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fix and re-enable sphere-box collision algorithm, Issue 643

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Thanks to Laurent for the fix and Thomas for adapting the fix to latest trunk revision!
This commit is contained in:
erwin.coumans
2012-07-31 17:17:51 +00:00
parent 7f6131f0cc
commit 37ebcc3aa6
5 changed files with 107 additions and 166 deletions
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9
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -22,9 +22,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
@@ -72,13 +70,11 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
@@ -181,12 +177,10 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereSphereCF);
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereBoxCF);
m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxSphereCF);
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereTriangleCF);
@@ -220,7 +214,6 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
{
return m_sphereSphereCF;
}
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
{
return m_sphereBoxCF;
@@ -230,8 +223,6 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
{
return m_boxSphereCF;
}
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
{

2
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -78,10 +78,8 @@ protected:
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;

257
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -49,7 +49,7 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
@@ -59,26 +59,21 @@ void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWra
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
btVector3 pOnBox;
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btScalar penetrationDepth;
btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObjWrap,pOnBox,pOnSphere,sphereCenter,radius);
btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (dist < SIMD_EPSILON)
if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
{
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
}
if (m_ownManifold)
@@ -103,159 +98,117 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance )
{
btScalar margins;
btVector3 bounds[2];
const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
btScalar boxMargin = boxShape->getMargin();
penetrationDepth = 1.0f;
// convert the sphere position to the box's local space
btTransform const &m44T = boxObjWrap->getWorldTransform();
btVector3 sphereRelPos = m44T.invXform(sphereCenter);
// Determine the closest point to the sphere center in the box
btVector3 closestPoint = sphereRelPos;
closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) );
closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) );
closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) );
closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) );
closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) );
closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) );
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
btScalar intersectionDist = fRadius + boxMargin;
btScalar contactDist = intersectionDist + maxContactDistance;
normal = sphereRelPos - closestPoint;
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObjWrap->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
boundsVec[0] = bounds[0];
boundsVec[1] = bounds[1];
btVector3 marginsVec( margins, margins, margins );
// add margins
bounds[0] += marginsVec;
bounds[1] -= marginsVec;
/////////////////////////////////////////////////
btVector3 tmp, prel, n[6], normal, v3P;
btScalar fSep = btScalar(10000000.0), fSepThis;
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
// convert point in local space
prel = m44T.invXform( sphereCenter);
bool bFound = false;
v3P = prel;
for (int i=0;i<6;i++)
//if there is no penetration, we are done
btScalar dist2 = normal.length2();
if (dist2 > contactDist * contactDist)
{
int j = i<3? 0:1;
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
{
v3P = v3P - n[i]*fSepThis;
bFound = true;
}
}
//
if ( bFound )
{
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
normal = (prel - v3P).normalize();
pointOnBox = v3P + normal*margins;
v3PointOnSphere = prel - normal*fRadius;
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
{
return btScalar(1.0);
}
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere);
v3PointOnSphere = tmp;
btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
//if this fails, fallback into deeper penetration case, below
if (fSeps2 > SIMD_EPSILON)
{
fSep = - btSqrt(fSeps2);
normal = (pointOnBox-v3PointOnSphere);
normal *= btScalar(1.)/fSep;
}
return fSep;
return false;
}
//////////////////////////////////////////////////
// Deep penetration case
btScalar distance;
fPenetration = getSpherePenetration( boxObjWrap,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
if ( fPenetration <= btScalar(0.0) )
return (fPenetration-margins);
else
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( const btCollisionObjectWrapper* boxObjWrap,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
bounds[0] = aabbMin;
bounds[1] = aabbMax;
btVector3 p0, tmp, prel, n[6], normal;
btScalar fSep = btScalar(-10000000.0), fSepThis;
// set p0 and normal to a default value to shup up GCC
p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObjWrap->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);
///////////
for (int i=0;i<6;i++)
//special case if the sphere center is inside the box
if (dist2 == 0.0f)
{
int j = i<3 ? 0:1;
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0);
if ( fSepThis > fSep )
{
p0 = bounds[j]; normal = (btVector3&)n[i];
fSep = fSepThis;
}
distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
}
else //compute the penetration details
{
distance = normal.length();
normal /= distance;
}
pointOnBox = prel - normal*(normal.dot((prel-p0)));
v3PointOnSphere = pointOnBox + normal*fSep;
pointOnBox = closestPoint + normal * boxMargin;
// v3PointOnSphere = sphereRelPos - (normal * fRadius);
penetrationDepth = distance - intersectionDist;
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere); v3PointOnSphere = tmp;
normal = (pointOnBox-v3PointOnSphere).normalize();
return fSep;
btVector3 tmp = m44T(pointOnBox);
pointOnBox = tmp;
// tmp = m44T(v3PointOnSphere);
// v3PointOnSphere = tmp;
tmp = m44T.getBasis() * normal;
normal = tmp;
return true;
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal )
{
//project the center of the sphere on the closest face of the box
btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
btScalar minDist = faceDist;
closestPoint.setX( boxHalfExtent.getX() );
normal.setValue(btScalar(1.0f), btScalar(0.0f), btScalar(0.0f));
faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setX( -boxHalfExtent.getX() );
normal.setValue(btScalar(-1.0f), btScalar(0.0f), btScalar(0.0f));
}
faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setY( boxHalfExtent.getY() );
normal.setValue(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f));
}
faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setY( -boxHalfExtent.getY() );
normal.setValue(btScalar(0.0f), btScalar(-1.0f), btScalar(0.0f));
}
faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setZ( boxHalfExtent.getZ() );
normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f));
}
faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setZ( -boxHalfExtent.getZ() );
normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(-1.0f));
}
return minDist;
}

4
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
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@@ -50,9 +50,9 @@ public:
}
}
btScalar getSphereDistance( const btCollisionObjectWrapper* boxObjWrap,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
btScalar getSpherePenetration( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{

1
src/btBulletCollisionCommon.h
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@@ -45,7 +45,6 @@ subject to the following restrictions:
///Narrowphase Collision Detector
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
//btSphereBoxCollisionAlgorithm is broken, use gjk for now
//#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"