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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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29
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -36,11 +36,7 @@ m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
m_ignoreMargin(false),
m_partId0(-1),
m_index0(-1),
m_partId1(-1),
m_index1(-1)
m_ignoreMargin(false)
{
}
@@ -60,7 +56,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
marginB = 0.f;
}
int curIter = 0;
int curIter = 0;
int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN?
bool isValid = false;
bool checkSimplex = false;
@@ -131,6 +128,25 @@ int curIter = 0;
checkSimplex = true;
break;
}
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG)
printf("btGjkPairDetector maxIter exceeded:%i\n",curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
m_cachedSeparatingAxis.getX(),
m_cachedSeparatingAxis.getY(),
m_cachedSeparatingAxis.getZ(),
squaredDistance,
m_minkowskiA->getShapeType(),
m_minkowskiB->getShapeType());
#endif
break;
}
bool check = (!m_simplexSolver->fullSimplex());
//bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
@@ -200,7 +216,6 @@ int curIter = 0;
//spu_printf("distance\n");
#endif //__CELLOS_LV2__
output.setShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1);
output.addContactPoint(
normalInB,

6
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
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@@ -43,12 +43,6 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
public:
//experimental feature information, per triangle, per convex etc.
//'material combiner' / contact added callback
int m_partId0;
int m_index0;
int m_partId1;
int m_index1;
btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~btGjkPairDetector() {};