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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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Bullet_User_Manual.pdf
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32
Demos/ConcaveRaycastDemo/ConcaveRaycastDemo.cpp
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@@ -275,7 +275,7 @@ void ConcaveRaycastDemo::keyboardCallback(unsigned char key, int x, int y)
void ConcaveRaycastDemo::initPhysics()
{
m_ShootBoxInitialSpeed = 1000;
#define TRISIZE 10.f
@@ -378,37 +378,7 @@ int maxNumOutstandingTasks = 4;
{
btVector3 camPos(0.000000,10.260604,-28.190779);
btVector3 destination(6958.333333,-8539.096384,7501.875480);
float mass = 1.f;
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(camPos);
setShootBoxShape ();
btRigidBody* body = this->localCreateRigidBody(mass, startTransform,m_shootBoxShape);
body->setLinearFactor(btVector3(1,1,1));
//body->setRestitution(1);
btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);
linVel.normalize();
linVel*=m_ShootBoxInitialSpeed;
body->getWorldTransform().setOrigin(camPos);
body->getWorldTransform().setRotation(btQuaternion(0,0,0,1));
body->setLinearVelocity(linVel);
body->setAngularVelocity(btVector3(0,0,0));
body->setCcdMotionThreshold(0.5);
body->setCcdSweptSphereRadius(0.9f);
printf("shootBox uid=%d\n", body->getBroadphaseHandle()->getUid());
printf("camPos=%f,%f,%f\n",camPos.getX(),camPos.getY(),camPos.getZ());
printf("destination=%f,%f,%f\n",destination.getX(),destination.getY(),destination.getZ());
}
}
void ConcaveRaycastDemo::clientMoveAndDisplay()

8
Demos/FractureDemo/btFractureDynamicsWorld.cpp
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@@ -56,6 +56,14 @@ void btFractureDynamicsWorld::glueCallback()
if (!manifold->getNumContacts())
continue;
btScalar minDist = 1e30f;
for (int v=0;v<manifold->getNumContacts();v++)
{
minDist = btMin(minDist,manifold->getContactPoint(v).getDistance());
}
if (minDist>0.)
continue;
btCollisionObject* colObj0 = (btCollisionObject*)manifold->getBody0();
btCollisionObject* colObj1 = (btCollisionObject*)manifold->getBody1();
int tag0 = (colObj0)->getIslandTag();

47
Demos/InternalEdgeDemo/InternalEdgeDemo.cpp
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@@ -25,9 +25,10 @@ bool enable=true;
#endif
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#include "Taru.mdl"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
@@ -347,17 +348,18 @@ void InternalEdgeDemo::initPhysics()
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_broadphase = new btAxisSweep3(worldMin,worldMax);
m_broadphase = new btDbvtBroadphase();
m_solver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
/*
m_dynamicsWorld->getSolverInfo().m_splitImpulse = true;
m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = 1e30f;
m_dynamicsWorld->getSolverInfo().m_maxErrorReduction = 1e30f;
m_dynamicsWorld->getSolverInfo().m_erp =1.f;
m_dynamicsWorld->getSolverInfo().m_erp2 = 1.f;
*/
m_dynamicsWorld->setGravity(btVector3(0,-10,0));
@@ -366,24 +368,40 @@ void InternalEdgeDemo::initPhysics()
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-2,0));
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
btConvexHullShape* colShape = new btConvexHullShape();
for (int i=0;i<TaruVtxCount;i++)
{
btVector3 vtx(TaruVtx[i*3],TaruVtx[i*3+1],TaruVtx[i*3+2]);
colShape->addPoint(vtx);
}
//this will enable polyhedral contact clipping, better quality, slightly slower
colShape->initializePolyhedralFeatures();
//colShape->setMargin(0.f);
colShape->setMargin(0.1f);
//the polyhedral contact clipping can use either GJK or SAT test to find the separating axis
m_dynamicsWorld->getDispatchInfo().m_enableSatConvex=false;
m_collisionShapes.push_back(colShape);
{
for (int i=0;i<1;i++)
{
startTransform.setOrigin(btVector3(-10.f+i*3.f,1.f+btScalar(i)*0.1f,-1.3f));
btRigidBody* body = localCreateRigidBody(100, startTransform,colShape);
startTransform.setOrigin(btVector3(-10.f+i*3.f,2.2f+btScalar(i)*0.1f,-1.3f));
btRigidBody* body = localCreateRigidBody(10, startTransform,colShape);
body->setActivationState(DISABLE_DEACTIVATION);
body->setLinearVelocity(btVector3(0,0,-1));
//body->setContactProcessingThreshold(0.f);
}
}
{
btBoxShape* colShape = new btBoxShape(btVector3(1,1,1));
colShape->initializePolyhedralFeatures();
m_collisionShapes.push_back(colShape);
startTransform.setOrigin(btVector3(-16.f+i*3.f,1.f+btScalar(i)*0.1f,-1.3f));
btRigidBody* body = localCreateRigidBody(10, startTransform,colShape);
body->setActivationState(DISABLE_DEACTIVATION);
body->setLinearVelocity(btVector3(0,0,-1));
}
startTransform.setIdentity();
#ifdef ROTATE_GROUND
@@ -471,8 +489,9 @@ void InternalEdgeDemo::clientMoveAndDisplay()
#endif
//clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
//for debugging: clear all contact points involving mesh proxy. Note: this is a slow/unoptimized operation.
//m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(staticBody->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());
}

49
Demos/InternalEdgeDemo/Taru.mdl Normal file
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@@ -0,0 +1,49 @@
#define TaruVtxCount 43
#define TaruIdxCount 132
static float TaruVtx[] = {
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,-0.768369f,
1.28852f,1.34412e-007f,-1.28852f,
1.82224f,1.90735e-007f,0.0f,
0.0f,-1.99237f,-1.08664f,
0.0f,0.0f,-1.82224f,
0.0f,-1.99237f,-1.08664f,
-0.768369f,-1.99237f,-0.768369f,
-1.28852f,1.34412e-007f,-1.28852f,
0.0f,0.0f,-1.82224f,
-1.08664f,-1.99237f,1.82086e-007f,
-1.82224f,1.90735e-007f,1.59305e-007f,
-0.768369f,-1.99237f,0.76837f,
-1.28852f,2.47058e-007f,1.28852f,
1.42495e-007f,-1.99237f,1.08664f,
2.38958e-007f,2.70388e-007f,1.82224f,
0.768369f,-1.99237f,0.768369f,
1.28852f,2.47058e-007f,1.28852f,
0.768369f,1.99237f,-0.768369f,
1.08664f,1.99237f,0.0f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.42495e-007f,-1.99237f,1.08664f,
-0.768369f,-1.99237f,0.76837f,
-1.08664f,-1.99237f,1.82086e-007f,
-0.768369f,-1.99237f,-0.768369f,
0.0f,-1.99237f,-1.08664f,
0.768369f,-1.99237f,-0.768369f,
1.08664f,-1.99237f,0.0f,
0.768369f,-1.99237f,0.768369f,
0.768369f,1.99237f,-0.768369f,
0.0f,1.99237f,-1.08664f,
-0.768369f,1.99237f,-0.768369f,
-1.08664f,1.99237f,0.0f,
-0.768369f,1.99237f,0.768369f,
1.42495e-007f,1.99237f,1.08664f,
0.768369f,1.99237f,0.768369f,
1.08664f,1.99237f,0.0f,
};

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

19
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "LinearMath/btPoolAllocator.h"
#include "BulletMultiThreaded/vectormath2bullet.h"
#include "LinearMath/btQuickprof.h"
#include "BulletMultiThreaded/btThreadSupportInterface.h"
@@ -53,8 +54,8 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot((btVector3&)body1.mDeltaLinearVelocity) + c.m_relpos1CrossNormal.dot((btVector3&)body1.mDeltaAngularVelocity);
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot((btVector3&)body2.mDeltaLinearVelocity) + c.m_relpos2CrossNormal.dot((btVector3&)body2.mDeltaAngularVelocity);
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(getBtVector3(body1.mDeltaLinearVelocity)) + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
@@ -80,15 +81,17 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
if (body1.mMassInv)
{
btVector3 linearComponent = c.m_contactNormal*body1.mMassInv;
((btVector3&)body1.mDeltaLinearVelocity) += linearComponent*deltaImpulse;
((btVector3&)body1.mDeltaAngularVelocity) += c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));//*m_angularFactor);
body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));
body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
if (body2.mMassInv)
{
btVector3 linearComponent = -c.m_contactNormal*body2.mMassInv;
((btVector3&)body2.mDeltaLinearVelocity) += linearComponent*deltaImpulse;
((btVector3&)body2.mDeltaAngularVelocity) += c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
//body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
@@ -1035,7 +1038,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
state.reset();
const btQuaternion& orgOri = obj->getWorldTransform().getRotation();
vmQuat orn(orgOri.getX(),orgOri.getY(),orgOri.getZ(),orgOri.getW());
state.setPosition((vmVector3&) obj->getWorldTransform().getOrigin());
state.setPosition(getVmVector3(obj->getWorldTransform().getOrigin()));
state.setOrientation(orn);
state.setPosition(state.getPosition());
state.setRigidBodyId(i);
@@ -1140,7 +1143,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
int contactId = m-offsetContactManifolds;
//likely the contact pool is not contiguous, make sure to allocate large enough contact pool
btAssert(contactId>=0);
btAssert(contactId<dispatcher->getInternalManifoldPool()->getUsedCount());
btAssert(contactId<dispatcher->getInternalManifoldPool()->getMaxCount());
pfxSetContactId(pair,contactId);
pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());

5
src/LinearMath/btPoolAllocator.h
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@@ -62,6 +62,11 @@ public:
return m_maxElements - m_freeCount;
}
int getMaxCount() const
{
return m_maxElements;
}
void* allocate(int size)
{
// release mode fix