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Added new EPA penetration depth solver

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improved gjk/minkowski sampling pd method
added original solver variant, use btSequentialImpulseConstraintSolver2
Added Pierre Terdimans PD testbed
This commit is contained in:
ejcoumans
2006-11-16 06:14:12 +00:00
parent 25f3d00f01
commit b07bb88a2d
9 changed files with 858 additions and 708 deletions
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54
Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp
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@@ -31,9 +31,14 @@
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
//We can use the Bullet EPA or sampling penetration depth solver, but comparison might be useful
//#define COMPARE_WITH_SOLID35_AND_OTHER_EPA 1
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
#include "../Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h"
#include "../Extras/ExtraSolid35/Solid3JohnsonSimplexSolver.h"
#include "../Extras/EPA/EpaPenetrationDepthSolver.h"
#endif //COMPARE_WITH_SOLID35_AND_OTHER_EPA
#define USE_ORIGINAL 1
#ifndef USE_ORIGINAL
@@ -277,26 +282,35 @@ static float gDepth;
static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
{
static btSimplexSolverInterface simplexSolver;
//static Solid3JohnsonSimplexSolver simplexSolver;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
// static Solid3JohnsonSimplexSolver simplexSolver2;
#endif //COMPARE_WITH_SOLID35_AND_OTHER_EPA
simplexSolver.reset();
btConvexHullShape convexA((float*)hull0.mVerts, hull0.mNbVerts, sizeof(btVector3));
btConvexHullShape convexB((float*)hull1.mVerts, hull1.mNbVerts, sizeof(btVector3));
static btMinkowskiPenetrationDepthSolver Solver0;
static Solid3EpaPenetrationDepth Solver1;
static EpaPenetrationDepthSolver Solver2;
static btGjkEpaPenetrationDepthSolver Solver0;
static btMinkowskiPenetrationDepthSolver Solver1;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
static Solid3EpaPenetrationDepth Solver2;
static EpaPenetrationDepthSolver Solver3;
#endif
btConvexPenetrationDepthSolver* Solver;
if(gMethod==0)
Solver = &Solver0;
else if(gMethod==1)
Solver = &Solver1;
Solver = &Solver1;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
else if(gMethod==2)
Solver = &Solver2;
else
Solver = &Solver2;
Solver = &Solver3;
#endif //COMPARE_WITH_SOLID35_AND_OTHER_EPA
#ifdef USE_ORIGINAL
@@ -321,13 +335,16 @@ static bool TestEPA(const MyConvex& hull0, const MyConvex& hull1)
btVector3 normal;
btScalar depth;
btGjkEpaSolver::sResults results;
btScalar radialMargin = 0.01f;
btGjkEpaSolver::Collide(&convexA,hull0.mTransform,
&convexB,hull1.mTransform,
0.01,0.01,
witnesses,normal,depth);
if (depth>0)
radialMargin,
results);
if (results.depth>0)
{
output.addContactPoint(normal,witnesses[1],-depth);
output.addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#endif
return true;
@@ -471,7 +488,11 @@ static void KeyboardCallback(unsigned char key, int x, int y)
case ' ':
gMethod++;
if(gMethod==3) gMethod=0;
#ifdef COMPARE_WITH_SOLID35_AND_OTHER_EPA
if(gMethod==4) gMethod=0;
#else
if(gMethod==2) gMethod=0;
#endif
break;
case '4':
@@ -675,13 +696,16 @@ static void RenderCallback()
switch ( gMethod)
{
case 0:
sprintf(buf,"Minkowski sampling Penetration depth solver\n" );
sprintf(buf,"Bullet GjkEpa Penetration depth solver (zlib free\n" );
break;
case 1:
sprintf(buf,"Solid35 EPA Penetration depth solver\n" );
sprintf(buf,"Bullet Minkowski sampling Penetration depth solver\n" );
break;
case 2:
sprintf(buf,"EPA Penetration depth solver (WorkInProgress, zlib free\n" );
sprintf(buf,"Solid35 EPA Penetration depth solver\n" );
break;
case 3:
sprintf(buf,"EPA Penetration depth solver (Experimental/WorkInProgress, zlib free\n" );
break;
default:
sprintf(buf,"Unknown Penetration Depth\n" );

4
Extras/EPA/EpaPenetrationDepthSolver.h
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@@ -14,8 +14,8 @@ subject to the following restrictions:
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 EPA_PENETRATION_DEPTH_H
#define EPA_PENETRATION_DEPTH_H
#ifndef EPA2_PENETRATION_DEPTH_H
#define EPA2_PENETRATION_DEPTH_H
/**
* EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to

2
VERSION
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@@ -1,3 +1,3 @@
Bullet Collision Detection and Physics Library version 2.22
Bullet Collision Detection and Physics Library version 2.32
http://bullet.sourceforge.net

10
changes.txt
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@@ -1,6 +1,16 @@
Bullet Continuous Collision Detection and Physics Library
Erwin Coumans
2006 Nov 15
Added EPA penetration depth algorithm, Expanding Polytope Algorithm
Added Pierre Terdiman penetration depth comparison/test DEMO
Fixed Bullet's Minkowski sampling penetration depth solver
Contributed by Nathanael Presson
2006 Nov 11
Added GIMPACT trimesh collision detection: concave versus concave,
Contributed by Francisco Le<4C>n N<>jera
2006 Nov 2
Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform

