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Add better support for btCollisionWorld::convexSweepTest for btStaticPlaneShape, now using the btContinuousConvexCollision directly.

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Bugfix in btKinematicCharacterController, using an uninitialized variable
This commit is contained in:
erwin.coumans
2011-04-01 16:33:55 +00:00
parent 08a93b28f0
commit b1f21a7e6a
4 changed files with 154 additions and 74 deletions
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139
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -662,68 +662,103 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btConvexCast::CastResult castResult;
castResult.m_allowedPenetration = allowedPenetration;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
btContinuousConvexCollision convexCaster1(castShape,planeShape);
btConvexCast* castPtr = &convexCaster1;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
collisionObject,
0,
castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction
);
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
}
}
return hitFraction;
}
};
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
{
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
}
}
} else {
///@todo : use AABB tree or other BVH acceleration structure!

78
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
View File

@@ -22,20 +22,72 @@ subject to the following restrictions:
#include "btGjkPairDetector.h"
#include "btPointCollector.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_simplexSolver(simplexSolver),
m_penetrationDepthSolver(penetrationDepthSolver),
m_convexA(convexA),m_convexB(convexB)
m_convexA(convexA),m_convexB1(convexB),m_planeShape(0)
{
}
btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape* convexA,const btStaticPlaneShape* plane)
:m_simplexSolver(0),
m_penetrationDepthSolver(0),
m_convexA(convexA),m_convexB1(0),m_planeShape(plane)
{
}
/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
/// You don't want your game ever to lock-up.
#define MAX_ITERATIONS 64
void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector)
{
if (m_convexB1)
{
m_simplexSolver->reset();
btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = transA;
input.m_transformB = transB;
gjk.getClosestPoints(input,pointCollector,0);
} else
{
//convex versus plane
const btConvexShape* convexShape = m_convexA;
const btStaticPlaneShape* planeShape = m_planeShape;
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = transA;
btTransform convexInPlaneTrans;
convexInPlaneTrans= transB.inverse() * convexWorldTransform;
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * transB;
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
pointCollector.addContactPoint(
normalOnSurfaceB,
vtxInPlaneWorld,
distance);
}
}
bool btContinuousConvexCollision::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
@@ -44,7 +96,6 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
CastResult& result)
{
m_simplexSolver->reset();
/// compute linear and angular velocity for this interval, to interpolate
btVector3 linVelA,angVelA,linVelB,angVelB;
@@ -53,7 +104,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
btScalar boundingRadiusB = m_convexB->getAngularMotionDisc();
btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f;
btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
@@ -81,11 +132,6 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
int numIter = 0;
//first solution, using GJK
btTransform identityTrans;
identityTrans.setIdentity();
btSphereShape raySphere(btScalar(0.0));
raySphere.setMargin(btScalar(0.));
btScalar radius = 0.001f;
// result.drawCoordSystem(sphereTr);
@@ -93,14 +139,8 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btPointCollector pointCollector1;
{
btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = fromA;
input.m_transformB = fromB;
gjk.getClosestPoints(input,pointCollector1,0);
computeClosestPoints(fromA,fromB,pointCollector1);
hasResult = pointCollector1.m_hasResult;
c = pointCollector1.m_pointInWorld;
@@ -170,11 +210,8 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
result.DebugDraw( lambda );
btPointCollector pointCollector;
btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
btGjkPairDetector::ClosestPointInput input;
input.m_transformA = interpolatedTransA;
input.m_transformB = interpolatedTransB;
gjk.getClosestPoints(input,pointCollector,0);
computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector);
if (pointCollector.m_hasResult)
{
dist = pointCollector.m_distance+result.m_allowedPenetration;
@@ -203,3 +240,4 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
return false;
}

9
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
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@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "btSimplexSolverInterface.h"
class btConvexPenetrationDepthSolver;
class btConvexShape;
class btStaticPlaneShape;
/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
@@ -31,13 +32,18 @@ class btContinuousConvexCollision : public btConvexCast
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
const btConvexShape* m_convexA;
const btConvexShape* m_convexB;
//second object is either a convex or a plane (code sharing)
const btConvexShape* m_convexB1;
const btStaticPlaneShape* m_planeShape;
void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
public:
btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
btContinuousConvexCollision(const btConvexShape* shapeA,const btStaticPlaneShape* plane );
virtual bool calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
@@ -48,5 +54,6 @@ public:
};
#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H

2
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -84,7 +84,7 @@ public:
} else
{
///need to transform normal into worldspace
hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
hitNormalWorld = convexResult.m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
}
btScalar dotUp = m_up.dot(hitNormalWorld);