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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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52
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -50,6 +50,8 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
btConvexHullComputer conv;
conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
btAlignedObjectArray<btVector3> faceNormals;
int numFaces = conv.faces.size();
faceNormals.resize(numFaces);
@@ -89,25 +91,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
btVector3 wb = convexUtil->vertices[targ];
btVector3 newEdge = wb-wa;
if (!newEdge.fuzzyZero())
{
newEdge.normalize();
if (!numEdges)
{
edges[numEdges++] = newEdge;
} else
{
btVector3 cr = (edges[0].cross(newEdge));
btScalar cr2 = cr.length2();
if (cr2 > maxCross2)
{
chosenEdge = m_polyhedron->m_faces[i].m_indices.size();
numEdges=1;//replace current edge
edges[numEdges++] = newEdge;
maxCross2=cr2;
}
}
}
newEdge.normalize();
if (numEdges<2)
edges[numEdges++] = newEdge;
edge = edge->getNextEdgeOfFace();
} while (edge!=firstEdge);
@@ -143,6 +129,34 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
}
if (m_polyhedron->m_faces.size() && conv.vertices.size())
{
for (int f=0;f<m_polyhedron->m_faces.size();f++)
{
btVector3 planeNormal(m_polyhedron->m_faces[f].m_plane[0],m_polyhedron->m_faces[f].m_plane[1],m_polyhedron->m_faces[f].m_plane[2]);
btScalar planeEq = m_polyhedron->m_faces[f].m_plane[3];
btVector3 supVec = localGetSupportingVertex(-planeNormal);
if (supVec.dot(planeNormal)<planeEq)
{
m_polyhedron->m_faces[f].m_plane[0] *= -1;
m_polyhedron->m_faces[f].m_plane[1] *= -1;
m_polyhedron->m_faces[f].m_plane[2] *= -1;
m_polyhedron->m_faces[f].m_plane[3] *= -1;
int numVerts = m_polyhedron->m_faces[f].m_indices.size();
for (int v=0;v<numVerts/2;v++)
{
btSwap(m_polyhedron->m_faces[f].m_indices[v],m_polyhedron->m_faces[f].m_indices[numVerts-1-v]);
}
}
}
}
m_polyhedron->initialize();
return true;