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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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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);