improvements in separating axis test / polyhedral clipping support.

improved debug rendering for polyhedra
allow to dynamically switch between gjk and sat test to compute separating axis (independent from the polyhedral clipping)

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -33,6 +33,7 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btStackAlloc.h"
 #include "LinearMath/btSerializer.h"
+#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
 
 //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
 
@@ -1339,14 +1340,44 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
 					btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
 
 					int i;
-					for (i=0;i<polyshape->getNumEdges();i++)
+					if (polyshape->getConvexPolyhedron())
 					{
-						btVector3 a,b;
-						polyshape->getEdge(i,a,b);
-						btVector3 wa = worldTransform * a;
-						btVector3 wb = worldTransform * b;
-						getDebugDrawer()->drawLine(wa,wb,color);
+						const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
+						for (i=0;i<poly->m_faces.size();i++)
+						{
+							btVector3 centroid(0,0,0);
+							int numVerts = poly->m_faces[i].m_indices.size();
+							if (numVerts)
+							{
+								int lastV = poly->m_faces[i].m_indices[numVerts-1];
+								for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
+								{
+									int curVert = poly->m_faces[i].m_indices[v];
+									centroid+=poly->m_vertices[curVert];
+									getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
+									lastV = curVert;
+								}
+							}
+							centroid*= 1./btScalar(numVerts);
 
+							btVector3 normalColor(1,1,0);
+							btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
+							getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+							
+							
+						}
+
+						
+					} else
+					{
+						for (i=0;i<polyshape->getNumEdges();i++)
+						{
+							btVector3 a,b;
+							polyshape->getEdge(i,a,b);
+							btVector3 wa = worldTransform * a;
+							btVector3 wb = worldTransform * b;
+							getDebugDrawer()->drawLine(wa,wb,color);
+						}
 					}
 
 

src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -332,6 +332,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 #endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
 
+
+
+
 #ifdef USE_SEPDISTANCE_UTIL2
 	if (dispatchInfo.m_useConvexConservativeDistanceUtil)
 	{
@@ -390,7 +393,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 	}
 #endif //USE_SEPDISTANCE_UTIL2
 
-
 	if (min0->isPolyhedral() && min1->isPolyhedral())
 	{
 		btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
@@ -399,38 +401,40 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 		{
 			btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
 
+			btScalar minDist = 0.f;
 			btVector3 sepNormalWorldSpace;
-//#define USE_SAT_TEST
-#ifdef USE_SAT_TEST
-			bool foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
-				*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
-				body0->getWorldTransform(), 
-				body1->getWorldTransform(),
-				sepNormalWorldSpace);
-#else
 			bool foundSepAxis  = true;
-			sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
-#endif //USE_SAT_TEST
+
+			if (dispatchInfo.m_enableSatConvex)
+			{
+				foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
+					*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+					body0->getWorldTransform(), 
+					body1->getWorldTransform(),
+					sepNormalWorldSpace);
+			} else
+			{
+				sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
+				minDist = gjkPairDetector.getCachedSeparatingDistance();
+			}
 			if (foundSepAxis)
 			{
-				btScalar minDist = gjkPairDetector.getCachedSeparatingDistance();
+//				printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
 
 				btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
 					body0->getWorldTransform(), 
 					body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
- 
-				if (m_ownManifold)
-				{
-					resultOut->refreshContactPoints();
-				}
-				return;
+ 				
 			}
-
+			if (m_ownManifold)
+			{
+				resultOut->refreshContactPoints();
+			}
+			return;
 
 		} else
 		{
 			//we can also deal with convex versus triangle (without connectivity data)
-
 			if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
 			{
 
@@ -446,13 +450,17 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
 				btScalar minDist = gjkPairDetector.getCachedSeparatingDistance();
 				btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), 
 					body0->getWorldTransform(), vertices, minDist-threshold, threshold, *resultOut);
-				if (m_ownManifold)
-				{
-					resultOut->refreshContactPoints();
-				}
-				return;
+				
+				
+			}
+			if (m_ownManifold)
+			{
+				resultOut->refreshContactPoints();
 			}
 		}
+
+		return;
+
 	}
 
 	//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects