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Update to btDbvt and btDbvtBroadphase, thanks to Nathanael Presson

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This commit is contained in:
erwin.coumans
2008-07-09 22:45:01 +00:00
parent b9bc96e22b
commit 9996da6f2d
7 changed files with 1558 additions and 681 deletions
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91
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
View File

@@ -772,16 +772,17 @@ return(sizeof(GJK)+sizeof(EPA));
}
//
btScalar btGjkEpaSolver2::Distance( const btConvexShape* shape0,
bool btGjkEpaSolver2::Distance( const btConvexShape* shape0,
const btTransform& wtrs0,
const btConvexShape* shape1,
const btTransform& wtrs1,
const btVector3& guess,
sResults& results)
{
tShape shape;
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,btVector3(1,1,1));
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
if(gjk_status==GJK::eStatus::Valid)
{
btVector3 w0=btVector3(0,0,0);
@@ -794,17 +795,62 @@ if(gjk_status==GJK::eStatus::Valid)
}
results.witnesses[0] = wtrs0*w0;
results.witnesses[1] = wtrs0*w1;
return((w0-w1).length());
results.normal = w0-w1;
results.distance = results.normal.length();
results.normal /= results.distance>GJK_MIN_DISTANCE?results.distance:1;
return(true);
}
else
{
results.status = gjk_status==GJK::eStatus::Inside?
sResults::Penetrating :
sResults::GJK_Failed ;
return(-1);
return(false);
}
}
//
bool btGjkEpaSolver2::Penetration( const btConvexShape* shape0,
const btTransform& wtrs0,
const btConvexShape* shape1,
const btTransform& wtrs1,
const btVector3& guess,
sResults& results,
bool usemargins)
{
tShape shape;
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,usemargins);
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
switch(gjk_status)
{
case GJK::eStatus::Inside:
{
EPA epa;
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=EPA::eStatus::Failed)
{
btVector3 w0=btVector3(0,0,0);
for(U i=0;i<epa.m_result.rank;++i)
{
w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
}
results.status = sResults::Penetrating;
results.witnesses[0] = wtrs0*w0;
results.witnesses[1] = wtrs0*(w0-epa.m_normal*epa.m_depth);
results.normal = -epa.m_normal;
results.distance = -epa.m_depth;
return(true);
} else results.status=sResults::EPA_Failed;
}
break;
case GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
}
return(false);
}
//
btScalar btGjkEpaSolver2::SignedDistance(const btVector3& position,
btScalar margin,
@@ -857,42 +903,17 @@ return(SIMD_INFINITY);
}
//
bool btGjkEpaSolver2::Penetration( const btConvexShape* shape0,
bool btGjkEpaSolver2::SignedDistance(const btConvexShape* shape0,
const btTransform& wtrs0,
const btConvexShape* shape1,
const btTransform& wtrs1,
const btVector3& guess,
sResults& results)
{
tShape shape;
Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,true);
GJK gjk;
GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
switch(gjk_status)
{
case GJK::eStatus::Inside:
{
EPA epa;
EPA::eStatus::_ epa_status=epa.Evaluate(gjk,-guess);
if(epa_status!=EPA::eStatus::Failed)
{
btVector3 w0=btVector3(0,0,0);
for(U i=0;i<epa.m_result.rank;++i)
{
w0+=shape.Support(epa.m_result.c[i]->d,0)*epa.m_result.p[i];
}
results.status = sResults::Penetrating;
results.witnesses[0] = wtrs0*w0;
results.witnesses[1] = wtrs0*(w0-epa.m_normal*epa.m_depth);
return(true);
} else results.status=sResults::EPA_Failed;
}
break;
case GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
}
return(false);
if(!Distance(shape0,wtrs0,shape1,wtrs1,guess,results))
return(Penetration(shape0,wtrs0,shape1,wtrs1,guess,results,false));
else
return(true);
}
/* Symbols cleanup */

24
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
View File

@@ -40,24 +40,32 @@ struct sResults
} status;
btVector3 witnesses[2];
btVector3 normal;
btScalar distance;
};
static int StackSizeRequirement();
static btScalar Distance( const btConvexShape* shape0,const btTransform& wtrs0,
static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0,
const btConvexShape* shape1,const btTransform& wtrs1,
sResults& results);
const btVector3& guess,
sResults& results);
static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
const btConvexShape* shape1,const btTransform& wtrs1,
const btVector3& guess,
sResults& results,
bool usemargins=true);
static btScalar SignedDistance( const btVector3& position,
btScalar margin,
const btConvexShape* shape,
const btTransform& wtrs,
sResults& results);
static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
const btConvexShape* shape1,const btTransform& wtrs1,
const btVector3& guess,
sResults& results);
static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
const btConvexShape* shape1,const btTransform& wtrs1,
const btVector3& guess,
sResults& results);
};
#endif