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Remove @workaround for sticky convex collisions in btGjkPairDetector, it suffers from many artifacts,

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We still need to do more work on GJK when using very small collision margins...
Fix premake build on Windows
This commit is contained in:
Erwin Coumans
2014-05-15 22:55:54 -07:00
parent 73c5d49434
commit 7f3cbc066f
2 changed files with 14 additions and 74 deletions
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11
Demos/premake4.lua
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@@ -18,16 +18,17 @@ function createDemos( demos, incdirs, linknames)
configuration { "Windows" }
defines { "GLEW_STATIC"}
links { "opengl32" }
includedirs{ "../Glut" }
libdirs {"../Glut"}
files { "../build/bullet.rc" }
links { "opengl32","glu32","winmm"}
includedirs{ "Glut" }
libdirs {"Glut"}
files { "../build3/bullet.rc" }
configuration {"Windows", "x32"}
links {"glew32s","glut32"}
configuration {"Windows", "x64"}
links {"glew64s", "glut64"}
configuration {"MacOSX"}
--print "hello"
linkoptions { "-framework Carbon -framework OpenGL -framework AGL -framework Glut" }

77
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -26,7 +26,6 @@ subject to the following restrictions:
#ifdef __SPU__
#include <spu_printf.h>
#define printf spu_printf
//#define DEBUG_SPU_COLLISION_DETECTION 1
#endif //__SPU__
#endif
@@ -81,17 +80,18 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
#ifdef __SPU__
void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
#else
void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw)
#endif
{
m_cachedSeparatingDistance = 0.f;
btScalar distance=btScalar(0.);
btVector3 normalInB(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 pointOnA,pointOnB;
btTransform localTransA = input.m_transformA;
btTransform localTransB = input.m_transformB;
btVector3 positionOffset = (localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
btVector3 positionOffset=(localTransA.getOrigin() + localTransB.getOrigin()) * btScalar(0.5);
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
@@ -102,17 +102,11 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
gNumGjkChecks++;
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("inside gjk\n");
#endif
//for CCD we don't use margins
if (m_ignoreMargin)
{
marginA = btScalar(0.);
marginB = btScalar(0.);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("ignoring margin\n");
#endif
}
m_curIter = 0;
@@ -143,37 +137,13 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
#if 1
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
// btVector3 pInA = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
// btVector3 qInB = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
#else
#ifdef __SPU__
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
#else
btVector3 pInA = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
#ifdef TEST_NON_VIRTUAL
btVector3 pInAv = m_minkowskiA->localGetSupportingVertexWithoutMargin(seperatingAxisInA);
btVector3 qInBv = m_minkowskiB->localGetSupportingVertexWithoutMargin(seperatingAxisInB);
btAssert((pInAv-pInA).length() < 0.0001);
btAssert((qInBv-qInB).length() < 0.0001);
#endif //
#endif //__SPU__
#endif
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("got local supporting vertices\n");
#endif
if (check2d)
{
@@ -217,14 +187,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
break;
}
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 1\n");
#endif
//add current vertex to simplex
m_simplexSolver->addVertex(w, pWorld, qWorld);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("addVertex 2\n");
#endif
btVector3 newCachedSeparatingAxis;
//calculate the closest point to the origin (update vector v)
@@ -274,7 +238,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
//degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
if (m_curIter++ > gGjkMaxIter)
{
#if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION)
#if defined(DEBUG) || defined (_DEBUG)
printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
@@ -307,6 +271,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
{
m_simplexSolver->compute_points(pointOnA, pointOnB);
normalInB = m_cachedSeparatingAxis;
btScalar lenSqr =m_cachedSeparatingAxis.length2();
//valid normal
@@ -318,6 +283,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
normalInB *= rlen; //normalize
btScalar s = btSqrt(squaredDistance);
btAssert(s > btScalar(0.0));
@@ -380,6 +346,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 3;
} else
@@ -413,6 +380,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
pointOnB += m_cachedSeparatingAxis * marginB ;
normalInB = m_cachedSeparatingAxis;
normalInB.normalize();
isValid = true;
m_lastUsedMethod = 6;
} else
@@ -431,36 +399,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
{
#if 0
///some debugging
// if (check2d)
{
printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]);
printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex);
}
#endif
if (m_fixContactNormalDirection)
{
///@workaround for sticky convex collisions
//in some degenerate cases (usually when the use uses very small margins)
//the contact normal is pointing the wrong direction
//so fix it now (until we can deal with all degenerate cases in GJK and EPA)
//contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
//We like to use a dot product of the normal against the difference of the centroids,
//once the centroid is available in the API
//until then we use the center of the aabb to approximate the centroid
btVector3 aabbMin,aabbMax;
m_minkowskiA->getAabb(localTransA,aabbMin,aabbMax);
btVector3 posA = (aabbMax+aabbMin)*btScalar(0.5);
m_minkowskiB->getAabb(localTransB,aabbMin,aabbMax);
btVector3 posB = (aabbMin+aabbMax)*btScalar(0.5);
btVector3 diff = posA-posB;
if (diff.dot(normalInB) < 0.f)
normalInB *= -1.f;
}
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;