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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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9
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
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@@ -208,6 +208,11 @@ bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron&
}
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
sep = -sep;
return true;
}
@@ -244,10 +249,12 @@ void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatin
int numVerticesA = polyA.m_indices.size();
for(int e0=0;e0<numVerticesA;e0++)
{
const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
/*const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
const btVector3 edge0 = a - b;
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
*/
int otherFace = polyA.m_connectedFaces[e0];
btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];