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add optimized version of sphere-capsule and capsule-sphere, re-using the capsule-capsule code with zero height for a sphere.

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This commit is contained in:
Erwin Coumans
2017-01-25 10:45:55 -08:00
parent e652696f52
commit 980908bdee
1 changed files with 47 additions and 3 deletions
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50
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -16,7 +16,7 @@ subject to the following restrictions:
///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance
///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
///with reproduction case
//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
//#define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
//#define ZERO_MARGIN
#include "btConvexConvexAlgorithm.h"
@@ -310,10 +310,10 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
{
//m_manifoldPtr->clearManifold();
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
// btVector3 localScalingA = capsuleA->getLocalScaling();
// btVector3 localScalingB = capsuleB->getLocalScaling();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
@@ -329,6 +329,50 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
resultOut->refreshContactPoints();
return;
}
if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == SPHERE_SHAPE_PROXYTYPE))
{
//m_manifoldPtr->clearManifold();
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btSphereShape* capsuleB = (btSphereShape*) min1;
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
0.,capsuleB->getRadius(),capsuleA->getUpAxis(),1,
body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
if (dist<threshold)
{
btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
}
resultOut->refreshContactPoints();
return;
}
if ((min0->getShapeType() == SPHERE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
{
//m_manifoldPtr->clearManifold();
btSphereShape* capsuleA = (btSphereShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,0.,capsuleA->getRadius(),
capsuleB->getHalfHeight(),capsuleB->getRadius(),1,capsuleB->getUpAxis(),
body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
if (dist<threshold)
{
btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);
}
resultOut->refreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER