Added faster and more robust support for btStaticPlaneShape

Demos/BasicDemo/BasicDemo.cpp

@@ -96,15 +96,16 @@ void	BasicDemo::initPhysics()
 	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
 	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
 	m_solver = sol;
-	
+
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_solver,m_collisionConfiguration);
 
 	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
 
 	///create a few basic rigid bodies
-	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
+//	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
-
+	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
+	
 	m_collisionShapes.push_back(groundShape);
 
 	btTransform groundTransform;
@@ -135,8 +136,8 @@ void	BasicDemo::initPhysics()
 		//create a few dynamic rigidbodies
 		// Re-using the same collision is better for memory usage and performance
 
-		//btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
+		btCollisionShape* colShape = new btBoxShape(btVector3(1,1,1));
-		btCollisionShape* colShape = new btSphereShape(btScalar(1.));
+		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
 		m_collisionShapes.push_back(colShape);
 
 		/// Create Dynamic Objects

Demos/BasicDemo/main.cpp

@@ -15,14 +15,17 @@ subject to the following restrictions:
 
 #include "BasicDemo.h"
 #include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
 
-//#define CHECK_MEMORY_LEAKS 1
 
 int main(int argc,char** argv)
 {
+	GLDebugDrawer	gDebugDrawer;
 
 	BasicDemo ccdDemo;
 	ccdDemo.initPhysics();
+	ccdDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 
 
 #ifdef CHECK_MEMORY_LEAKS

src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

@@ -0,0 +1,109 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "btConvexPlaneCollisionAlgorithm.h"
+
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
+
+//#include <stdio.h>
+
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+: btCollisionAlgorithm(ci),
+m_ownManifold(false),
+m_manifoldPtr(mf),
+m_isSwapped(isSwapped)
+{
+	btCollisionObject* convexObj = m_isSwapped? col1 : col0;
+	btCollisionObject* planeObj = m_isSwapped? col0 : col1;
+	
+	if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
+	{
+		m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
+		m_ownManifold = true;
+	}
+}
+
+
+btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
+{
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr)
+			m_dispatcher->releaseManifold(m_manifoldPtr);
+	}
+}
+
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	(void)dispatchInfo;
+	(void)resultOut;
+	if (!m_manifoldPtr)
+		return;
+
+	btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+	btCollisionObject* planeObj = m_isSwapped? body0: body1;
+
+	btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
+	btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+
+	bool hasCollision = false;
+	const btVector3& planeNormal = planeShape->getPlaneNormal();
+	const btScalar& planeConstant = planeShape->getPlaneConstant();
+	btTransform planeInConvex;
+	planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+	btTransform convexInPlaneTrans;
+	convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+	//btVector3 vtx = convexShape->localGetSupportingVertexWithoutMargin(planeNormal);
+	btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+	btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+	//btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant) - convexShape->getMargin();
+	btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+	btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+	btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
+
+	hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
+	resultOut->setPersistentManifold(m_manifoldPtr);
+	if (hasCollision)
+	{
+		/// report a contact. internally this will be kept persistent, and contact reduction is done
+		btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+		btVector3 pOnB = vtxInPlaneWorld;
+		resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
+	}
+	if (m_ownManifold)
+	{
+		if (m_manifoldPtr->getNumContacts())
+		{
+			resultOut->refreshContactPoints();
+		}
+	}
+}
+
+btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+	(void)resultOut;
+	(void)dispatchInfo;
+	(void)col0;
+	(void)col1;
+
+	//not yet
+	return btScalar(1.);
+}

src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h

@@ -0,0 +1,63 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
+#define CONVEX_PLANE_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+class btPersistentManifold;
+#include "btCollisionDispatcher.h"
+
+#include "LinearMath/btVector3.h"
+
+/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
+/// Other features are frame-coherency (persistent data) and collision response.
+class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	bool	m_isSwapped;
+	
+public:
+
+	btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
+
+	virtual ~btConvexPlaneCollisionAlgorithm();
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
+			if (!m_swapped)
+			{
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
+			} else
+			{
+				return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
+			}
+		}
+	};
+
+};
+
+#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
+

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp

@@ -20,6 +20,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
+#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
+
 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
@@ -58,7 +60,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	s
 	m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
 	mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
 	m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
-
+	
 	mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
 	m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
 	mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
@@ -72,7 +74,13 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc*	s
 	m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
 	m_triangleSphereCF->m_swapped = true;
 
-
+	//convex versus plane
+	mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
+	m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
+	mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
+	m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
+	m_planeConvexCF->m_swapped = true;
+	
 	///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
 	int maxSize = sizeof(btConvexConvexAlgorithm);
 	int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
@@ -167,6 +175,11 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 	m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
 	btAlignedFree( m_triangleSphereCF);
 
+	m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
+	btAlignedFree( m_convexPlaneCF);
+	m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
+	btAlignedFree( m_planeConvexCF);
+
 	m_simplexSolver->~btVoronoiSimplexSolver();
 	btAlignedFree(m_simplexSolver);
 	m_pdSolver->~btGjkEpaPenetrationDepthSolver();
@@ -178,7 +191,8 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
 
 btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
 {
-	
+
+
 
 	if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
 	{
@@ -205,6 +219,15 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
 		return	m_triangleSphereCF;
 	}
 	
+	if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
+	{
+		return m_convexPlaneCF;
+	}
+
+	if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
+	{
+		return m_planeConvexCF;
+	}
 
 	if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
 	{

src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h

@@ -54,7 +54,9 @@ class	btDefaultCollisionConfiguration : public btCollisionConfiguration
 	btCollisionAlgorithmCreateFunc* m_boxSphereCF;
 	btCollisionAlgorithmCreateFunc*	m_sphereTriangleCF;
 	btCollisionAlgorithmCreateFunc*	m_triangleSphereCF;
-
+	btCollisionAlgorithmCreateFunc*	m_planeConvexCF;
+	btCollisionAlgorithmCreateFunc*	m_convexPlaneCF;
+	
 public:
 
 	btDefaultCollisionConfiguration(btStackAlloc*	stackAlloc=0,btPoolAllocator*	persistentManifoldPool=0,btPoolAllocator*	collisionAlgorithmPool=0);

src/BulletCollision/CollisionShapes/btStaticPlaneShape.h

@@ -51,6 +51,15 @@ public:
 	virtual void	setLocalScaling(const btVector3& scaling);
 	virtual const btVector3& getLocalScaling() const;
 	
+	const btVector3&	getPlaneNormal() const
+	{
+		return	m_planeNormal;
+	}
+
+	const btScalar&	getPlaneConstant() const
+	{
+		return	m_planeConstant;
+	}
 
 	//debugging
 	virtual const char*	getName()const {return "STATICPLANE";}