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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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2
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -84,7 +84,7 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObj
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
void* mem = 0;
void* mem = 0;
if (m_persistentManifoldPoolAllocator->getFreeCount())
{

63
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -407,9 +407,51 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
{
}
};
struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
{
btDiscreteCollisionDetectorInterface::Result* m_originalResult;
btVector3 m_reportedNormalOnWorld;
btScalar m_marginOnA;
btScalar m_marginOnB;
btScalar m_reportedDistance;
bool m_foundResult;
btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
:m_originalResult(result),
m_marginOnA(marginOnA),
m_marginOnB(marginOnB),
m_foundResult(false)
{
}
virtual void setShapeIdentifiersA(int partId0,int index0){}
virtual void setShapeIdentifiersB(int partId1,int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg)
{
m_reportedDistance = depthOrg;
m_reportedNormalOnWorld = normalOnBInWorld;
btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
if (m_reportedDistance<0.f)
{
m_foundResult = true;
}
m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
}
};
btDummyResult dummy;
///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
btWithoutMarginResult withoutMargin(resultOut, min0Margin,min1Margin);
btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
@@ -431,32 +473,35 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace);
sepNormalWorldSpace,*resultOut);
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
//gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
//if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
#ifdef ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
#endif
}
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
@@ -498,7 +543,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace);
sepNormalWorldSpace,*resultOut);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
} else