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Improved CharacterDemo/KinematicCharacterController, dynamic objects will bounce off.

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Don't create a todo list for doxygen by default (the chaotic todo's would confuse most developers)
Improve support for small objects, by having dynamic contact breaking thresholds. Still needs small internal timestep and some GJK improvements.
This commit is contained in:
erwin.coumans
2008-11-05 03:28:10 +00:00
parent f964c2f644
commit d25d264e77
20 changed files with 81 additions and 73 deletions
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50
Extras/ConvexDecomposition/cd_hull.cpp
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@@ -2308,25 +2308,25 @@ int shareedge(const int3 &a,const int3 &b)
return 0;
}
class Tri;
class btHullTriangle;
Array<Tri*> tris;
Array<btHullTriangle*> tris;
class Tri : public int3
class btHullTriangle : public int3
{
public:
int3 n;
int id;
int vmax;
float rise;
Tri(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
btHullTriangle(int a,int b,int c):int3(a,b,c),n(-1,-1,-1)
{
id = tris.count;
tris.Add(this);
vmax=-1;
rise = 0.0f;
}
~Tri()
~btHullTriangle()
{
assert(tris[id]==this);
tris[id]=NULL;
@@ -2335,7 +2335,7 @@ public:
};
int &Tri::neib(int a,int b)
int &btHullTriangle::neib(int a,int b)
{
static int er=-1;
int i;
@@ -2349,7 +2349,7 @@ int &Tri::neib(int a,int b)
assert(0);
return er;
}
void b2bfix(Tri* s,Tri*t)
void b2bfix(btHullTriangle* s,btHullTriangle*t)
{
int i;
for(i=0;i<3;i++)
@@ -2365,14 +2365,14 @@ void b2bfix(Tri* s,Tri*t)
}
}
void removeb2b(Tri* s,Tri*t)
void removeb2b(btHullTriangle* s,btHullTriangle*t)
{
b2bfix(s,t);
delete s;
delete t;
}
void checkit(Tri *t)
void checkit(btHullTriangle *t)
{
int i;
assert(tris[t->id]==t);
@@ -2386,17 +2386,17 @@ void checkit(Tri *t)
assert( tris[t->n[i]]->neib(b,a) == t->id);
}
}
void extrude(Tri *t0,int v)
void extrude(btHullTriangle *t0,int v)
{
int3 t= *t0;
int n = tris.count;
Tri* ta = new Tri(v,t[1],t[2]);
btHullTriangle* ta = new btHullTriangle(v,t[1],t[2]);
ta->n = int3(t0->n[0],n+1,n+2);
tris[t0->n[0]]->neib(t[1],t[2]) = n+0;
Tri* tb = new Tri(v,t[2],t[0]);
btHullTriangle* tb = new btHullTriangle(v,t[2],t[0]);
tb->n = int3(t0->n[1],n+2,n+0);
tris[t0->n[1]]->neib(t[2],t[0]) = n+1;
Tri* tc = new Tri(v,t[0],t[1]);
btHullTriangle* tc = new btHullTriangle(v,t[0],t[1]);
tc->n = int3(t0->n[2],n+0,n+1);
tris[t0->n[2]]->neib(t[0],t[1]) = n+2;
checkit(ta);
@@ -2409,10 +2409,10 @@ void extrude(Tri *t0,int v)
}
Tri *extrudable(float epsilon)
btHullTriangle *extrudable(float epsilon)
{
int i;
Tri *t=NULL;
btHullTriangle *t=NULL;
for(i=0;i<tris.count;i++)
{
if(!t || (tris[i] && t->rise<tris[i]->rise))
@@ -2489,23 +2489,23 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
float3 center = (verts[p[0]]+verts[p[1]]+verts[p[2]]+verts[p[3]]) /4.0f; // a valid interior point
Tri *t0 = new Tri(p[2],p[3],p[1]); t0->n=int3(2,3,1);
Tri *t1 = new Tri(p[3],p[2],p[0]); t1->n=int3(3,2,0);
Tri *t2 = new Tri(p[0],p[1],p[3]); t2->n=int3(0,1,3);
Tri *t3 = new Tri(p[1],p[0],p[2]); t3->n=int3(1,0,2);
btHullTriangle *t0 = new btHullTriangle(p[2],p[3],p[1]); t0->n=int3(2,3,1);
btHullTriangle *t1 = new btHullTriangle(p[3],p[2],p[0]); t1->n=int3(3,2,0);
btHullTriangle *t2 = new btHullTriangle(p[0],p[1],p[3]); t2->n=int3(0,1,3);
btHullTriangle *t3 = new btHullTriangle(p[1],p[0],p[2]); t3->n=int3(1,0,2);
isextreme[p[0]]=isextreme[p[1]]=isextreme[p[2]]=isextreme[p[3]]=1;
checkit(t0);checkit(t1);checkit(t2);checkit(t3);
for(j=0;j<tris.count;j++)
{
Tri *t=tris[j];
btHullTriangle *t=tris[j];
assert(t);
assert(t->vmax<0);
float3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
t->vmax = maxdirsterid(verts,verts_count,n,allow);
t->rise = dot(n,verts[t->vmax]-verts[(*t)[0]]);
}
Tri *te;
btHullTriangle *te;
vlimit-=4;
while(vlimit >0 && (te=extrudable(epsilon)))
{
@@ -2532,7 +2532,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
int3 nt=*tris[j];
if(above(verts,nt,center,0.01f*epsilon) || magnitude(cross(verts[nt[1]]-verts[nt[0]],verts[nt[2]]-verts[nt[1]]))< epsilon*epsilon*0.1f )
{
Tri *nb = tris[tris[j]->n[0]];
btHullTriangle *nb = tris[tris[j]->n[0]];
assert(nb);assert(!hasvert(*nb,v));assert(nb->id<j);
extrude(nb,v);
j=tris.count;
@@ -2541,7 +2541,7 @@ int calchullgen(float3 *verts,int verts_count, int vlimit)
j=tris.count;
while(j--)
{
Tri *t=tris[j];
btHullTriangle *t=tris[j];
if(!t) continue;
if(t->vmax>=0) break;
float3 n=TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
@@ -2586,14 +2586,14 @@ int calchullpbev(float3 *verts,int verts_count,int vlimit, Array<Plane> &planes,
for(i=0;i<tris.count;i++)if(tris[i])
{
Plane p;
Tri *t = tris[i];
btHullTriangle *t = tris[i];
p.normal = TriNormal(verts[(*t)[0]],verts[(*t)[1]],verts[(*t)[2]]);
p.dist = -dot(p.normal, verts[(*t)[0]]);
planes.Add(p);
for(j=0;j<3;j++)
{
if(t->n[j]<t->id) continue;
Tri *s = tris[t->n[j]];
btHullTriangle *s = tris[t->n[j]];
REAL3 snormal = TriNormal(verts[(*s)[0]],verts[(*s)[1]],verts[(*s)[2]]);
if(dot(snormal,p.normal)>=cos(bevangle*DEG2RAD)) continue;
REAL3 n = normalize(snormal+p.normal);