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+ Fix btSubsimplexConvexCast

Browse Source 
Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
Fix in rendering, GL_STENCIL
+ btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
+ Made InternalProcessAllTriangles virtual, thanks to 
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
+clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
+ Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
This commit is contained in:
erwin.coumans
2008-07-31 19:44:28 +00:00
parent 9cd83c004b
commit af4520801b
22 changed files with 332 additions and 273 deletions
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2
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -235,7 +235,7 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
{
return m_boxBoxCF;
//return m_boxBoxCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))

29
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -143,17 +143,13 @@ class btPersistentManifoldSortPredicate
};
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects)
{
BT_PROFILE("islandUnionFindAndQuickSort");
m_islandmanifold.resize(0);
//we are going to sort the unionfind array, and store the element id in the size
//afterwards, we clean unionfind, to make sure no-one uses it anymore
@@ -287,6 +283,23 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
#endif //SPLIT_ISLANDS
}
}
}
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
buildIslands(dispatcher,collisionObjects);
int endIslandIndex=1;
int startIslandIndex;
int numElem = getUnionFind().getNumElements();
BT_PROFILE("processIslands");
#ifndef SPLIT_ISLANDS
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
@@ -367,5 +380,5 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
#endif //SPLIT_ISLANDS
m_islandmanifold.resize(0);
}

2
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
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@@ -63,6 +63,8 @@ public:
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects);
};
#endif //SIMULATION_ISLAND_MANAGER_H

61
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
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@@ -127,13 +127,13 @@ void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
@@ -187,13 +187,13 @@ void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, co
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
@@ -259,14 +259,14 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
#ifdef DEBUG_TRIANGLE_MESH
@@ -299,22 +299,37 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
}
void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
if (m_ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new(mem) btOptimizedBvh();
//rebuild the bvh...
m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
}
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
if (m_ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new(mem) btOptimizedBvh();
//rebuild the bvh...
m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
m_ownsBvh = true;
}
}
void btBvhTriangleMeshShape::setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& scaling)
{
btAssert(!m_bvh);
btAssert(!m_ownsBvh);
m_bvh = bvh;
m_ownsBvh = false;
// update the scaling without rebuilding the bvh
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
}
}

9
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
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@@ -75,14 +75,7 @@ public:
}
void setOptimizedBvh(btOptimizedBvh* bvh)
{
btAssert(!m_bvh);
btAssert(!m_ownsBvh);
m_bvh = bvh;
m_ownsBvh = false;
}
void setOptimizedBvh(btOptimizedBvh* bvh, const btVector3& localScaling=btVector3(1,1,1));
bool usesQuantizedAabbCompression() const
{

4
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
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@@ -334,13 +334,13 @@ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int f
}
//triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
#ifdef DEBUG_PATCH_COLORS
btVector3 mycolor = color[index&3];

4
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
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@@ -51,7 +51,7 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
int* tri_indices= (int*)(indexbase+gfxindex*indexstride);
unsigned int* tri_indices= (unsigned int*)(indexbase+gfxindex*indexstride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);
@@ -66,7 +66,7 @@ void btStridingMeshInterface::InternalProcessAllTriangles(btInternalTriangleInde
{
for (gfxindex=0;gfxindex<numtriangles;gfxindex++)
{
short int* tri_indices= (short int*)(indexbase+gfxindex*indexstride);
unsigned short int* tri_indices= (unsigned short int*)(indexbase+gfxindex*indexstride);
graphicsbase = (btScalar*)(vertexbase+tri_indices[0]*stride);
triangle[0].setValue(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase = (btScalar*)(vertexbase+tri_indices[1]*stride);

2
src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
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@@ -47,7 +47,7 @@ class btStridingMeshInterface
void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
///brute force method to calculate aabb
void calculateAabbBruteForce(btVector3& aabbMin,btVector3& aabbMax);

4
src/BulletCollision/CollisionShapes/btTriangleMesh.h
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@@ -30,8 +30,8 @@ class btTriangleMesh : public btTriangleIndexVertexArray
btAlignedObjectArray<btVector3> m_4componentVertices;
btAlignedObjectArray<float> m_3componentVertices;
btAlignedObjectArray<int> m_32bitIndices;
btAlignedObjectArray<short int> m_16bitIndices;
btAlignedObjectArray<unsigned int> m_32bitIndices;
btAlignedObjectArray<unsigned short int> m_16bitIndices;
bool m_use32bitIndices;
bool m_use4componentVertices;

2
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@@ -120,7 +120,7 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
dist2 = v.length2();
hasResult = true;
//todo: check this normal for validity
n=v;
//n=v;
//printf("V=%f , %f, %f\n",v[0],v[1],v[2]);
//printf("DIST2=%f\n",dist2);
//printf("numverts = %i\n",m_simplexSolver->numVertices());