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Work on fixing some GJK issues reported by Pierre Terdiman (thanks Pierre for the testbed!)

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Improved this penetration test with more verbose output
retrieve worldtransform from motionstate when rigidbody gets motionstate assigned
This commit is contained in:
ejcoumans
2006-11-11 23:59:51 +00:00
parent 82132b7b5f
commit 86c27a7c9d
10 changed files with 331 additions and 101 deletions
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132
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -20,6 +20,10 @@
#include <stdio.h>
#include <math.h>
#define VERBOSE_TEXT_ONSCREEN 1
#ifdef VERBOSE_TEXT_ONSCREEN
#include "BMF_Api.h"
#endif
#include "btBulletCollisionCommon.h"
@@ -35,6 +39,10 @@
static bool gRefMode = false;
static int gMethod = 0;
static int gLastUsedMethod = -1;
static int gNumGjkIterations = -1;
static int gLastDegenerateSimplex = -1;
static const float gDisp = 0.01f;
static const float gCamSpeed = 0.1f;
static btVector3 Eye(3.0616338f, 1.1985892f, 2.5769043f);
@@ -42,6 +50,8 @@ static btVector3 Dir(-0.66853905,-0.14004262,-0.73037237);
static btVector3 N;
static int mx = 0;
static int my = 0;
static int glutScreenHeight = 512;
static int glutScreenWidth = 512;
static void DrawLine(const btVector3& p0, const btVector3& p1, const btVector3& color, float line_width)
{
@@ -144,6 +154,36 @@ bool MyConvex::LoadFromFile(const char* filename)
return true;
}
//See http://www.lighthouse3d.com/opengl/glut/index.php?bmpfontortho
static void setOrthographicProjection()
{
// switch to projection mode
glMatrixMode(GL_PROJECTION);
// save previous matrix which contains the
//settings for the perspective projection
glPushMatrix();
// reset matrix
glLoadIdentity();
// set a 2D orthographic projection
gluOrtho2D(0, glutScreenWidth, 0, glutScreenHeight);
// invert the y axis, down is positive
glScalef(1, -1, 1);
// mover the origin from the bottom left corner
// to the upper left corner
glTranslatef(0, -glutScreenHeight, 0);
glMatrixMode(GL_MODELVIEW);
}
static void resetPerspectiveProjection()
{
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
}
void MyConvex::Render(bool only_wireframe, const btVector3& wire_color) const
{
const float Scale = 1.0f;
@@ -233,17 +273,19 @@ static float gDepth;
static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
{
//static btSimplexSolverInterface simplexSolver;
static Solid3JohnsonSimplexSolver simplexSolver;
static btSimplexSolverInterface simplexSolver;
//static Solid3JohnsonSimplexSolver simplexSolver;
simplexSolver.reset();
btConvexHullShape convexA((float*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));
btConvexHullShape convexB((float*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));
static Solid3EpaPenetrationDepth Solver0;
static EpaPenetrationDepthSolver Solver1;
static btMinkowskiPenetrationDepthSolver Solver2;
static btMinkowskiPenetrationDepthSolver Solver0;
static Solid3EpaPenetrationDepth Solver1;
static EpaPenetrationDepthSolver Solver2;
btConvexPenetrationDepthSolver* Solver;
if(gMethod==0)
@@ -254,7 +296,7 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
Solver = &Solver2;
btGjkPairDetector GJK(&convexA, &convexB, &simplexSolver, Solver);
//GJK.setIgnoreMargin(true);
GJK.m_catchDegeneracies = 1;
convexA.setMargin(0.01f);
convexB.setMargin(0.01f);
@@ -264,6 +306,9 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
MyResult output;
GJK.getClosestPoints(input, output, 0);
gLastUsedMethod = GJK.m_lastUsedMethod;
gNumGjkIterations = GJK.m_curIter;
gLastDegenerateSimplex= GJK.m_degenerateSimplex;
return true;
}
@@ -539,6 +584,14 @@ static void RenderCallback()
glEnable(GL_LIGHTING);
//clear previous frames result
gNormal.setValue(10,0,0);
gPoint.setValue(0,0,0);
gDepth = 999.999;
gLastUsedMethod = -1;
gNumGjkIterations = -1;
TestEPA(gConvex0, gConvex1);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
@@ -552,6 +605,71 @@ static void RenderCallback()
// DrawLine(gPoint, gPoint + gNormal*20.0f, btVector3(1,0,0), 2.0f);
// printf("%f: %f %f %f\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
#ifdef VERBOSE_TEXT_ONSCREEN
glColor3f(255.f, 255.f, 255.f);
setOrthographicProjection();
float xOffset = 10.f;
float yStart = 20.f;
float yIncr = 20.f;
char buf[124];
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"gDepth=%f: gNormal=(%f %f %f)\n", gDepth, gNormal.x(), gNormal.y(), gNormal.z());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"num GJK iterations =%d\n", gNumGjkIterations);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
if (gLastUsedMethod >= 3)
{
switch ( gMethod)
{
case 0:
sprintf(buf,"Minkowski sampling Penetration depth solver\n" );
break;
case 1:
sprintf(buf,"Solid35 EPA Penetration depth solver\n" );
break;
case 2:
sprintf(buf,"EPA Penetration depth solver (WorkInProgress, zlib free\n" );
break;
default:
sprintf(buf,"Unknown Penetration Depth\n" );
}
glRasterPos3f(xOffset,yStart,0);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
} else
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"Hybrid GJK method %d\n", gLastUsedMethod);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
if (gLastDegenerateSimplex)
{
glRasterPos3f(xOffset,yStart,0);
sprintf(buf,"DegenerateSimplex %d\n", gLastDegenerateSimplex);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
resetPerspectiveProjection();
#endif //VERBOSE_TEXT_ONSCREEN
btVector3 color(0,0,0);
gConvex0.Render(false, color);
gConvex1.Render(false, color);
@@ -593,7 +711,7 @@ int main(int argc, char** argv)
{
// Initialize Glut
glutInit(&argc, argv);
glutInitWindowSize(512, 512);
glutInitWindowSize(glutScreenWidth, glutScreenHeight);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
int mainHandle = glutCreateWindow("TestBullet");
glutSetWindow(mainHandle);