA_PLANE_EPS ((btScalar)0.00001)
#define EPA_INSIDE_EPS ((btScalar)0.01)
#ifdef BT_USE_DOUBLE_PRECISION
#define EPA_ACCURACY ((btScalar)1e-12)
#define EPA_PLANE_EPS ((btScalar)1e-14)
#define EPA_INSIDE_EPS ((btScalar)1e-9)
#else
#define EPA_ACCURACY ((btScalar)0.0001)
#define EPA_PLANE_EPS ((btScalar)0.00001)
#define EPA_INSIDE_EPS ((btScalar)0.01)
#endif
#define EPA_FALLBACK (10*EPA_ACCURACY)
#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
// Shorthands
@@ -242,7 +259,7 @@ namespace gjkepa2_impl
/* Check for termination */
const btScalar omega=btDot(m_ray,w)/rl;
alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0)
if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
{/* Return old simplex */
removevertice(m_simplices[m_current]);
break;
@@ -1015,7 +1032,7 @@ bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
/* Symbols cleanup */
#undef GJK_MAX_ITERATIONS
#undef GJK_ACCURARY
#undef GJK_ACCURACY
#undef GJK_MIN_DISTANCE
#undef GJK_DUPLICATED_EPS
#undef GJK_SIMPLEX2_EPS

6
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -30,7 +30,11 @@ subject to the following restrictions:
#endif
//must be above the machine epsilon
#define REL_ERROR2 btScalar(1.0e-6)
#ifdef BT_USE_DOUBLE_PRECISION
#define REL_ERROR2 btScalar(1.0e-12)
#else
#define REL_ERROR2 btScalar(1.0e-6)
#endif
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;