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Added support for separating axis test for polyhedral shapes

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Added initial support for polyhedral contact clipping. 
This clipping takes a separating normal, that can be computed using either SAT or GJK/EPA.
To enable clipping, use btPolyhedralConvexShape::initializePolyhedralFeatures(); (needs to be enabled for both convex shapes)
No concave trimesh support for SAT/clipping yet. To enable SAT, see the toggle in btConvexConvexAlgorithm.
Fixes in contact normal in btGjkPairDetector. Hopefully this doesn't cause any regression (we need unit tests!)
This commit is contained in:
erwin.coumans
2011-03-29 08:52:18 +00:00
parent 1f5af32203
commit 784e7fdb39
10 changed files with 824 additions and 8 deletions
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43
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#ifndef __POLYHEDRAL_CONTACT_CLIPPING_H
#define __POLYHEDRAL_CONTACT_CLIPPING_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "btDiscreteCollisionDetectorInterface.h"
class btConvexPolyhedron;
typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipFaceContacts(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
};
#endif // __POLYHEDRAL_CONTACT_CLIPPING_H