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Added a more reliable EPA penetration depth solver, contributed by Nathanael Presson.

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This commit is contained in:
ejcoumans
2006-11-15 15:40:24 +00:00
parent dcdfbe1680
commit 5a28e96a38
5 changed files with 829 additions and 34 deletions
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51
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -39,12 +39,9 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
//#define USE_BT_GJKEPA 1
#ifdef USE_BT_GJKEPA
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#endif //USE_BT_GJKEPA
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
//#include "NarrowPhaseCollision/EpaPenetrationDepthSolver.h"
#ifdef WIN32
#if _MSC_VER >= 1310
@@ -64,7 +61,7 @@ subject to the following restrictions:
#endif //USE_HULL
bool gUseEpa = false;
bool gUseEpa = true;
#ifdef WIN32
@@ -118,13 +115,10 @@ void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
static btGjkEpaPenetrationDepthSolver gEpaPenetrationDepthSolver;
static btMinkowskiPenetrationDepthSolver gPenetrationDepthSolver;
//static EpaPenetrationDepthSolver gEpaPenetrationDepthSolver;
#ifdef USE_EPA
Solid3EpaPenetrationDepth gSolidEpaPenetrationSolver;
#endif //USE_EPA
void btConvexConvexAlgorithm::checkPenetrationDepthSolver()
{
@@ -133,10 +127,7 @@ void btConvexConvexAlgorithm::checkPenetrationDepthSolver()
m_useEpa = gUseEpa;
if (m_useEpa)
{
// m_gjkPairDetector.setPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
m_gjkPairDetector.setPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
} else
{
m_gjkPairDetector.setPenetrationDepthSolver(&gPenetrationDepthSolver);
@@ -158,28 +149,21 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
#ifdef USE_BT_GJKEPA
btVector3 witnesses[2];
btVector3 normal(0,0,0);
btScalar depth(0);
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
const btScalar margin(shape0->getMargin()+shape1->getMargin());
resultOut->setPersistentManifold(m_manifoldPtr);
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
const btScalar radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
btGjkEpaSolver::sResults results;
if(btGjkEpaSolver::Collide( shape0,body0->getWorldTransform(),
shape1,body1->getWorldTransform(),
shape0->getMargin(),shape1->getMargin(),
witnesses,normal,depth))
{
//optional: draw the contact+normal
dispatchInfo.m_debugDraw->drawLine(witnesses[1],witnesses[1]+normal,btVector3(255,0,0));
resultOut->addContactPoint(normal,witnesses[1],-depth);
}
#else
radialmargin,results))
{
dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
checkPenetrationDepthSolver();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
@@ -198,9 +182,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
resultOut->setPersistentManifold(m_manifoldPtr);
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
#endif
}
@@ -299,4 +282,4 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
return resultFraction;
}
}