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

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

src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

@@ -0,0 +1,201 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "SphereTriangleDetector.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+
+
+SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
+:m_sphere(sphere),
+m_triangle(triangle)
+{
+
+}
+
+void	SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+{
+
+	const btTransform& transformA = input.m_transformA;
+	const btTransform& transformB = input.m_transformB;
+
+	btVector3 point,normal;
+	btScalar timeOfImpact = 1.f;
+	btScalar depth = 0.f;
+//	output.m_distance = 1e30f;
+	//move sphere into triangle space
+	btTransform	sphereInTr = transformB.inverseTimes(transformA);
+
+	if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
+	{
+		output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
+	}
+
+}
+
+#define MAX_OVERLAP 0.f
+
+
+
+// See also geometrictools.com
+// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
+float SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
+	btVector3 diff = p - from;
+	btVector3 v = to - from;
+	float t = v.dot(diff);
+	
+	if (t > 0) {
+		float dotVV = v.dot(v);
+		if (t < dotVV) {
+			t /= dotVV;
+			diff -= t*v;
+		} else {
+			t = 1;
+			diff -= v;
+		}
+	} else
+		t = 0;
+
+	nearest = from + t*v;
+	return diff.dot(diff);	
+}
+
+bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal)  {
+	btVector3 lp(p);
+	btVector3 lnormal(normal);
+	
+	return pointInTriangle(vertices, lnormal, &lp);
+}
+
+///combined discrete/continuous sphere-triangle
+bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, float &timeOfImpact)
+{
+
+	const btVector3* vertices = &m_triangle->getVertexPtr(0);
+	const btVector3& c = sphereCenter;
+	btScalar r = m_sphere->getRadius();
+
+	btVector3 delta (0,0,0);
+
+	btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
+	normal.normalize();
+	btVector3 p1ToCentre = c - vertices[0];
+	float distanceFromPlane = p1ToCentre.dot(normal);
+
+	if (distanceFromPlane < 0.f)
+	{
+		//triangle facing the other way
+	
+		distanceFromPlane *= -1.f;
+		normal *= -1.f;
+	}
+
+	///todo: move this gContactBreakingTreshold into a proper structure
+	extern float gContactBreakingTreshold;
+
+	float contactMargin = gContactBreakingTreshold;
+	bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
+	bool isInsideShellPlane = distanceFromPlane < r;
+	
+	float deltaDotNormal = delta.dot(normal);
+	if (!isInsideShellPlane && deltaDotNormal >= 0.0f)
+		return false;
+
+	// Check for contact / intersection
+	bool hasContact = false;
+	btVector3 contactPoint;
+	if (isInsideContactPlane) {
+		if (facecontains(c,vertices,normal)) {
+			// Inside the contact wedge - touches a point on the shell plane
+			hasContact = true;
+			contactPoint = c - normal*distanceFromPlane;
+		} else {
+			// Could be inside one of the contact capsules
+			float contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
+			btVector3 nearestOnEdge;
+			for (int i = 0; i < m_triangle->getNumEdges(); i++) {
+				
+				btPoint3 pa;
+				btPoint3 pb;
+				
+				m_triangle->getEdge(i,pa,pb);
+
+				float distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
+				if (distanceSqr < contactCapsuleRadiusSqr) {
+					// Yep, we're inside a capsule
+					hasContact = true;
+					contactPoint = nearestOnEdge;
+				}
+				
+			}
+		}
+	}
+
+	if (hasContact) {
+		btVector3 contactToCentre = c - contactPoint;
+		float distanceSqr = contactToCentre.length2();
+		if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
+			float distance = sqrtf(distanceSqr);
+			if (1)
+			{
+				resultNormal = contactToCentre;
+				resultNormal.normalize();
+			}
+			point = contactPoint;
+			depth = -(r-distance);
+			return true;
+		}
+
+		if (delta.dot(contactToCentre) >= 0.0f) 
+			return false;
+		
+		// Moving towards the contact point -> collision
+		point = contactPoint;
+		timeOfImpact = 0.0f;
+		return true;
+	}
+	
+	return false;
+}
+
+
+bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
+{
+	const btVector3* p1 = &vertices[0];
+	const btVector3* p2 = &vertices[1];
+	const btVector3* p3 = &vertices[2];
+
+	btVector3 edge1( *p2 - *p1 );
+	btVector3 edge2( *p3 - *p2 );
+	btVector3 edge3( *p1 - *p3 );
+
+	btVector3 p1_to_p( *p - *p1 );
+	btVector3 p2_to_p( *p - *p2 );
+	btVector3 p3_to_p( *p - *p3 );
+
+	btVector3 edge1_normal( edge1.cross(normal));
+	btVector3 edge2_normal( edge2.cross(normal));
+	btVector3 edge3_normal( edge3.cross(normal));
+	
+	float r1, r2, r3;
+	r1 = edge1_normal.dot( p1_to_p );
+	r2 = edge2_normal.dot( p2_to_p );
+	r3 = edge3_normal.dot( p3_to_p );
+	if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
+	     ( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
+		return true;
+	return false;
+
+}

src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h

@@ -0,0 +1,48 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SPHERE_TRIANGLE_DETECTOR_H
+#define SPHERE_TRIANGLE_DETECTOR_H
+
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+#include "LinearMath/btPoint3.h"
+
+
+class btSphereShape;
+class btTriangleShape;
+
+
+
+/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
+struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
+{
+	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
+
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
+
+	virtual ~SphereTriangleDetector() {};
+
+private:
+
+	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, float &timeOfImpact);
+	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
+	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
+
+	btSphereShape* m_sphere;
+	btTriangleShape* m_triangle;
+
+	
+};
+#endif //SPHERE_TRIANGLE_DETECTOR_H

