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Perform several rotation pertubations, to create multiple collision contact. works for convex versus plane. todo: convex versus convex.

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See issue http://code.google.com/p/bullet/issues/detail?id=20:

Note that the default number of pertubation iterations (10) and pertubation angle (0.05) can be modified through the collisionConfiguration:

	btConvexPlaneCollisionAlgorithm::CreateFunc* func = (btConvexPlaneCollisionAlgorithm::CreateFunc*)collisionConfiguration->getCollisionAlgorithmCreateFunc(BOX_SHAPE_PROXYTYPE,STATIC_PLANE_PROXYTYPE);
	func->m_numPertubationIterations = 0;
	func = (btConvexPlaneCollisionAlgorithm::CreateFunc*)collisionConfiguration->getCollisionAlgorithmCreateFunc(STATIC_PLANE_PROXYTYPE,BOX_SHAPE_PROXYTYPE);
	func->m_numPertubationIterations = 0;
This commit is contained in:
erwin.coumans
2009-02-02 21:11:19 +00:00
parent dc5cc018f1
commit bcbe730471
2 changed files with 76 additions and 27 deletions
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62
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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@@ -22,11 +22,13 @@ subject to the following restrictions:
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPertubationIterations,btScalar pertubeAngle)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
m_isSwapped(isSwapped),
m_numPertubationIterations(numPertubationIterations),
m_pertubeAngle(pertubeAngle)
{
btCollisionObject* convexObj = m_isSwapped? col1 : col0;
btCollisionObject* planeObj = m_isSwapped? col0 : col1;
@@ -48,15 +50,8 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& pertubeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
@@ -66,12 +61,17 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
btTransform convexWorldTransform = convexObj->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
//now pertube the convex-world transform
convexWorldTransform.getBasis()*=btMatrix3x3(pertubeRot);
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
@@ -87,6 +87,42 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1);
//first perform a collision query with the non-pertubated collision objects
{
btQuaternion rotq(0,0,0,1);
collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
}
//now perform 'm_numPertubationIterations' collision queries with the pertubated collision objects
btQuaternion pertubeRot(v0,m_pertubeAngle);
for (int i=0;i<m_numPertubationIterations;i++)
{
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPertubationIterations));
btQuaternion rotq(planeNormal,iterationAngle);
collideSingleContact(rotq.inverse()*pertubeRot*rotq,body0,body1,dispatchInfo,resultOut);
}
if (m_ownManifold)
{
if (m_manifoldPtr->getNumContacts())

19
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
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@@ -31,15 +31,19 @@ class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_isSwapped;
int m_numPertubationIterations;
btScalar m_pertubeAngle;
public:
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPertubationIterations, btScalar pertubeAngle);
virtual ~btConvexPlaneCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void collideSingleContact (const btQuaternion& pertubeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
@@ -52,15 +56,24 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
int m_numPertubationIterations;
btScalar m_pertubeAngle;
CreateFunc()
: m_numPertubationIterations(10),
m_pertubeAngle(0.05f)
{
}
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPertubationIterations,m_pertubeAngle);
} else
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPertubationIterations,m_pertubeAngle);
}
}
};