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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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58
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -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