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added some brute-force way to shrink convex polyhedra (to compensate collision margin)

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made Extra/EPA compile again, updated Pierre's testbed to compile out-of-the-box
This commit is contained in:
ejcoumans
2006-11-11 03:22:15 +00:00
parent 438230b95b
commit 8cbd721a1f
11 changed files with 143 additions and 145 deletions
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69
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -1,14 +1,37 @@
#include <stdio.h>
#include <GL/glut.h>
#include "btDiscreteCollisionDetectorInterface.h"
#include "btSimplexSolverInterface.h"
#include "btConvexHullShape.h"
#include "Solid3EpaPenetrationDepth.h"
#include "Solid3JohnsonSimplexSolver.h"
#include "btGjkPairDetector.h"
#include "btMinkowskiPenetrationDepthSolver.h"
#include "EpaPenetrationDepthSolver.h"
///contribution by Pierre Terdiman to check penetration depth solvers
///see http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=638
#ifdef WIN32//for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "btBulletCollisionCommon.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "../Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h"
#include "../Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.h"
#include "../Extras/EPA/EpaPenetrationDepthSolver.h"
static bool gRefMode = false;
static int gMethod = 0;
@@ -211,7 +234,8 @@ static float gDepth;
static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
{
static btSimplexSolverInterface simplexSolver;
// static Solid3JohnsonSimplexSolver simplexSolver;
//static Solid3JohnsonSimplexSolver simplexSolver;
simplexSolver.reset();
btConvexHullShape convexA((float*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));
@@ -222,14 +246,17 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
static btMinkowskiPenetrationDepthSolver Solver2;
btConvexPenetrationDepthSolver* Solver;
if(gMethod==0) Solver = &Solver0;
else if(gMethod==1) Solver = &Solver1;
else Solver = &Solver2;
if(gMethod==0)
Solver = &Solver0;
else if(gMethod==1)
Solver = &Solver1;
else
Solver = &Solver2;
btGjkPairDetector GJK(&convexA, &convexB, &simplexSolver, Solver);
GJK.setIgnoreMargin(true);
convexA.setMargin(0.0f);
convexB.setMargin(0.0f);
//GJK.setIgnoreMargin(true);
convexA.setMargin(0.01f);
convexB.setMargin(0.01f);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_transformA = hull0.mTransform;
@@ -594,20 +621,20 @@ int main(int argc, char** argv)
glEnable(GL_LIGHT0);
//
bool Status = gConvex0.LoadFromFile("c:\\convex0.bin");
bool Status = gConvex0.LoadFromFile("convex0.bin");
if(!Status)
{
Status = gConvex0.LoadFromFile("convex0.bin");
Status = gConvex0.LoadFromFile("../../convex0.bin");
if(!Status)
{
printf("Failed to load object!\n");
exit(0);
}
}
Status = gConvex1.LoadFromFile("c:\\convex0.bin");
Status = gConvex1.LoadFromFile("convex0.bin");
if(!Status)
{
Status = gConvex1.LoadFromFile("convex0.bin");
Status = gConvex1.LoadFromFile("../../convex0.bin");
if(!Status)
{
printf("Failed to load object!\n");