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -142,13 +142,14 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
 
 	
 
-btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
 {
 #define USE_DISPATCH_REGISTRY_ARRAY 1
 #ifdef USE_DISPATCH_REGISTRY_ARRAY
 	
 	btCollisionAlgorithmConstructionInfo ci;
 	ci.m_dispatcher = this;
+	ci.m_manifold = sharedManifold;
 	btCollisionAlgorithm* algo = m_doubleDispatch[body0->m_collisionShape->getShapeType()][body1->m_collisionShape->getShapeType()]
 	->CreateCollisionAlgorithm(ci,body0,body1);
 #else
@@ -193,7 +194,7 @@ btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(in
 
 
 
-btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
+btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
 {
 	m_count++;
 	
@@ -202,7 +203,7 @@ btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionOb
 	
 	if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConvex() )
 	{
-		return new btConvexConvexAlgorithm(0,ci,body0,body1);
+		return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1);
 	}
 
 	if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConcave())

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -56,7 +56,7 @@ class btCollisionDispatcher : public btDispatcher
 	btCollisionAlgorithmCreateFunc*	m_swappedCompoundCreateFunc;
 	btCollisionAlgorithmCreateFunc*   m_emptyCreateFunc;
 
-	btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1);
+	btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
 
 public:
 
@@ -114,7 +114,7 @@ public:
 	virtual void clearManifold(btPersistentManifold* manifold);
 
 			
-	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1);
+	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
 		
 	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1);
 	

src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp

@@ -17,7 +17,6 @@ subject to the following restrictions:
 #include "btConvexConcaveCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
-#include "btConvexConvexAlgorithm.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 #include "BulletCollision/CollisionShapes/btConcaveShape.h"
 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
@@ -115,10 +114,16 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
 		btCollisionShape* tmpShape = ob->m_collisionShape;
 		ob->m_collisionShape = &tm;
 		
+
+		btCollisionAlgorithm* colAlgo = ci.m_dispatcher->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
 		///this should use the btDispatcher, so the actual registered algorithm is used
-		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
-		cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
-		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		//		btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
+
+		m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
+	//	cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
+//		cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+		delete colAlgo;
 		ob->m_collisionShape = tmpShape;
 
 	}

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -172,7 +172,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	
 	input.m_transformA = body0->m_worldTransform;
 	input.m_transformB = body1->m_worldTransform;
-    
+	
 	resultOut->setPersistentManifold(m_manifoldPtr);
 	m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
 

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h

@@ -54,13 +54,6 @@ public:
 
 	void	setLowLevelOfDetail(bool useLowLevel);
 
-	virtual void setShapeIdentifiers(int partId0,int index0,	int partId1,int index1)
-	{
-			m_gjkPairDetector.m_partId0=partId0;
-			m_gjkPairDetector.m_partId1=partId1;
-			m_gjkPairDetector.m_index0=index0;
-			m_gjkPairDetector.m_index1=index1;		
-	}
 
 	const btPersistentManifold*	getManifold()
 	{
@@ -71,7 +64,7 @@ public:
 	{
 		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 		{
-			return new btConvexConvexAlgorithm(0,ci,body0,body1);
+			return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1);
 		}
 	};
 

src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp

@@ -0,0 +1,71 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btSphereTriangleCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btSphereShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "SphereTriangleDetector.h"
+
+
+btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
+: btCollisionAlgorithm(ci),
+m_ownManifold(false),
+m_manifoldPtr(mf),
+m_swapped(swapped)
+{
+	if (!m_manifoldPtr)
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
+		m_ownManifold = true;
+	}
+}
+
+btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+}
+
+void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	if (!m_manifoldPtr)
+		return;
+
+	btSphereShape* sphere = (btSphereShape*)col0->m_collisionShape;
+	btTriangleShape* triangle = (btTriangleShape*)col1->m_collisionShape;
+	
+	/// report a contact. internally this will be kept persistent, and contact reduction is done
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	SphereTriangleDetector detector(sphere,triangle);
+	
+	btDiscreteCollisionDetectorInterface::ClosestPointInput input;
+	input.m_maximumDistanceSquared = 1e30f;//todo: tighter bounds
+	input.m_transformA = col0->m_worldTransform;
+	input.m_transformB = col1->m_worldTransform;
+
+	detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
+}
+
+float btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	//not yet
+	return 1.f;
+}

src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h

@@ -0,0 +1,59 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+class btPersistentManifold;
+
+/// btSphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
+/// Other features are frame-coherency (persistent data) and collision response.
+/// Also provides the most basic sample for custom/user btCollisionAlgorithm
+class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	bool	m_swapped;
+	
+public:
+	btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
+
+	btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+		: btCollisionAlgorithm(ci) {}
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	
+	virtual ~btSphereTriangleCollisionAlgorithm();
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			
+				return new btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
+		}
+	};
+
+};
+
+#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+