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

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp

@@ -27,7 +27,7 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "CollisionInterfaceDemo.h"
 #include "GlutStuff.h"
-
+#include "GLDebugDrawer.h"
 
 float yaw=0.f,pitch=0.f,roll=0.f;
 const int maxNumObjects = 4;
@@ -41,7 +41,7 @@ btCollisionWorld*	collisionWorld = 0;
 
 int screenWidth = 640;
 int screenHeight = 480;
-
+GLDebugDrawer debugDrawer;
 
 int main(int argc,char** argv)
 {
@@ -117,8 +117,12 @@ void CollisionInterfaceDemo::displayCallback(void) {
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 	glDisable(GL_LIGHTING);
 
+	
+	btDispatcherInfo	dispatchInfo;
+	dispatchInfo.m_debugDraw = &debugDrawer;
+	
 	if (collisionWorld)
-		collisionWorld->performDiscreteCollisionDetection();
+		collisionWorld->performDiscreteCollisionDetection(dispatchInfo);
 	
 	int i;
 

Demos/EPAPenDepthDemo/PenetrationTestBullet.cpp

@@ -645,7 +645,12 @@ static void RenderCallback()
 	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 	yStart += yIncr;
 
+	glRasterPos3f(xOffset,yStart,0);
+	sprintf(buf,"gLastUsedMethod=%d\n", gLastUsedMethod);
+	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+	yStart += yIncr;
 
+	
 
 	
 

Demos/MovingConcaveDemo/ConcaveDemo.h

@@ -17,10 +17,15 @@ subject to the following restrictions:
 
 #include "DemoApplication.h"
 
+class btCollisionAlgorithmCreateFunc;
+
 ///ConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
 class ConcaveDemo : public DemoApplication
 {
+
+	btCollisionAlgorithmCreateFunc* m_gimpactCollisionCreateFunc;
+
 	public:
 
 	void	initPhysics();

Demos/MovingConcaveDemo/ConcavePhysicsDemo.cpp

@@ -14,6 +14,7 @@ subject to the following restrictions:
 */
 
 #include "btBulletDynamicsCommon.h"
+#include "ConcaveDemo.h"
 
 #include "LinearMath/btDefaultMotionState.h"
 #include "LinearMath/btIDebugDraw.h"
@@ -27,7 +28,7 @@ subject to the following restrictions:
 #include "BMF_Api.h"
 
 #include "GLDebugDrawer.h"
-#include "ConcaveDemo.h"
+
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
@@ -1634,11 +1635,13 @@ void	ConcaveDemo::initPhysics()
 	btOverlappingPairCache* broadphase = new btSimpleBroadphase();
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,broadphase);
-	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
-	dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
-	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,new btConcaveConcaveCollisionAlgorithm::CreateFunc);
-
 
+	m_gimpactCollisionCreateFunc = new btConcaveConcaveCollisionAlgorithm::CreateFunc;
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(TRIANGLE_MESH_SHAPE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,TRIANGLE_MESH_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(STATIC_PLANE_PROXYTYPE,GIMPACT_SHAPE_PROXYTYPE,m_gimpactCollisionCreateFunc);
+	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE,m_gimpactCollisionCreateFunc);
 
 
 	bool isDynamic = false;

Demos/OpenGL/DemoApplication.cpp

@@ -35,6 +35,12 @@ int numObjects = 0;
 const int maxNumObjects = 16384;
 btTransform startTransforms[maxNumObjects];
 btCollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of shapes)
+#define SHOW_NUM_DEEP_PENETRATIONS 1
+
+#ifdef SHOW_NUM_DEEP_PENETRATIONS 
+extern int gNumDeepPenetrationChecks;
+extern int gNumGjkChecks;
+#endif //
 
 
 DemoApplication::DemoApplication()
@@ -778,11 +784,11 @@ void DemoApplication::renderme()
 					yStart += yIncr;
 
 				}
+
 			}
 	#endif //USE_QUICKPROF
 
 			
-			
 				glRasterPos3f(xOffset,yStart,0);
 				sprintf(buf,"mouse to interact");
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
@@ -856,6 +862,20 @@ void DemoApplication::renderme()
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
 				yStart += yIncr;
 
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+				
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumDeepPenetrationChecks = %d",gNumDeepPenetrationChecks);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+				glRasterPos3f(xOffset,yStart,0);
+				sprintf(buf,"gNumGjkChecks= %d",gNumGjkChecks);
+				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
+				yStart += yIncr;
+
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
 				resetPerspectiveProjection();
 			}
 		
@@ -865,6 +885,11 @@ void DemoApplication::renderme()
 
 void	DemoApplication::clientResetScene()
 {
+#ifdef SHOW_NUM_DEEP_PENETRATIONS
+	gNumDeepPenetrationChecks = 0;
+	gNumGjkChecks = 0;
+#endif //SHOW_NUM_DEEP_PENETRATIONS
+
 	if (m_dynamicsWorld)
 	{
 		m_dynamicsWorld->stepSimulation(1.f/60.f,0);

src/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -38,7 +38,9 @@ struct btDispatcherInfo
 		DISPATCH_CONTINUOUS
 	};
 	btDispatcherInfo()
-		:m_dispatchFunc(DISPATCH_DISCRETE),
+		:m_timeStep(0.f),
+		m_stepCount(0),
+		m_dispatchFunc(DISPATCH_DISCRETE),
 		m_timeOfImpact(1.f),
 		m_useContinuous(false),
 		m_debugDraw(0),

src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -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)
+			if (f0 <= f1)
-			{
-				m_degenerateSimplex = 2;
-			}
-
-			if (f0 >= 0.f && (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,