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perform GrahamScanConvexHull2D around an arbitrary oriented 2D plane in 3D, to fix some convex hull face merging problems

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add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully)
object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint
add assert in constraint solver, when both objects have their inertia tensor rows set to zero
btPolyhedralContactClipping: add edge-edge contact point in  findSeparatingAxis (similar to the default GJK case)
This commit is contained in:
erwin.coumans
2012-09-28 07:14:48 +00:00
parent 837e5cb5e0
commit 60bf599246
24 changed files with 385 additions and 153 deletions
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9
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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@@ -215,7 +215,10 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{
case BOX_SHAPE_PROXYTYPE:
{
shape = createBoxShape(implicitShapeDimensions/localScaling+margin);
btBoxShape* box= (btBoxShape*)createBoxShape(implicitShapeDimensions/localScaling+margin);
//box->initializePolyhedralFeatures();
shape = box;
break;
}
case SPHERE_SHAPE_PROXYTYPE:
@@ -333,6 +336,7 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{
hullShape->addPoint(tmpPoints[i]);
}
hullShape->setMargin(bsd->m_collisionMargin);
//hullShape->initializePolyhedralFeatures();
shape = hullShape;
break;
@@ -345,7 +349,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
if (shape)
{
//shape->setMargin(bsd->m_collisionMargin);
shape->setMargin(bsd->m_collisionMargin);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);

37
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
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@@ -238,7 +238,7 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
m_pointerLookup.insert(ptr,convexHullData);
m_pointerLookup.insert((void*)ptr,convexHullData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
@@ -292,7 +292,7 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
{
m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
m_pointerLookup.insert(ptr,cd);
m_pointerLookup.insert((void*)ptr,cd);
}
}
@@ -328,7 +328,7 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
m_pointerLookup.insert(ptr,compoundData);
m_pointerLookup.insert((void*)ptr,compoundData);
}
@@ -348,12 +348,17 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
m_pointerLookup.insert(ptr,planeData);
m_pointerLookup.insert((void*)ptr,planeData);
}
void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
{
btContactSolverInfo solverInfo;
//btVector3 gravity(0,0,0);
//setDynamicsWorldInfo(gravity,solverInfo);
//gravity and world info
}
@@ -371,12 +376,13 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
deSerializeCollisionShapeData(xmlShapeData,&convexShape->m_collisionShapeData);
SET_FLOAT_VALUE(pParent,convexShape,m_collisionMargin)
SET_VECTOR4_VALUE(pParent,convexShape,m_localScaling)
SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
m_pointerLookup.insert(ptr,convexShape);
m_pointerLookup.insert((void*)ptr,convexShape);
}
@@ -433,7 +439,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
m_constraintData.push_back((btTypedConstraintData*)dof6Data);
m_pointerLookup.insert(ptr,dof6Data);
m_pointerLookup.insert((void*)ptr,dof6Data);
}
void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
@@ -500,7 +506,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
m_rigidBodyData.push_back(rbData);
m_pointerLookup.insert(ptr,rbData);
m_pointerLookup.insert((void*)ptr,rbData);
// rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
}
@@ -558,13 +564,13 @@ void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData* tcd)
{
if (tcd->m_rbA)
{
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find((intptr_t)tcd->m_rbA);
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find(tcd->m_rbA);
btAssert(ptrptr);
tcd->m_rbA = ptrptr? *ptrptr : 0;
}
if (tcd->m_rbB)
{
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find((intptr_t)tcd->m_rbB);
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find(tcd->m_rbB);
btAssert(ptrptr);
tcd->m_rbB = ptrptr? *ptrptr : 0;
}
@@ -581,7 +587,7 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
{
btCompoundShapeData* compound = (btCompoundShapeData*) shapeData;
int ptr = (intptr_t) compound->m_childShapePtr;
void** cdptr = m_pointerLookup.find(ptr);
void** cdptr = m_pointerLookup.find((void*)ptr);
btCompoundShapeChildData** c = (btCompoundShapeChildData**)cdptr;
btAssert(c);
if (c)
@@ -598,7 +604,7 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
{
btConvexHullShapeData* convexData = (btConvexHullShapeData*)shapeData;
int ptr = (intptr_t)convexData->m_unscaledPointsFloatPtr;
btVector3FloatData** ptrptr = (btVector3FloatData**)m_pointerLookup.find(ptr);
btVector3FloatData** ptrptr = (btVector3FloatData**)m_pointerLookup.find((void*)ptr);
btAssert(ptrptr);
if (ptrptr)
{
@@ -646,7 +652,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<numVectors;i++)
vectors[i] = v[i];
m_floatVertexArrays.push_back(vectors);
m_pointerLookup.insert(ptr,vectors);
m_pointerLookup.insert((void*)ptr,vectors);
continue;
}
@@ -713,8 +719,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int c=0;c<childDataArray->size();c++)
{
btCompoundShapeChildData* childData = &childDataArray->at(c);
int hashKey = (intptr_t) childData->m_childShape;
btCollisionShapeData** ptrptr = (btCollisionShapeData**)m_pointerLookup[hashKey];
btCollisionShapeData** ptrptr = (btCollisionShapeData**)m_pointerLookup[childData->m_childShape];
btAssert(ptrptr);
if (ptrptr)
{
@@ -734,8 +739,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<m_rigidBodyData.size();i++)
{
btRigidBodyData* rbData = m_rigidBodyData[i];
int hashKey = (intptr_t)rbData->m_collisionObjectData.m_collisionShape;
void** ptrptr = m_pointerLookup.find(hashKey);
void** ptrptr = m_pointerLookup.find(rbData->m_collisionObjectData.m_collisionShape);
//btAssert(ptrptr);
rbData->m_collisionObjectData.m_broadphaseHandle = 0;
rbData->m_collisionObjectData.m_rootCollisionShape = 0;

2
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
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@@ -43,7 +43,7 @@ protected:
btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>* > m_compoundShapeChildDataArrays;
btAlignedObjectArray<btRigidBodyData*> m_rigidBodyData;
btAlignedObjectArray<btTypedConstraintData*> m_constraintData;
btHashMap<btHashInt,void*> m_pointerLookup;
btHashMap<btHashPtr,void*> m_pointerLookup;
int m_fileVersion;
bool m_fileOk;