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propagate resultOut->m_closestPointDistanceThreshold properly for convex-convex (capsule, sphere) and convex vs plane

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erwincoumans
2018-11-27 17:31:18 -08:00
parent ecfe8de506
commit 49c8e738a4
2 changed files with 6 additions and 6 deletions
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10
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -296,7 +296,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
btCapsuleShape* capsuleA = (btCapsuleShape*)min0; btCapsuleShape* capsuleA = (btCapsuleShape*)min0;
btCapsuleShape* capsuleB = (btCapsuleShape*)min1; btCapsuleShape* capsuleB = (btCapsuleShape*)min1;
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(), btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
capsuleB->getHalfHeight(), capsuleB->getRadius(), capsuleA->getUpAxis(), capsuleB->getUpAxis(), capsuleB->getHalfHeight(), capsuleB->getRadius(), capsuleA->getUpAxis(), capsuleB->getUpAxis(),
@@ -318,7 +318,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
btCapsuleShape* capsuleA = (btCapsuleShape*)min0; btCapsuleShape* capsuleA = (btCapsuleShape*)min0;
btSphereShape* capsuleB = (btSphereShape*)min1; btSphereShape* capsuleB = (btSphereShape*)min1;
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(), btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, capsuleA->getHalfHeight(), capsuleA->getRadius(),
0., capsuleB->getRadius(), capsuleA->getUpAxis(), 1, 0., capsuleB->getRadius(), capsuleA->getUpAxis(), 1,
@@ -340,7 +340,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
btSphereShape* capsuleA = (btSphereShape*)min0; btSphereShape* capsuleA = (btSphereShape*)min0;
btCapsuleShape* capsuleB = (btCapsuleShape*)min1; btCapsuleShape* capsuleB = (btCapsuleShape*)min1;
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, 0., capsuleA->getRadius(), btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld, 0., capsuleA->getRadius(),
capsuleB->getHalfHeight(), capsuleB->getRadius(), 1, capsuleB->getUpAxis(), capsuleB->getHalfHeight(), capsuleB->getRadius(), 1, capsuleB->getUpAxis(),
@@ -480,7 +480,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*)min1; btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*)min1;
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron()) if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
{ {
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
btScalar minDist = -1e30f; btScalar minDist = -1e30f;
btVector3 sepNormalWorldSpace; btVector3 sepNormalWorldSpace;
@@ -547,7 +547,7 @@ void btConvexConvexAlgorithm ::processCollision(const btCollisionObjectWrapper*
//tri->initializePolyhedralFeatures(); //tri->initializePolyhedralFeatures();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold(); btScalar threshold = m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
btVector3 sepNormalWorldSpace; btVector3 sepNormalWorldSpace;
btScalar minDist = -1e30f; btScalar minDist = -1e30f;

2
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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@@ -116,7 +116,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision(const btCollisionObjectWr
btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal; btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected; btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold(); hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
resultOut->setPersistentManifold(m_manifoldPtr); resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision) if (hasCollision)
{ {