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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);