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+ CMake build system fix under Windows: don't define _WINDOWS to allow Glut console demo to build properly

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+ Allow user to enable useConvexConservativeDistanceUtil . Use dynamicsWorld->getDispatchInfo().m_useConvexConservativeDistanceUtil = true;
(see Demos/Benchmarks/Benchmark4 (convex objects falling down)
+ Fix for plane drawing (just wire-frame)
+ Gimpact: use collision margin of 0.07 for demo (because BULLET_TRIANGLE_COLLISION is used)
+ replace dot,cross,distance,angle,triple in btVector3 by btDot, btCross,btDistance,btAngle,btDistance to avoid naming conflicts
+ Some fixes in GJK penetration depth normal direction (broken in a previous commit)
+ fix in calculateDiffAxisAngleQuaternion to make ConvexConservativeDistanceUtil work properly
+ allow debug drawing to debug btContinuousConvexCollision
+ add comment/warning that btTriangleMesh::findOrAddVertex is an internal method, users should use addTriangle instead
This commit is contained in:
erwin.coumans
2009-07-15 16:47:48 +00:00
parent a27b349dd0
commit 40c73f327c
35 changed files with 343 additions and 222 deletions
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71
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -299,6 +299,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
btVector3 tmpPointOnA,tmpPointOnB;
gNumDeepPenetrationChecks++;
m_cachedSeparatingAxis.setZero();
bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
*m_simplexSolver,
@@ -308,23 +309,40 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
debugDraw,input.m_stackAlloc
);
if (isValid2)
{
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
btScalar lenSqr = tmpNormalInB.length2();
if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = m_cachedSeparatingAxis;
isValid = true;
m_lastUsedMethod = 3;
} else
tmpNormalInB = m_cachedSeparatingAxis;
lenSqr = m_cachedSeparatingAxis.length2();
}
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
m_lastUsedMethod = 4;
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 3;
} else
{
m_lastUsedMethod = 8;
}
} else
{
m_lastUsedMethod = 9;
}
} else
{
///this is another degenerate case, where the initial GJK calculation reports a degenerate case
///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
@@ -333,21 +351,24 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
///http://code.google.com/p/bullet/issues/detail?id=250
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
if (m_cachedSeparatingAxis.length2() > btScalar(0.))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= m_cachedSeparatingAxis * marginA ;
pointOnB += m_cachedSeparatingAxis * marginB ;
normalInB = m_cachedSeparatingAxis;
isValid = true;
m_lastUsedMethod = 6;
} else
{
m_lastUsedMethod = 5;
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= m_cachedSeparatingAxis * marginA ;
pointOnB += m_cachedSeparatingAxis * marginB ;
normalInB = m_cachedSeparatingAxis;
isValid = true;
m_lastUsedMethod = 6;
} else
{
m_lastUsedMethod = 5;
}
}
}