Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

pass collision shapes as const. fixed some issues with continuous convex cast (resulting hitnormal was not initialized properly, results not proper)

Browse Source
This commit is contained in:
ejcoumans
2007-07-11 02:16:39 +00:00
parent 8c01430151
commit 7cd651c266
14 changed files with 42 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -24,6 +24,9 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
@@ -210,8 +213,8 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{

22
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
btContinuousConvexCollision::btContinuousConvexCollision ( btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_simplexSolver(simplexSolver),
m_penetrationDepthSolver(penetrationDepthSolver),
m_convexA(convexA),m_convexB(convexB)
@@ -93,7 +93,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btGjkPairDetector::ClosestPointInput input;
//we don't use margins during CCD
gjk.setIgnoreMargin(true);
// gjk.setIgnoreMargin(true);
input.m_transformA = fromA;
input.m_transformB = fromB;
@@ -109,21 +109,25 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
dist = pointCollector1.m_distance;
n = pointCollector1.m_normalOnBInWorld;
//not close enough
while (dist > radius)
{
numIter++;
if (numIter > maxIter)
{
return false; //todo: report a failure
}
btScalar dLambda = btScalar(0.);
btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
//calculate safe moving fraction from distance / (linear+rotational velocity)
//btScalar clippedDist = GEN_min(angularConservativeRadius,dist);
//btScalar clippedDist = dist;
btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n);
dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
@@ -135,9 +139,14 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
if (lambda < btScalar(0.))
return false;
//todo: next check with relative epsilon
if (lambda <= lastLambda)
{
return false;
//n.setValue(0,0,0);
break;
}
lastLambda = lambda;
@@ -163,11 +172,12 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
{
//degenerate ?!
result.m_fraction = lastLambda;
result.m_normal = n;
n = pointCollector.m_normalOnBInWorld;
result.m_normal=n;//.setValue(1,1,1);// = n;
return true;
}
c = pointCollector.m_pointInWorld;
n = pointCollector.m_normalOnBInWorld;
dist = pointCollector.m_distance;
} else
{

6
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
View File

@@ -30,13 +30,13 @@ class btContinuousConvexCollision : public btConvexCast
{
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
btConvexShape* m_convexA;
btConvexShape* m_convexB;
const btConvexShape* m_convexA;
const btConvexShape* m_convexB;
public:
btContinuousConvexCollision (btConvexShape* shapeA,btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual bool calcTimeOfImpact(
const btTransform& fromA,

2
src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
View File

@@ -31,7 +31,7 @@ public:
virtual ~btConvexPenetrationDepthSolver() {};
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc

2
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
View File

@@ -22,7 +22,7 @@ subject to the following restrictions:
#include "btPointCollector.h"
btGjkConvexCast::btGjkConvexCast(btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
btGjkConvexCast::btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver)
:m_simplexSolver(simplexSolver),
m_convexA(convexA),
m_convexB(convexB)

6
src/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
View File

@@ -30,12 +30,12 @@ class btMinkowskiSumShape;
class btGjkConvexCast : public btConvexCast
{
btSimplexSolverInterface* m_simplexSolver;
btConvexShape* m_convexA;
btConvexShape* m_convexB;
const btConvexShape* m_convexA;
const btConvexShape* m_convexB;
public:
btGjkConvexCast(btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
/// cast a convex against another convex object
virtual bool calcTimeOfImpact(

4
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
View File

@@ -580,8 +580,8 @@ using namespace gjkepa_impl;
//
bool btGjkEpaSolver::Collide(btConvexShape *shape0,const btTransform &wtrs0,
btConvexShape *shape1,const btTransform &wtrs1,
bool btGjkEpaSolver::Collide(const btConvexShape *shape0,const btTransform &wtrs0,
const btConvexShape *shape1,const btTransform &wtrs1,
btScalar radialmargin,
btStackAlloc* stackAlloc,
sResults& results)

4
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.h
View File

@@ -43,8 +43,8 @@ struct sResults
int epa_iterations;
int gjk_iterations;
};
static bool Collide(btConvexShape* shape0,const btTransform& wtrs0,
btConvexShape* shape1,const btTransform& wtrs1,
static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0,
const btConvexShape* shape1,const btTransform& wtrs1,
btScalar radialmargin,
btStackAlloc* stackAlloc,
sResults& results);

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
View File

@@ -26,7 +26,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
public :
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* pConvexA, btConvexShape* pConvexB,
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );

2
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -35,7 +35,7 @@ int gNumGjkChecks = 0;
btGjkPairDetector::btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),

6
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
View File

@@ -35,8 +35,8 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
btVector3 m_cachedSeparatingAxis;
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
btSimplexSolverInterface* m_simplexSolver;
btConvexShape* m_minkowskiA;
btConvexShape* m_minkowskiB;
const btConvexShape* m_minkowskiA;
const btConvexShape* m_minkowskiB;
bool m_ignoreMargin;
@@ -49,7 +49,7 @@ public:
int m_catchDegeneracies;
btGjkPairDetector(btConvexShape* objectA,btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~btGjkPairDetector() {};
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);

2
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@@ -71,7 +71,7 @@ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc

2
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
View File

@@ -25,7 +25,7 @@ class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
public:
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
btConvexShape* convexA,btConvexShape* convexB,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btPoint3& pa, btPoint3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc