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Fix shapekey swapping issue with triangle meshes, see http://code.google.com/p/bullet/issues/detail?id=316

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Revert btHashKeyPtr and introduce btHashPtr (to avoid breaking API/COLLADA Converter), see http://code.google.com/p/bullet/issues/detail?id=318
Disable separating distance util (it just costs CPU cycles and is disabled by default in the API anyway)
This commit is contained in:
erwin.coumans
2009-12-13 15:40:21 +00:00
parent 91f1e8117b
commit 8444d0e5c4
4 changed files with 90 additions and 63 deletions
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12
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -121,12 +121,16 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
if (m_resultOut->getBody0Internal() == m_triBody)
{
m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
}
else
{
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
}
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);

12
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -332,7 +332,11 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
@@ -385,7 +389,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
@@ -418,6 +422,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
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);
@@ -441,7 +447,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}

2
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
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@@ -32,7 +32,7 @@ class btConvexPenetrationDepthSolver;
///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
///for certain pairs that have a small size ratio
#define USE_SEPDISTANCE_UTIL2 1
//#define USE_SEPDISTANCE_UTIL2 1
///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.