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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
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 {
"main.cpp",
"ExampleEntries.cpp",

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

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
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@@ -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
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@@ -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;