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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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31
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
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@@ -201,13 +201,11 @@ const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* seriali
return "btConvexHullShapeData";
}
void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
{
#if 1
min = FLT_MAX;
max = -FLT_MAX;
btVector3 witnesPtMin;
btVector3 witnesPtMax;
minProj = FLT_MAX;
maxProj = -FLT_MAX;
int numVerts = m_unscaledPoints.size();
for(int i=0;i<numVerts;i++)
@@ -215,31 +213,30 @@ void btConvexHullShape::project(const btTransform& trans, const btVector3& dir,
btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
btVector3 pt = trans * vtx;
btScalar dp = pt.dot(dir);
if(dp < min)
if(dp < minProj)
{
min = dp;
minProj = dp;
witnesPtMin = pt;
}
if(dp > max)
if(dp > maxProj)
{
max = dp;
maxProj = dp;
witnesPtMax=pt;
}
}
#else
btVector3 localAxis = dir*trans.getBasis();
btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
witnesPtMin = trans(localGetSupportingVertex(localAxis));
witnesPtMax = trans(localGetSupportingVertex(-localAxis));
min = vtx1.dot(dir);
max = vtx2.dot(dir);
minProj = witnesPtMin.dot(dir);
maxProj = witnesPtMax.dot(dir);
#endif
if(min>max)
if(minProj>maxProj)
{
btScalar tmp = min;
min = max;
max = tmp;
btSwap(minProj,maxProj);
btSwap(witnesPtMin,witnesPtMax);
}