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improvements in separating axis test / polyhedral clipping support.

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improved debug rendering for polyhedra
allow to dynamically switch between gjk and sat test to compute separating axis (independent from the polyhedral clipping)
This commit is contained in:
erwin.coumans
2011-04-07 03:59:14 +00:00
parent 563654fb6e
commit 49630e9c77
5 changed files with 112 additions and 52 deletions
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43
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -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);
}
}