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More GJK degeneracy fixes, thanks Jacob Langford for the feedback:

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=250

Added missing files for Maya Dynamica plugin
Thanks Herbert Law for the patch, and damrit and others for the report
http://code.google.com/p/bullet/issues/detail?id=231

Fix btQuaternion shortestArcQuat, thanks Stan Melax for original fix and shogun for reminder
http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1989

Implemented btDiscreteDynamicsWorld::removeCollisionObject (and btSoftBodyDynamicsWorld) to avoid
crashes. Thanks Jacob Langford for bringing that up.

Minor sphere-debug drawing issue (spheres were drawn inside-out (wrong face winding)
This commit is contained in:
erwin.coumans
2009-07-13 21:48:19 +00:00
parent d4b099236c
commit c4ad354ac0
16 changed files with 329 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Demos/OpenGL/DemoApplication.cpp
View File

@@ -1354,7 +1354,6 @@ void DemoApplication::clientResetScene()
if (m_dynamicsWorld)
{
numObjects = m_dynamicsWorld->getNumCollisionObjects();
}
///create a copy of the array, not a reference!
btCollisionObjectArray copyArray = m_dynamicsWorld->getCollisionObjectArray();
@@ -1396,5 +1395,6 @@ void DemoApplication::clientResetScene()
m_dynamicsWorld->getBroadphase()->resetPool(getDynamicsWorld()->getDispatcher());
m_dynamicsWorld->getConstraintSolver()->reset();
}
}

5
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -290,11 +290,10 @@ void GL_ShapeDrawer::drawSphere(btScalar radius, int lats, int longs)
btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
btScalar x = cos(lng);
btScalar y = sin(lng);
glNormal3f(x * zr0, y * zr0, z0);
glVertex3f(x * zr0, y * zr0, z0);
glNormal3f(x * zr1, y * zr1, z1);
glVertex3f(x * zr1, y * zr1, z1);
glNormal3f(x * zr0, y * zr0, z0);
glVertex3f(x * zr0, y * zr0, z0);
}
glEnd();
}

54
Extras/MayaPlugin/constraint/bt_constraint.h Normal file
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@@ -0,0 +1,54 @@
/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Walt Disney Studios
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising
from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must
not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
*/
//bt_constraint.h
#ifndef DYN_BT_CONSTRAINT_H
#define DYN_BT_CONSTRAINT_H
#include "btBulletCollisionCommon.h"
#include "btBulletDynamicsCommon.h"
#include "shared_ptr.h"
class bt_constraint_t
{
public:
protected:
friend class bt_solver_t;
bt_constraint_t() { }
btTypedConstraint* constraint() { return m_constraint.get(); }
void set_constraint(btTypedConstraint *constraint) { return m_constraint.reset(constraint); }
virtual void update_constraint() = 0;
public:
friend class bt_rigid_body_t;
virtual ~bt_constraint_t() { }
protected:
shared_ptr<btTypedConstraint> m_constraint;
};
#endif

