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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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14
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
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@@ -19,9 +19,10 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold)
:m_sphere(sphere),
m_triangle(triangle)
m_triangle(triangle),
m_contactBreakingThreshold(contactBreakingThreshold)
{
}
@@ -40,7 +41,7 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);
if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold))
{
if (swapResults)
{
@@ -93,7 +94,7 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
}
///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
@@ -115,10 +116,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
normal *= btScalar(-1.);
}
///@todo: move this gContactBreakingThreshold into a proper structure
extern btScalar gContactBreakingThreshold;
btScalar contactMargin = gContactBreakingThreshold;
btScalar contactMargin = contactBreakingThreshold;
bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
bool isInsideShellPlane = distanceFromPlane < r;

6
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
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@@ -30,19 +30,19 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
{
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
virtual ~SphereTriangleDetector() {};
private:
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
btSphereShape* m_sphere;
btTriangleShape* m_triangle;
btScalar m_contactBreakingThreshold;
};
#endif //SPHERE_TRIANGLE_DETECTOR_H

4
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -78,6 +78,8 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
void* mem = 0;
@@ -89,7 +91,7 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);

3
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -106,7 +106,8 @@ public:
CF_STATIC_OBJECT= 1,
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
CF_CHARACTER_OBJECT = 16
};
enum CollisionObjectTypes

2
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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@@ -56,7 +56,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector(sphere,triangle);
SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds