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remove speculative contacts, they break restitution and cause other artifacts

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use btConvexPolyhedron for debug rendering, if available
fixes in btConvexConvexAlgorithm for polyhedral contact clipping, if GJK separating normal is zero
don't shift vertices in btPolyhedralConvexShape
This commit is contained in:
erwin.coumans
2011-08-30 03:28:32 +00:00
parent ad76b3222f
commit 642a6821a5
10 changed files with 127 additions and 219 deletions
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135
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -441,15 +441,19 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
#ifdef ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
#endif
}
}
if (foundSepAxis)
{
@@ -486,7 +490,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btScalar minDist =-1e30f;
btScalar maxDist = threshold;
bool foundSepAxis = true;
bool foundSepAxis = false;
if (0)
{
polyhedronB->initializePolyhedralFeatures();
@@ -506,10 +510,15 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
foundSepAxis = true;
}
}
@@ -544,66 +553,70 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
if (l2>SIMD_EPSILON)
{
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
if (perturbeA)
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}
}

4
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
View File

@@ -64,8 +64,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
btAssert(m_manifoldPtr);
//order in manifold needs to match
// if (depth > m_manifoldPtr->getContactBreakingThreshold())
if (depth > m_manifoldPtr->getContactProcessingThreshold())
if (depth > m_manifoldPtr->getContactBreakingThreshold())
// if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;