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contact normal should point from B to A (to be consistent with Bullet 2.x)

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stringify: pre-allocate bigger buffer (10MB, workaround)
This commit is contained in:
erwincoumans
2013-08-10 12:08:15 -07:00
parent d158507c03
commit ac23dbc4be
17 changed files with 220 additions and 209 deletions
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64
src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp
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@@ -530,7 +530,7 @@ void computeContactPlaneConvex(int pairIndex,
nGlobalContactsOut++;
b3Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = planeNormalWorld;
c->m_worldNormalOnB = -planeNormalWorld;
c->setFrictionCoeff(0.7);
c->setRestituitionCoeff(0.f);
@@ -540,9 +540,9 @@ void computeContactPlaneConvex(int pairIndex,
for (int i=0;i<numReducedPoints;i++)
{
b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
c->m_worldPos[i] = pOnB1;
c->m_worldPosB[i] = pOnB1;
}
c->m_worldNormal[3] = (b3Scalar)numReducedPoints;
c->m_worldNormalOnB[3] = (b3Scalar)numReducedPoints;
}//if (dstIdx < numPairs)
}
@@ -668,7 +668,7 @@ void computeContactPlaneCompound(int pairIndex,
nGlobalContactsOut++;
b3Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = planeNormalWorld;
c->m_worldNormalOnB = -planeNormalWorld;
c->setFrictionCoeff(0.7);
c->setRestituitionCoeff(0.f);
@@ -678,9 +678,9 @@ void computeContactPlaneCompound(int pairIndex,
for (int i=0;i<numReducedPoints;i++)
{
b3Vector3 pOnB1 = contactPoints[contactIdx.s[i]];
c->m_worldPos[i] = pOnB1;
c->m_worldPosB[i] = pOnB1;
}
c->m_worldNormal[3] = (b3Scalar)numReducedPoints;
c->m_worldNormalOnB[3] = (b3Scalar)numReducedPoints;
}//if (dstIdx < numPairs)
}
@@ -811,7 +811,7 @@ void computeContactSphereConvex(int pairIndex,
if (bCollide && minDist > -10000)
{
float4 normalOnSurfaceB1 = tr.getBasis()*-localHitNormal;//-hitNormalWorld;
float4 normalOnSurfaceB1 = tr.getBasis()*localHitNormal;//-hitNormalWorld;
float4 pOnB1 = tr(closestPnt);
//printf("dist ,%f,",minDist);
float actualDepth = minDist-radius;
@@ -831,16 +831,16 @@ void computeContactSphereConvex(int pairIndex,
nGlobalContactsOut++;
b3Contact4* c = &globalContactsOut[dstIdx];
c->m_worldNormal = normalOnSurfaceB1;
c->m_worldNormalOnB = normalOnSurfaceB1;
c->setFrictionCoeff(0.7);
c->setRestituitionCoeff(0.f);
c->m_batchIdx = pairIndex;
c->m_bodyAPtrAndSignBit = rigidBodies[bodyIndexA].m_invMass==0?-bodyIndexA:bodyIndexA;
c->m_bodyBPtrAndSignBit = rigidBodies[bodyIndexB].m_invMass==0?-bodyIndexB:bodyIndexB;
c->m_worldPos[0] = pOnB1;
c->m_worldPosB[0] = pOnB1;
int numPoints = 1;
c->m_worldNormal[3] = (b3Scalar)numPoints;
c->m_worldNormalOnB[3] = (b3Scalar)numPoints;
}//if (dstIdx < numPairs)
}
}//if (hasCollision)
@@ -1520,7 +1520,7 @@ int clipHullHullSingle(
{
B3_PROFILE("overlap");
float4 normalOnSurfaceB = -(float4&)hostNormal;
float4 normalOnSurfaceB = (float4&)hostNormal;
float4 centerOut;
b3Int4 contactIdx;
@@ -1553,11 +1553,11 @@ int clipHullHullSingle(
float distance = 0.f;
for (int p=0;p<numPoints;p++)
{
contact.m_worldPos[p] = contactsOut[contactIdx.s[p]];
contact.m_worldNormal = normalOnSurfaceB;
contact.m_worldPosB[p] = contactsOut[contactIdx.s[p]];//check if it is actually on B
contact.m_worldNormalOnB = normalOnSurfaceB;
}
//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
contact.m_worldNormal.w = (b3Scalar)numPoints;
contact.m_worldNormalOnB.w = (b3Scalar)numPoints;
nContacts++;
} else
{
@@ -1638,7 +1638,7 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
int numPoints = 0;
if (0)//pairs[pairIndex].z>=0)
if (pairs[pairIndex].z>=0)
{
//printf("add existing points?\n");
//refresh
@@ -1647,7 +1647,9 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
if (numOldPoints)
{
newContact = oldContacts[pairs[pairIndex].z];
//b3ContactCache::refreshContactPoints(transA,transB,newContact);
#ifdef CHECK_ON_HOST
b3ContactCache::refreshContactPoints(transA,transB,newContact);
#endif //CHECK_ON_HOST
}
numPoints = b3Contact4Data_getNumPoints(&newContact);
@@ -1666,20 +1668,28 @@ int computeContactConvexConvex( b3AlignedObjectArray<b3Int4>& pairs,
*/
int p=numPoints;
if (numPoints<3)
if (numPoints<4)
{
numPoints++;
} else
{
p=3;
}
{
resultPointOnBWorld.w = distance2;
newContact.m_worldPos[p] = resultPointOnBWorld;
newContact.m_worldPosB[p] = resultPointOnBWorld;
b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2;
//newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
// newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
newContact.m_worldNormal = sepAxis2;
#ifdef CHECK_ON_HOST
newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld;
newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld;
#endif
newContact.m_worldNormalOnB = sepAxis2;
}
//printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints);
newContact.m_worldNormal.w = (b3Scalar)numPoints;
newContact.m_worldNormalOnB.w = (b3Scalar)numPoints;
nGlobalContactsOut++;
} else
{
@@ -1937,11 +1947,11 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray<b3Int4>*
hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL)
{
//printf("hostPairs[i].z=%d\n",hostPairs[i].z);
int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
//int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
// oldHostContacts);
//int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
// hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts);
int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,
hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,
oldHostContacts);
if (contactIndex>=0)