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Work on some improvements for GJK/PenetrationTestBullet.cpp. if this introduces issue, will need to revert.

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This commit is contained in:
ejcoumans
2006-11-14 21:53:59 +00:00
parent 6bc090fd28
commit b5afb11282
7 changed files with 80 additions and 22 deletions
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38
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -25,6 +25,9 @@ subject to the following restrictions:
//must be above the machine epsilon
#define REL_ERROR2 1.0e-6f
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;
#ifdef __SPU__
#include <spu_printf.h>
@@ -39,7 +42,7 @@ m_minkowskiA(objectA),
m_minkowskiB(objectB),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(0)
m_catchDegeneracies(1)
{
}
@@ -57,6 +60,8 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
float marginA = m_minkowskiA->getMargin();
float marginB = m_minkowskiB->getMargin();
gNumGjkChecks++;
//for CCD we don't use margins
if (m_ignoreMargin)
{
@@ -71,7 +76,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
bool isValid = false;
bool checkSimplex = false;
bool checkPenetration = true;
m_degenerateSimplex = false;
m_degenerateSimplex = 0;
m_lastUsedMethod = -1;
@@ -109,6 +114,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
//exit 0: the new point is already in the simplex, or we didn't come any closer
if (m_simplexSolver->inSimplex(w))
{
m_degenerateSimplex = 1;
checkSimplex = true;
break;
}
@@ -116,14 +122,12 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
float f0 = squaredDistance - delta;
float f1 = squaredDistance * REL_ERROR2;
if (f0 <= 0.f)
{
m_degenerateSimplex = 2;
}
if (f0 >= 0.f && (f0 <= f1))
//if (f0 <= f1)
if (f0 <= f1)
{
if (f0 <= 0.f)
{
m_degenerateSimplex = 2;
}
checkSimplex = true;
break;
}
@@ -133,7 +137,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
//calculate the closest point to the origin (update vector v)
if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
{
m_degenerateSimplex = 1;
m_degenerateSimplex = 3;
checkSimplex = true;
break;
}
@@ -188,7 +192,10 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
normalInB = pointOnA-pointOnB;
float lenSqr = m_cachedSeparatingAxis.length2();
//valid normal
//if (lenSqr > (0.1f*margin)) //SIMD_EPSILON*SIMD_EPSILON))
if (lenSqr < 0.00001)
{
m_degenerateSimplex = 5;
}
if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
{
float rlen = 1.f / btSqrt(lenSqr );
@@ -200,6 +207,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
pointOnB += m_cachedSeparatingAxis * (marginB / s);
distance = ((1.f/rlen) - margin);
isValid = true;
m_lastUsedMethod = 1;
} else
{
@@ -207,8 +215,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
}
}
bool catchDegeneratePenetrationCase =
(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < 0.01));
//if (checkPenetration && !isValid)
if (checkPenetration && (!isValid || (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex) ))
if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
{
//penetration case
@@ -217,6 +228,9 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
{
// Penetration depth case.
btVector3 tmpPointOnA,tmpPointOnB;
gNumDeepPenetrationChecks++;
bool isValid2 = m_penetrationDepthSolver->calcPenDepth(
*m_simplexSolver,
m_minkowskiA,m_minkowskiB,