118
Extras/MayaPlugin/constraint/hinge_constraint.h Normal file
View File

@@ -0,0 +1,118 @@
/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Herbert Law
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising
from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must
not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
*/
//hinge_constraint.h
#ifndef DYN_HINGE_CONSTRAINT_H
#define DYN_HINGE_CONSTRAINT_H
#include "shared_ptr.h"
#include "rigid_body.h"
#include "mathUtils.h"
#include "constraint.h"
#include "hinge_constraint_impl.h"
class hinge_constraint_t: public constraint_t
{
public:
//typedefs
typedef shared_ptr<hinge_constraint_t> pointer;
//
rigid_body_t::pointer rigid_body() { return m_rigid_body; }
//
void set_pivot(vec3f const& p)
{
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_pivot(p);
}
//local space pivot
void get_pivot(vec3f& p) const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
hinge_impl->get_pivot(p);
}
//
void get_world_pivot(vec3f& p) const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
hinge_impl->get_world_pivot(p);
}
//
void set_damping(float d) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_damping(d);
}
void set_limit(float lower, float upper, float softness, float bias_factor, float relaxation_factor) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_limit(lower, upper, softness, bias_factor, relaxation_factor);
}
void set_axis(vec3f const& p) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_axis(p);
}
float damping() const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
return hinge_impl->damping();
}
void set_world(vec3f const& p)
{
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->set_world(p);
}
//local space pivot
void get_world(vec3f& p) const {
hinge_constraint_impl_t const* hinge_impl = dynamic_cast<hinge_constraint_impl_t const*>(impl());
hinge_impl->get_world(p);
}
void enable_motor(bool enable, float velocity, float impulse) {
hinge_constraint_impl_t* hinge_impl = dynamic_cast<hinge_constraint_impl_t*>(impl());
hinge_impl->enable_motor(enable, velocity, impulse);
}
public:
virtual ~hinge_constraint_t() {};
protected:
friend class solver_t;
hinge_constraint_t(hinge_constraint_impl_t* impl, rigid_body_t::pointer& rigid_body):
constraint_t(impl),
m_rigid_body(rigid_body)
{
}
private:
rigid_body_t::pointer m_rigid_body;
};
#endif //DYN_HINGE_CONSTRAINT_H

50
Extras/MayaPlugin/constraint/slider_constraint_impl.h Normal file
View File

@@ -0,0 +1,50 @@
/*
Bullet Continuous Collision Detection and Physics Library Maya Plugin
Copyright (c) 2008 Herbert Law
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising
from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must
not claim that you wrote the original software. If you use this
software in a product, an acknowledgment in the product documentation
would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must
not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com>
*/
//slider_constraint_impl.h
#ifndef DYN_SLIDER_CONSTRAINT_IMPL_H
#define DYN_SLIDER_CONSTRAINT_IMPL_H
#include "constraint_impl.h"
class slider_constraint_impl_t: public constraint_impl_t
{
public:
//
virtual void set_pivot(vec3f const& p) = 0;
virtual void get_pivot(vec3f& p) const = 0;
virtual void get_world_pivot(vec3f& p) const = 0;
virtual void set_world(vec3f const& p) = 0;
virtual void get_world(vec3f& p) const = 0;
//
virtual void set_damping(float d) = 0;
virtual float damping() const = 0;
virtual void set_LinLimit(float lower, float upper) = 0;
virtual void set_AngLimit(float lower, float upper) = 0;
public:
virtual ~slider_constraint_impl_t() {};
};
#endif //DYN_SLIDER_CONSTRAINT_IMPL_H

10
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View File

@@ -208,7 +208,7 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
{
m_degenerateSimplex = 7;
squaredDistance = previousSquaredDistance;
checkSimplex = true;
checkSimplex = false;
break;
}
@@ -315,13 +315,11 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length()-margin;
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA -= m_cachedSeparatingAxis * (marginA / distance);
pointOnB += m_cachedSeparatingAxis * (marginB / distance);
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
@@ -349,13 +347,15 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length();
btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
//only replace valid distances when the distance is less
if (!isValid || (distance2 < distance))
{
distance = distance2;
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
pointOnA -= tmpNormalInB * marginA ;
pointOnB += tmpNormalInB * marginB ;
normalInB = tmpNormalInB;
isValid = true;
m_lastUsedMethod = 6;

10
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -416,11 +416,19 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
return m_gravity;
}
void btDiscreteDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
btRigidBody* body = btRigidBody::upcast(collisionObject);
if (body)
removeRigidBody(body);
else
btCollisionWorld::removeCollisionObject(collisionObject);
}
void btDiscreteDynamicsWorld::removeRigidBody(btRigidBody* body)
{
m_nonStaticRigidBodies.remove(body);
removeCollisionObject(body);
btCollisionWorld::removeCollisionObject(body);
}
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)

3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -130,6 +130,9 @@ public:
virtual void removeRigidBody(btRigidBody* body);
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject* collisionObject);
void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
void debugDrawConstraint(btTypedConstraint* constraint);

12
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -132,9 +132,19 @@ btVector3 btSimpleDynamicsWorld::getGravity () const
void btSimpleDynamicsWorld::removeRigidBody(btRigidBody* body)
{
removeCollisionObject(body);
btCollisionWorld::removeCollisionObject(body);
}
void btSimpleDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
btRigidBody* body = btRigidBody::upcast(collisionObject);
if (body)
removeRigidBody(body);
else
btCollisionWorld::removeCollisionObject(collisionObject);
}
void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);

3
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
View File

@@ -58,6 +58,9 @@ public:
virtual void removeRigidBody(btRigidBody* body);
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject* collisionObject);
virtual void updateAabbs();
virtual void synchronizeMotionStates();

9
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
View File

@@ -119,6 +119,15 @@ void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
btCollisionWorld::removeCollisionObject(body);
}
void btSoftRigidDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
btSoftBody* body = btSoftBody::upcast(collisionObject);
if (body)
removeSoftBody(body);
else
btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
}
void btSoftRigidDynamicsWorld::debugDrawWorld()
{
btDiscreteDynamicsWorld::debugDrawWorld();

3
src/BulletSoftBody/btSoftRigidDynamicsWorld.h
View File

@@ -54,6 +54,9 @@ public:
void removeSoftBody(btSoftBody* body);
///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btDiscreteDynamicsWorld::removeCollisionObject
virtual void removeCollisionObject(btCollisionObject* collisionObject);
int getDrawFlags() const { return(m_drawFlags); }
void setDrawFlags(int f) { m_drawFlags=f; }

6
src/LinearMath/btQuaternion.h
View File

@@ -387,7 +387,11 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
btScalar d = v0.dot(v1);
if (d < -1.0 + SIMD_EPSILON)
return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
{
btVector3 n,unused;
btPlaneSpace1(v0,n,unused);
return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0
}
btScalar s = btSqrt((1.0f + d) * 2.0f);
btScalar rs = 1.0f / s;

4
src/LinearMath/btScalar.h
View File

@@ -242,6 +242,10 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); }
#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25))
#define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0))
#define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI)
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
#ifdef BT_USE_DOUBLE_PRECISION
#define SIMD_EPSILON DBL_EPSILON

23
src/LinearMath/btTransformUtil.h
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@@ -21,9 +21,6 @@ subject to the following restrictions:
#define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490)
#define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */
SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
{
@@ -33,25 +30,7 @@ SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btV
}
SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
{
if (btFabs(n.z()) > SIMDSQRT12) {
// choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2];
btScalar k = btRecipSqrt (a);
p.setValue(0,-n[2]*k,n[1]*k);
// set q = n x p
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
}
else {
// choose p in x-y plane
btScalar a = n.x()*n.x() + n.y()*n.y();
btScalar k = btRecipSqrt (a);
p.setValue(-n.y()*k,n.x()*k,0);
// set q = n x p
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
}
}

20
src/LinearMath/btVector3.h
View File

@@ -635,4 +635,24 @@ SIMD_FORCE_INLINE void btUnSwapVector3Endian(btVector3& vector)
vector = swappedVec;
}
SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector3& q)
{
if (btFabs(n.z()) > SIMDSQRT12) {
// choose p in y-z plane
btScalar a = n[1]*n[1] + n[2]*n[2];
btScalar k = btRecipSqrt (a);
p.setValue(0,-n[2]*k,n[1]*k);
// set q = n x p
q.setValue(a*k,-n[0]*p[2],n[0]*p[1]);
}
else {
// choose p in x-y plane
btScalar a = n.x()*n.x() + n.y()*n.y();
btScalar k = btRecipSqrt (a);
p.setValue(-n.y()*k,n.x()*k,0);
// set q = n x p
q.setValue(-n.z()*p.y(),n.z()*p.x(),a*k);
}
}
#endif //SIMD__VECTOR3_H