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fix in btParallelConstraintSolver to support double precision

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fixes in SAT/polyhedral contact clipping, avoid adding GJK contacts (the contact margin causes different contact depths)
add polyhedral convex shape in InternalEdgeDemo as example of the new SAT/polyhedral contact clipping (added reference to Manual/what's new)
avoid glueing objecs with contacts that are positive (no gaps)
This commit is contained in:
erwin.coumans
2011-04-09 03:40:15 +00:00
parent cdddf9d25a
commit 9a9a4394ab
8 changed files with 138 additions and 60 deletions
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38
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
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@@ -376,7 +376,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
@@ -396,10 +396,29 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
if (min0->isPolyhedral() && min1->isPolyhedral())
{
struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
{
virtual void setShapeIdentifiersA(int partId0,int index0){}
virtual void setShapeIdentifiersB(int partId1,int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
}
};
btDummyResult dummy;
btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
{
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = 0.f;
@@ -438,7 +457,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btVertexArray vertices;
@@ -453,16 +473,20 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
body0->getWorldTransform(), vertices, minDist-threshold, threshold, *resultOut);
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
return;
}
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects