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Implemented btDiscreteDynamicsWorld::addSpeculativeContacts, using conservative advancement to find contact point ahead of time

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make Extras/ConvexDecomposition thread safe, Issue 501
some improvements to the btInternalEdgeUtility, patch from Issue 501
This commit is contained in:
erwin.coumans
2011-04-07 06:23:34 +00:00
parent 49630e9c77
commit a4e8213ede
8 changed files with 304 additions and 88 deletions
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105
Extras/ConvexDecomposition/cd_hull.cpp
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@@ -992,14 +992,14 @@ Quaternion YawPitchRoll( float yaw, float pitch, float roll )
float Yaw( const Quaternion& q )
{
static float3 v;
float3 v;
v=q.ydir();
return (v.y==0.0&&v.x==0.0) ? 0.0f: atan2f(-v.x,v.y)*RAD2DEG;
}
float Pitch( const Quaternion& q )
{
static float3 v;
float3 v;
v=q.ydir();
return atan2f(v.z,sqrtf(sqr(v.x)+sqr(v.y)))*RAD2DEG;
}
@@ -1028,8 +1028,8 @@ float Pitch( const float3& v )
void Plane::Transform(const float3 &position, const Quaternion &orientation) {
// Transforms the plane to the space defined by the
// given position/orientation.
static float3 newnormal;
static float3 origin;
float3 newnormal;
float3 origin;
newnormal = Inverse(orientation)*normal;
origin = Inverse(orientation)*(-normal*dist - position);
@@ -1048,7 +1048,7 @@ void Plane::Transform(const float3 &position, const Quaternion &orientation) {
// returns quaternion q where q*v0==v1.
// Routine taken from game programming gems.
Quaternion RotationArc(float3 v0,float3 v1){
static Quaternion q;
Quaternion q;
v0 = normalize(v0); // Comment these two lines out if you know its not needed.
v1 = normalize(v1); // If vector is already unit length then why do it again?
float3 c = cross(v0,v1);
@@ -1100,7 +1100,7 @@ float4x4 MatrixFromQuatVec(const Quaternion &q, const float3 &v)
float3 PlaneLineIntersection(const Plane &plane, const float3 &p0, const float3 &p1)
{
// returns the point where the line p0-p1 intersects the plane n&d
static float3 dif;
float3 dif;
dif = p1-p0;
float dn= dot(plane.normal,dif);
float t = -(plane.dist+dot(plane.normal,p0) )/dn;
@@ -1248,7 +1248,7 @@ int BoxIntersect(const float3 &v0, const float3 &v1, const float3 &bmin, const f
float DistanceBetweenLines(const float3 &ustart, const float3 &udir, const float3 &vstart, const float3 &vdir, float3 *upoint, float3 *vpoint)
{
static float3 cp;
float3 cp;
cp = normalize(cross(udir,vdir));
float distu = -dot(cp,ustart);
@@ -1343,7 +1343,7 @@ int PolyHit(const float3 *vert, const int n, const float3 &v0, const float3 &v1,
return 0;
}
static float3 the_point;
float3 the_point;
// By using the cached plane distances d0 and d1
// we can optimize the following:
// the_point = planelineintersection(nrml,dist,v0,v1);
@@ -1853,9 +1853,9 @@ ConvexH *ConvexHCrop(ConvexH &convex,const Plane &slice)
int i;
int vertcountunder=0;
int vertcountover =0;
static Array<int> vertscoplanar; // existing vertex members of convex that are coplanar
Array<int> vertscoplanar; // existing vertex members of convex that are coplanar
vertscoplanar.count=0;
static Array<int> edgesplit; // existing edges that members of convex that cross the splitplane
Array<int> edgesplit; // existing edges that members of convex that cross the splitplane
edgesplit.count=0;
assert(convex.edges.count<480);
@@ -2332,7 +2332,7 @@ int shareedge(const int3 &a,const int3 &b)
class btHullTriangle;
Array<btHullTriangle*> tris;
//Array<btHullTriangle*> tris;
class btHullTriangle : public int3
{
@@ -2341,17 +2341,19 @@ public:
int id;
int vmax;
float rise;
btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
Array<btHullTriangle*>* tris;
btHullTriangle(int a,int b,int c, Array<btHullTriangle*>* pTris):int3(a,b,c),n(-1,-1,-1)
{
id = tris.count;
tris.Add(this);
tris = pTris;
id = tris->count;
tris->Add(this);
vmax=-1;
rise = 0.0f;
}
~btHullTriangle()
{
assert(tris[id]==this);
tris[id]=NULL;
assert((*tris)[id]==this);
(*tris)[id]=NULL;
}
int &neib(int a,int b);
};
@@ -2371,7 +2373,7 @@ int &btHullTriangle::neib(int a,int b)
assert(0);
return er;
}
void b2bfix(btHullTriangle* s,btHullTriangle*t)
void b2bfix(btHullTriangle* s,btHullTriangle*t, Array<btHullTriangle*>& tris)
{
int i;
for(i=0;i<3;i++)
@@ -2387,14 +2389,14 @@ void b2bfix(btHullTriangle* s,btHullTriangle*t)
}
}
void removeb2b(btHullTriangle* s,btHullTriangle*t)
void removeb2b(btHullTriangle* s,btHullTriangle*t, Array<btHullTriangle*>& tris)
{
b2bfix(s,t);
b2bfix(s,t, tris);
delete s;
delete t;
}
void checkit(btHullTriangle *t)
void checkit(btHullTriangle *t, Array<btHullTriangle*>& tris)
{
int i;
assert(tris[t->id]==t);
@@ -2408,30 +2410,30 @@ void checkit(btHullTriangle *t)
assert( tris[t->n[i]]->neib(b,a) == t->id);
}
}
void extrude(btHullTriangle *t0,int v)
void extrude(btHullTriangle *t0,int v, Array<btHullTriangle*>& tris)
{
int3 t= *t0;
int n = tris.count;
btHullTriangle* ta = new btHullTriangle(v,t[1],t[2]);
btHullTriangle* ta = new btHullTriangle(v,t[1],t[2], &tris);
ta->n = int3(t0->n[0],n+1,n+2);
tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
btHullTriangle* tb = new btHullTriangle(v,t[2],t[0]);
btHullTriangle* tb = new btHullTriangle(v,t[2],t[0], &tris);
tb->n = int3(t0->n[1],n+2,n+0);
tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
btHullTriangle* tc = new btHullTriangle(v,t[0],t[1]);
btHullTriangle* tc = new btHullTriangle(v,t[0],t[1], &tris);
tc->n = int3(t0->n[2],n+0,n+1);
tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
checkit(ta);
checkit(tb);
checkit(tc);
if(hasvert(*tris[ta->n[0]],v)) removeb2b(ta,tris[ta->n[0]]);
if(hasvert(*tris[tb->n[0]],v)) removeb2b(tb,tris[tb->n[0]]);
if(hasvert(*tris[tc->n[0]],v)) removeb2b(tc,tris[tc->n[0]]);
checkit(ta, tris);
checkit(tb, tris);
checkit(tc, tris);
if(hasvert(*tris[ta->n[0]],v)) removeb2b(ta,tris[ta->n[0]], tris);
if(hasvert(*tris[tb->n[0]],v)) removeb2b(tb,tris[tb->n[0]], tris);
if(hasvert(*tris[tc->n[0]],v)) removeb2b(tc,tris[tc->n[0]], tris);
delete t0;
}
btHullTriangle *extrudable(float epsilon)
btHullTriangle *extrudable(float epsilon, Array<btHullTriangle*>& tris)
{
int i;
btHullTriangle *t=NULL;
@@ -2487,7 +2489,7 @@ int4 FindSimplex(float3 *verts,int verts_count,Array<int> &allow)
return int4(p0,p1,p2,p3);
}
int calchullgen(float3 *verts,int verts_count, int vlimit)
int calchullgen(float3 *verts,int verts_count, int vlimit,Array<btHullTriangle*>& tris)
{
if(verts_count <4) return 0;
if(vlimit==0) vlimit=1000000000;
@@ -2511,12 +2513,12 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
float3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) /4.0f; // a valid interior point
btHullTriangle *t0 = new btHullTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
btHullTriangle *t1 = new btHullTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
btHullTriangle *t2 = new btHullTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
btHullTriangle *t3 = new btHullTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
btHullTriangle *t0 = new btHullTriangle(p[2],p[3],p[1], &tris); t0->n=int3(2,3,1);
btHullTriangle *t1 = new btHullTriangle(p[3],p[2],p[0], &tris); t1->n=int3(3,2,0);
btHullTriangle *t2 = new btHullTriangle(p[0],p[1],p[3], &tris); t2->n=int3(0,1,3);
btHullTriangle *t3 = new btHullTriangle(p[1],p[0],p[2], &tris); t3->n=int3(1,0,2);
isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
checkit(t0);checkit(t1);checkit(t2);checkit(t3);
checkit(t0, tris);checkit(t1, tris);checkit(t2, tris);checkit(t3, tris);
for(j=0;j<tris.count;j++)
{
@@ -2529,7 +2531,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
}
btHullTriangle *te;
vlimit-=4;
while(vlimit >0 && (te=extrudable(epsilon)))
while(vlimit >0 && (te=extrudable(epsilon, tris)))
{
int3 ti=*te;
int v=te->vmax;
@@ -2542,7 +2544,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
int3 t=*tris[j];
if(above(verts,t,verts[v],0.01f*epsilon))
{
extrude(tris[j],v);
extrude(tris[j],v, tris);
}
}
// now check for those degenerate cases where we have a flipped triangle or a really skinny triangle
@@ -2556,7 +2558,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
{
btHullTriangle *nb = tris[tris[j]->n[0]];
assert(nb);assert(!hasvert(*nb,v));assert(nb->id<j);
extrude(nb,v);
extrude(nb,v, tris);
j=tris.count;
}
}
@@ -2582,9 +2584,9 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
return 1;
}
int calchull(float3 *verts,int verts_count, int *&tris_out, int &tris_count,int vlimit)
int calchull(float3 *verts,int verts_count, int *&tris_out, int &tris_count,int vlimit, Array<btHullTriangle*>& tris)
{
int rc=calchullgen(verts,verts_count, vlimit) ;
int rc=calchullgen(verts,verts_count, vlimit, tris) ;
if(!rc) return 0;
Array<int> ts;
for(int i=0;i<tris.count;i++)if(tris[i])
@@ -2599,11 +2601,11 @@ int calchull(float3 *verts,int verts_count, int *&tris_out, int &tris_count,int
return 1;
}
int calchullpbev(float3 *verts,int verts_count,int vlimit, Array<Plane> &planes,float bevangle)
int calchullpbev(float3 *verts,int verts_count,int vlimit, Array<Plane> &planes,float bevangle, Array<btHullTriangle*>& tris)
{
int i,j;
planes.count=0;
int rc = calchullgen(verts,verts_count,vlimit);
int rc = calchullgen(verts,verts_count,vlimit, tris);
if(!rc) return 0;
for(i=0;i<tris.count;i++)if(tris[i])
{
@@ -2702,18 +2704,18 @@ int overhull(Plane *planes,int planes_count,float3 *verts, int verts_count,int m
}
int overhullv(float3 *verts, int verts_count,int maxplanes,
float3 *&verts_out, int &verts_count_out, int *&faces_out, int &faces_count_out ,float inflate,float bevangle,int vlimit)
float3 *&verts_out, int &verts_count_out, int *&faces_out, int &faces_count_out ,float inflate,float bevangle,int vlimit, Array<btHullTriangle*>& tris)
{
if(!verts_count) return 0;
extern int calchullpbev(float3 *verts,int verts_count,int vlimit, Array<Plane> &planes,float bevangle) ;
extern int calchullpbev(float3 *verts,int verts_count,int vlimit, Array<Plane> &planes,float bevangle, Array<btHullTriangle*>& tris) ;
Array<Plane> planes;
int rc=calchullpbev(verts,verts_count,vlimit,planes,bevangle) ;
int rc=calchullpbev(verts,verts_count,vlimit,planes,bevangle, tris) ;
if(!rc) return 0;
return overhull(planes.element,planes.count,verts,verts_count,maxplanes,verts_out,verts_count_out,faces_out,faces_count_out,inflate);
}
bool ComputeHull(unsigned int vcount,const float *vertices,PHullResult &result,unsigned int vlimit,float inflate)
bool ComputeHull(unsigned int vcount,const float *vertices,PHullResult &result,unsigned int vlimit,float inflate, Array<btHullTriangle*>& arrtris)
{
int index_count;
@@ -2725,7 +2727,7 @@ bool ComputeHull(unsigned int vcount,const float *vertices,PHullResult &result,u
{
int *tris_out;
int tris_count;
int ret = calchull( (float3 *) vertices, (int) vcount, tris_out, tris_count, vlimit );
int ret = calchull( (float3 *) vertices, (int) vcount, tris_out, tris_count, vlimit, arrtris );
if(!ret) return false;
result.mIndexCount = (unsigned int) (tris_count*3);
result.mFaceCount = (unsigned int) tris_count;
@@ -2735,7 +2737,7 @@ bool ComputeHull(unsigned int vcount,const float *vertices,PHullResult &result,u
return true;
}
int ret = overhullv((float3*)vertices,vcount,35,verts_out,verts_count_out,faces,index_count,inflate,120.0f,vlimit);
int ret = overhullv((float3*)vertices,vcount,35,verts_out,verts_count_out,faces,index_count,inflate,120.0f,vlimit, arrtris);
if(!ret) return false;
Array<int3> tris;
@@ -2826,7 +2828,8 @@ HullError HullLibrary::CreateConvexHull(const HullDesc &desc, //
if ( desc.HasHullFlag(QF_SKIN_WIDTH) )
skinwidth = desc.mSkinWidth;
ok = ComputeHull(ovcount,vsource,hr,desc.mMaxVertices,skinwidth);
Array<btHullTriangle*> tris;
ok = ComputeHull(ovcount,vsource,hr,desc.mMaxVertices,skinwidth, tris);
if ( ok )
{