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Simplify GJK. Still needs double precision for large differences of feature scales.

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Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
This commit is contained in:
erwincoumans
2018-06-12 16:08:46 -07:00
parent a342af0382
commit 97c6937388
13 changed files with 257 additions and 211 deletions
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4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -513,6 +513,7 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
convexHull->recalcLocalAabb();
convexHull->optimizeConvexHull();
convexHull->initializePolyhedralFeatures();
compound->addChildShape(identity,convexHull);
}
@@ -694,6 +695,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
btVector3 extents = collision->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
boxShape->initializePolyhedralFeatures();
shape = boxShape;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
@@ -905,7 +907,7 @@ upAxisMat.setIdentity();
BT_PROFILE("convert btConvexHullShape");
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures();
convexHull->initializePolyhedralFeatures();
convexHull->setMargin(gUrdfDefaultCollisionMargin);
convexHull->recalcLocalAabb();
//convexHull->setLocalScaling(collision->m_geometry.m_meshScale);

10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -611,8 +611,14 @@ B3_SHARED_API int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle comma
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle commandHandle, int enableSAT)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_enableSAT = enableSAT;
command->m_updateFlags |= SIM_PARAM_ENABLE_SAT;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -317,6 +317,7 @@ B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryComma
B3_SHARED_API int b3PhysicsParameterSetJointFeedbackMode(b3SharedMemoryCommandHandle commandHandle, int jointFeedbackMode);
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold);
B3_SHARED_API int b3PhysicsParamSetContactSlop(b3SharedMemoryCommandHandle commandHandle, double contactSlop);
B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle commandHandle, int enableSAT);

7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6865,6 +6865,8 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
serverCmd.m_simulationParameterResultArgs.m_contactSlop = m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop;
serverCmd.m_simulationParameterResultArgs.m_enableSAT = m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex;
serverCmd.m_simulationParameterResultArgs.m_defaultGlobalCFM = m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm;
serverCmd.m_simulationParameterResultArgs.m_defaultContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp2;
serverCmd.m_simulationParameterResultArgs.m_defaultNonContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp;
@@ -6988,6 +6990,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = clientCmd.m_physSimParamArgs.m_contactSlop;
}
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_SAT)
{
m_data->m_dynamicsWorld->getDispatchInfo().m_enableSatConvex = clientCmd.m_physSimParamArgs.m_enableSAT;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{

1
examples/SharedMemory/SharedMemoryCommands.h
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@@ -455,6 +455,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1048576,
SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 2097152,
SIM_PARAM_UPDATE_CONTACT_SLOP = 4194304,
SIM_PARAM_ENABLE_SAT = 8388608,
};
enum EnumLoadSoftBodyUpdateFlags

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -797,6 +797,7 @@ struct b3PhysicsSimulationParameters
int m_jointFeedbackMode;
double m_solverResidualThreshold;
double m_contactSlop;
int m_enableSAT;
};

15
examples/pybullet/pybullet.c
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@@ -1434,12 +1434,13 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int jointFeedbackMode =-1;
double solverResidualThreshold = -1;
double contactSlop = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "physicsClientId", NULL};
int enableSAT = -1;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &physicsClientId))
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &physicsClientId))
{
return NULL;
}
@@ -1540,6 +1541,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParameterSetJointFeedbackMode(command,jointFeedbackMode);
}
if (enableSAT>=0)
{
b3PhysicsParameterSetEnableSAT(command, enableSAT);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}