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Expose the multi-point perturbation algorithm for btConvexPlaneCollisionAlgorithm

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Usage:
	m_collisionConfiguration = new btDefaultCollisionConfiguration();
	m_collisionConfiguration->setPlaneConvexMultipointIterations();

It is only enabled for polyhedral convex shapes, because implicit/smooth surfaces such as spheres, cylinders, capsules and cones keep on rolling forever, due to the extra off-center contact points
This commit is contained in:
erwin.coumans
2011-09-14 20:38:33 +00:00
parent 9abcd9cf2e
commit 385933b5ed
3 changed files with 13 additions and 1 deletions
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5
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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@@ -127,7 +127,10 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
} }
if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold) //the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
//they keep on rolling forever because of the additional off-center contact points
//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
{ {
btVector3 v0,v1; btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1); btPlaneSpace1(planeNormal,v0,v1);

7
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -296,3 +296,10 @@ void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int nu
convexConvex->m_numPerturbationIterations = numPerturbationIterations; convexConvex->m_numPerturbationIterations = numPerturbationIterations;
convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
} }
void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
btConvexPlaneCollisionAlgorithm::CreateFunc* planeCreateFunc = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
planeCreateFunc->m_numPerturbationIterations = numPerturbationIterations;
planeCreateFunc->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}

2
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -129,6 +129,8 @@ public:
///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection. ///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
}; };
#endif //BT_DEFAULT_COLLISION_CONFIGURATION #endif //BT_DEFAULT_COLLISION_CONFIGURATION