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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" );