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Use kF_UseGjkConvexCastRaytest by default for raycast in PyBullet (it is more robust/accurate, but a bit slower)

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Use 10*EPSILON, as suggested in Gino's paper:
http://www.continuousphysics.com/ftp/pub/test/files/physics/papers/jgt04raycast.pdf
This commit is contained in:
Erwin Coumans
2018-03-07 14:51:51 -08:00
parent 07f116610f
commit b578361acf
2 changed files with 5 additions and 5 deletions
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3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -43,6 +43,7 @@
#include "../Utils/b3Clock.h" #include "../Utils/b3Clock.h"
#include "b3PluginManager.h" #include "b3PluginManager.h"
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h" #include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#ifdef STATIC_LINK_VR_PLUGIN #ifdef STATIC_LINK_VR_PLUGIN
@@ -4472,6 +4473,8 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][2]); clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][2]);
btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld); btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld);
rayResultCallback.m_flags |= btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest;
m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback); m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
int rayHits = serverStatusOut.m_raycastHits.m_numRaycastHits; int rayHits = serverStatusOut.m_raycastHits.m_numRaycastHits;

7
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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@@ -72,11 +72,8 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
btScalar dist2 = v.length2(); btScalar dist2 = v.length2();
#ifdef BT_USE_DOUBLE_PRECISION btScalar epsilon = SIMD_EPSILON * 10;
btScalar epsilon = btScalar(0.0001);
#else
btScalar epsilon = btScalar(0.0001);
#endif //BT_USE_DOUBLE_PRECISION
btVector3 w,p; btVector3 w,p;
btScalar VdotR; btScalar VdotR;