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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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7
examples/ExampleBrowser/premake4.lua
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@@ -178,6 +178,13 @@ project "App_BulletExampleBrowser"
} }
end end
if _OPTIONS["lua"] then
includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
links {"lua-5.2.3"}
defines {"ENABLE_LUA"}
files {"../LuaDemo/LuaPhysicsSetup.cpp"}
end
files { files {
"main.cpp", "main.cpp",
"ExampleEntries.cpp", "ExampleEntries.cpp",

21
examples/LuaDemo/LuaPhysicsSetup.cpp
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@@ -2,7 +2,7 @@
#include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../Importers/ImportURDFDemo/MyURDFImporter.h" #include "../Importers/ImportURDFDemo/BulletURDFImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
@@ -39,7 +39,12 @@ extern "C" {
} }
const char* sLuaFileName = "init_urdf.lua";//init_physics.lua"; const char* sLuaFileName = "init_physics.lua";
static int upaxis = 1;
//const char* sLuaFileName = "init_urdf.lua";
//static int upaxis = 2;
static const float scaling=0.35f; static const float scaling=0.35f;
static LuaPhysicsSetup* sLuaDemo = 0; static LuaPhysicsSetup* sLuaDemo = 0;
@@ -69,7 +74,10 @@ LuaPhysicsSetup::~LuaPhysicsSetup()
static int gCreateDefaultDynamicsWorld(lua_State *L) static int gCreateDefaultDynamicsWorld(lua_State *L)
{ {
sLuaDemo->createEmptyDynamicsWorld(); sLuaDemo->createEmptyDynamicsWorld();
sLuaDemo->m_dynamicsWorld->setGravity(btVector3(0,0,-10)); btVector3 grav(0,0,0);
grav[upaxis] = -10;
sLuaDemo->m_dynamicsWorld->setGravity(grav);
sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld); sLuaDemo->m_guiHelper->createPhysicsDebugDrawer(sLuaDemo->m_dynamicsWorld);
lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld); lua_pushlightuserdata (L, sLuaDemo->m_dynamicsWorld);
return 1; return 1;
@@ -211,8 +219,8 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
return 0; return 0;
} }
const char* fileName = lua_tostring(L,2); const char* fileName = lua_tostring(L,2);
#if 1
MyURDFImporter u2b(sLuaDemo->m_guiHelper); BulletURDFImporter u2b(sLuaDemo->m_guiHelper);
bool loadOk = u2b.loadURDF(fileName); bool loadOk = u2b.loadURDF(fileName);
if (loadOk) if (loadOk)
{ {
@@ -240,6 +248,7 @@ static int gLoadMultiBodyFromUrdf(lua_State *L)
{ {
b3Printf("can't find %s",fileName); b3Printf("can't find %s",fileName);
} }
#endif
} }
return 0; return 0;
@@ -377,7 +386,7 @@ static void report_errors(lua_State *L, int status)
void LuaPhysicsSetup::initPhysics() void LuaPhysicsSetup::initPhysics()
{ {
m_guiHelper->setUpAxis(2); m_guiHelper->setUpAxis(upaxis);
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"}; const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*); int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024]; char relativeFileName[1024];

6
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.cpp
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@@ -34,7 +34,7 @@ namespace gjkepa2_impl2
/* GJK */ /* GJK */
#define GJK_MAX_ITERATIONS 128 #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_MIN_DISTANCE ((b3Scalar)0.0001)
#define GJK_DUPLICATED_EPS ((b3Scalar)0.0001) #define GJK_DUPLICATED_EPS ((b3Scalar)0.0001)
#define GJK_SIMPLEX2_EPS ((b3Scalar)0.0) #define GJK_SIMPLEX2_EPS ((b3Scalar)0.0)
@@ -216,7 +216,7 @@ namespace gjkepa2_impl2
/* Check for termination */ /* Check for termination */
const b3Scalar omega=b3Dot(m_ray,w)/rl; const b3Scalar omega=b3Dot(m_ray,w)/rl;
alpha=b3Max(omega,alpha); alpha=b3Max(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0) if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
{/* Return old simplex */ {/* Return old simplex */
removevertice(m_simplices[m_current]); removevertice(m_simplices[m_current]);
break; break;
@@ -998,7 +998,7 @@ bool b3GjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
/* Symbols cleanup */ /* Symbols cleanup */
#undef GJK_MAX_ITERATIONS #undef GJK_MAX_ITERATIONS
#undef GJK_ACCURARY #undef GJK_ACCURACY
#undef GJK_MIN_DISTANCE #undef GJK_MIN_DISTANCE
#undef GJK_DUPLICATED_EPS #undef GJK_DUPLICATED_EPS
#undef GJK_SIMPLEX2_EPS #undef GJK_SIMPLEX2_EPS

37
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -41,21 +41,38 @@ namespace gjkepa2_impl
/* GJK */ /* GJK */
#define GJK_MAX_ITERATIONS 128 #define GJK_MAX_ITERATIONS 128
#define GJK_ACCURARY ((btScalar)0.0001)
#define GJK_MIN_DISTANCE ((btScalar)0.0001) #ifdef BT_USE_DOUBLE_PRECISION
#define GJK_DUPLICATED_EPS ((btScalar)0.0001) #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_SIMPLEX2_EPS ((btScalar)0.0)
#define GJK_SIMPLEX3_EPS ((btScalar)0.0) #define GJK_SIMPLEX3_EPS ((btScalar)0.0)
#define GJK_SIMPLEX4_EPS ((btScalar)0.0) #define GJK_SIMPLEX4_EPS ((btScalar)0.0)
/* EPA */ /* EPA */
#define EPA_MAX_VERTICES 64 #define EPA_MAX_VERTICES 128
#define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
#define EPA_MAX_ITERATIONS 255 #define EPA_MAX_ITERATIONS 255
#define EPA_ACCURACY ((btScalar)0.0001)
#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_FALLBACK (10*EPA_ACCURACY)
#define EPA_PLANE_EPS ((btScalar)0.00001) #define EPA_MAX_FACES (EPA_MAX_VERTICES*2)
#define EPA_INSIDE_EPS ((btScalar)0.01)
// Shorthands // Shorthands
@@ -242,7 +259,7 @@ namespace gjkepa2_impl
/* Check for termination */ /* Check for termination */
const btScalar omega=btDot(m_ray,w)/rl; const btScalar omega=btDot(m_ray,w)/rl;
alpha=btMax(omega,alpha); alpha=btMax(omega,alpha);
if(((rl-alpha)-(GJK_ACCURARY*rl))<=0) if(((rl-alpha)-(GJK_ACCURACY*rl))<=0)
{/* Return old simplex */ {/* Return old simplex */
removevertice(m_simplices[m_current]); removevertice(m_simplices[m_current]);
break; break;
@@ -1015,7 +1032,7 @@ bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
/* Symbols cleanup */ /* Symbols cleanup */
#undef GJK_MAX_ITERATIONS #undef GJK_MAX_ITERATIONS
#undef GJK_ACCURARY #undef GJK_ACCURACY
#undef GJK_MIN_DISTANCE #undef GJK_MIN_DISTANCE
#undef GJK_DUPLICATED_EPS #undef GJK_DUPLICATED_EPS
#undef GJK_SIMPLEX2_EPS #undef GJK_SIMPLEX2_EPS

6
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -30,7 +30,11 @@ subject to the following restrictions:
#endif #endif
//must be above the machine epsilon //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 //temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0; int gNumDeepPenetrationChecks = 0;