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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

56
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View File

@@ -20,29 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
struct MyResult : public btDiscreteCollisionDetectorInterface::Result
{
MyResult():m_hasResult(false)
{
}
btVector3 m_normalOnBInWorld;
btVector3 m_pointInWorld;
float m_depth;
bool m_hasResult;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;
m_pointInWorld = pointInWorld;
m_depth = depth;
m_hasResult = true;
}
};
#define NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
@@ -100,6 +78,31 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
)
{
struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
{
btIntermediateResult():m_hasResult(false)
{
}
btVector3 m_normalOnBInWorld;
btVector3 m_pointInWorld;
float m_depth;
bool m_hasResult;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;
m_pointInWorld = pointInWorld;
m_depth = depth;
m_hasResult = true;
}
};
//just take fixed number of orientation, and sample the penetration depth in that direction
float minProj = 1e30f;
btVector3 minNorm;
@@ -247,10 +250,15 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
minA += minNorm*convexA->getMargin();
minB -= minNorm*convexB->getMargin();
//no penetration
if (minProj < 0.f)
return false;
minProj += (convexA->getMargin() + convexB->getMargin());
//#define DEBUG_DRAW 1
#ifdef DEBUG_DRAW
@@ -286,7 +294,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
input.m_transformB = transB;
input.m_maximumDistanceSquared = 1e30f;//minProj;
MyResult res;
btIntermediateResult res;
gjkdet.getClosestPoints(input,res,debugDraw);
float correctedMinNorm = minProj - res.m_depth;