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use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

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improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
This commit is contained in:
ejcoumans
2006-10-28 02:06:19 +00:00
parent 7987be45c5
commit 3fe3b11924
24 changed files with 730 additions and 90 deletions
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16
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -19,11 +19,14 @@ subject to the following restrictions:
//#define USER_DEFINED_FRICTION_MODEL 1
//following define allows to compare/replace Bullet's constraint solver with ODE quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files in Extras/quickstep
//this define requires to either add the libquickstep library (win32, see msvc/8/libquickstep.vcproj) or manually add the files from Extras/quickstep
//#define COMPARE_WITH_QUICKSTEP 1
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/BoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#ifdef COMPARE_WITH_QUICKSTEP
#include "../Extras/quickstep/OdeConstraintSolver.h"
@@ -79,7 +82,7 @@ btCollisionShape* shapePtr[numShapes] =
///Please don't make the box sizes larger then 1000: the collision detection will be inaccurate.
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=346
//#define USE_GROUND_PLANE 1
#define USE_GROUND_PLANE 1
#ifdef USE_GROUND_PLANE
new btStaticPlaneShape(btVector3(0,1,0),10),
#else
@@ -89,9 +92,10 @@ btCollisionShape* shapePtr[numShapes] =
new btCylinderShape (btVector3(CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin)),
//new btCylinderShape (btVector3(1-gCollisionMargin,CUBE_HALF_EXTENTS-gCollisionMargin,1-gCollisionMargin)),
//new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
new btSphereShape (CUBE_HALF_EXTENTS- 0.05f),
//new btConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
//new btConeShape(CUBE_HALF_EXTENTS-gCollisionMargin,2.f*CUBE_HALF_EXTENTS-gCollisionMargin),
new btSphereShape (CUBE_HALF_EXTENTS),
//new btBU_Simplex1to4(btPoint3(-1,-1,-1),btPoint3(1,-1,-1),btPoint3(-1,1,-1),btPoint3(0,0,1)),
//new btEmptyShape(),
@@ -242,6 +246,8 @@ void CcdPhysicsDemo::initPhysics()
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new btSphereSphereCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(BOX_SHAPE_PROXYTYPE,BOX_SHAPE_PROXYTYPE,new BoxBoxCollisionAlgorithm::CreateFunc);
dispatcher->registerCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,TRIANGLE_SHAPE_PROXYTYPE,new btSphereTriangleCollisionAlgorithm::CreateFunc);
#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM
#ifdef COMPARE_WITH_QUICKSTEP