2
configure.ac
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@@ -9,7 +9,7 @@ AC_PREREQ([2.54])
#----------------------------------------------------------------------------
AC_INIT(
[bullet],
[2.20],
[2.32],
[bullet@erwincoumans.com])
CS_PACKAGEINFO(
[Bullet Continuous Collision Detection and Physics Library],

1320
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
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File diff suppressed because it is too large Load Diff

6
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
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@@ -14,8 +14,8 @@ subject to the following restrictions:
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 EPA_PENETRATION_DEPTH_H
#define EPA_PENETRATION_DEPTH_H
#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
#define BT_GJP_EPA_PENETRATION_DEPTH_H
#include "btConvexPenetrationDepthSolver.h"
@@ -35,5 +35,5 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
};
#endif // EPA_PENETRATION_DEPTH_H
#endif // BT_GJP_EPA_PENETRATION_DEPTH_H

135
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -63,8 +63,14 @@ bool MyContactDestroyedCallback(void* userPersistentData)
return true;
}
btSequentialImpulseConstraintSolver2::btSequentialImpulseConstraintSolver2()
{
setSolverMode(SOLVER_USE_WARMSTARTING);
}
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_RANDMIZE_ORDER)
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -92,18 +98,13 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
int totalPoints = 0;
{
int j;
for (j=0;j<numManifolds;j++)
{
prepareConstraints(manifoldPtr[j],info,debugDrawer);
}
}
{
int j;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
prepareConstraints(manifold,info,debugDrawer);
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
gOrder[totalPoints].m_manifoldIndex = j;
@@ -113,36 +114,111 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
}
}
//should traverse the contacts random order...
int iteration;
{
for ( iteration = 0;iteration<numiter-1;iteration++)
{
int j;
if (m_solverMode & SOLVER_RANDMIZE_ORDER)
{
if ((iteration & 7) == 0) {
for (j=0; j<totalPoints; ++j) {
btOrderIndex tmp = gOrder[j];
int swapi = btRandInt2(j+1);
gOrder[j] = gOrder[swapi];
gOrder[swapi] = tmp;
}
}
}
for (j=0;j<totalPoints;j++)
{
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
}
for (j=0;j<totalPoints;j++)
{
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
solveFriction((btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
}
}
}
#ifdef USE_PROFILE
btProfiler::endBlock("solve");
#endif //USE_PROFILE
return 0.f;
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver2::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
int numiter = infoGlobal.m_numIterations;
#ifdef USE_PROFILE
btProfiler::beginBlock("solve");
#endif //USE_PROFILE
{
int j;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
prepareConstraints(manifold,info,debugDrawer);
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
//interleaving here gives better results
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifoldPtr[j]->getContactPoint(p),info,0,debugDrawer);
}
}
}
//should traverse the contacts random order...
int iteration;
for ( iteration = 0;iteration<numiter-1;iteration++)
{
int j;
if ((iteration & 7) == 0) {
for (j=0; j<totalPoints; ++j) {
btOrderIndex tmp = gOrder[j];
int swapi = btRandInt2(j+1);
gOrder[j] = gOrder[swapi];
gOrder[swapi] = tmp;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
for (int p=0;p<manifold->getNumContacts();p++)
{
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifold->getContactPoint(p),info,iteration,debugDrawer);
}
}
for (j=0;j<totalPoints;j++)
{
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
}
for (j=0;j<totalPoints;j++)
}
for ( iteration = 0;iteration<numiter-1;iteration++)
{
int j;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
solveFriction((btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
btPersistentManifold* manifold = manifoldPtr[j];
for (int p=0;p<manifold->getNumContacts();p++)
{
solveFriction((btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(p),info,iteration,debugDrawer);
}
}
}
#ifdef USE_PROFILE
btProfiler::endBlock("solve");
@@ -264,7 +340,14 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
float relaxation = info.m_damping;
cpd->m_appliedImpulse =0.f;//*= relaxation;
if (m_solverMode & SOLVER_USE_WARMSTARTING)
{
cpd->m_appliedImpulse *= relaxation;
} else
{
cpd->m_appliedImpulse =0.f;
}
//for friction
cpd->m_prevAppliedImpulse = cpd->m_appliedImpulse;

33
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -30,6 +30,7 @@ class btIDebugDraw;
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
float solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
float solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
@@ -37,8 +38,18 @@ class btSequentialImpulseConstraintSolver : public btConstraintSolver
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
//choose between several modes, different friction model etc.
int m_solverMode;
public:
enum eSolverMode
{
SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4
};
btSequentialImpulseConstraintSolver();
///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
@@ -59,7 +70,29 @@ public:
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
void setSolverMode(int mode)
{
m_solverMode = mode;
}
int getSolverMode() const
{
return m_solverMode;
}
};
/// Small variation on btSequentialImpulseConstraintSolver: warmstarting, separate friction, non-randomized ordering
class btSequentialImpulseConstraintSolver2 : public btSequentialImpulseConstraintSolver
{
public:
btSequentialImpulseConstraintSolver2();
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
};
#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H