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+ fixed btMinkowskiSumShape Sa+b(v) = Sa(v)-Sb(-v) instead of Sa(v)+Sb(v)

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+ fix related btMinkowskiSumShape issue in btSubsimplexConvexCast and btGjkConvexCast
+ add hitpoint for btSubsimplexConvexCast
+ reduce maximum number of iterations in conservative advancement/CCD implementations
This commit is contained in:
erwin.coumans
2008-04-03 18:35:28 +00:00
parent 8ddbf12f1a
commit 883d3278ec
8 changed files with 139 additions and 128 deletions
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34
Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
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@@ -84,6 +84,7 @@ void LinearConvexCastDemo::initPhysics()
shapeA->addPoint( btVector3( -r, -0.25f * h, -r ) );
// Triangle
btConvexHullShape* shapeB = new btConvexHullShape;
shapeB->addPoint( btVector3( 0.0f, 1.0f, 0.0f ) );
@@ -118,25 +119,44 @@ void LinearConvexCastDemo::displayCallback(void)
GL_ShapeDrawer::drawCoordSystem();
static btScalar angle = 0.f;
angle+=getDeltaTimeMicroseconds()/1000000.0;
tr[1].setRotation(btQuaternion(btVector3(1,0,0),angle));
btTransform toA, toB;
toA.setIdentity();
toA.setOrigin( btVector3( 0.0f, 1.5f, 0.0f ) );
toB.setIdentity();
toB.setOrigin( btVector3( 0.0f, 4.0f, 0.0f ) );
toA = tr[0];
toA.setOrigin( btVector3( 0.0f, 0.f, 0.0f ) );
toB = tr[1];
toB.setOrigin( btVector3( 0.0f, 0.0f, 0.0f ) );
gGjkSimplexSolver.reset();
btGjkConvexCast convexCaster(shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
//btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
//btGjkConvexCast convexCaster(shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
btSubsimplexConvexCast convexCaster( shapePtr[ 0 ], shapePtr[ 1 ], &gGjkSimplexSolver );
btConvexCast::CastResult result;
result.m_hitPoint.setValue(0,0,0);
convexCaster.calcTimeOfImpact( tr[ 0 ], toA, tr[ 1 ], toB, result );
btScalar m1[16], m2[16];
btScalar m1[16], m2[16],m3[16];
tr[ 0 ].getOpenGLMatrix( m1 );
tr[ 1 ].getOpenGLMatrix( m2 );
btSphereShape sphere(0.2);
btTransform tmp = tr[0];
tmp.setOrigin(result.m_hitPoint);
tmp.getOpenGLMatrix(m3);
m_shapeDrawer.drawOpenGL( m3, &sphere, btVector3( 1, 0, 1 ), getDebugMode() );
m_shapeDrawer.drawOpenGL( m1, shapePtr[ 0 ], btVector3( 1, 0, 0 ), getDebugMode() );
m_shapeDrawer.drawOpenGL( m2, shapePtr[ 1 ], btVector3( 1, 0, 0 ), getDebugMode() );

1
Demos/Raytracer/Raytracer.cpp
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@@ -101,6 +101,7 @@ void Raytracer::initPhysics()
{
transforms[i].setIdentity();
btVector3 pos(0.f,0.f,-(2.5* numObjects * 0.5)+i*2.5f);
transforms[i].setIdentity();
transforms[i].setOrigin( pos );
btQuaternion orn;
if (i < 2)