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add 'replay' command log feature: no mouse interaction during replay, and use a fixed number of sim steps in stepSimulation.

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workaround for reversed separating normal in gjk/epa when using very small shapes, detect case and revert normal.
use smaller world size (10 units versus 100) for higher resolution shadow map
use a hard-coded rolling friction of 0.2 for objects in physics server (will make this configurable)
fix loading of command log files, when platform features are different (64bit/32bit)
This commit is contained in:
erwincoumans
2015-11-01 12:48:15 -08:00
parent 6e042b1901
commit d6464ce40d
4 changed files with 127 additions and 14 deletions
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42
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -339,6 +339,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
{
tmpNormalInB /= btSqrt(lenSqr);
btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
m_lastUsedMethod = 3;
//only replace valid penetrations when the result is deeper (check)
if (!isValid || (distance2 < distance))
{
@@ -346,9 +347,48 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB;
normalInB = tmpNormalInB;
///todo: need to track down this EPA penetration solver degeneracy
///the penetration solver reports penetration but the contact normal
///connecting the contact points is pointing in the opposite direction
///until then, detect the issue and revert the normal
{
btScalar d1=0;
{
btVector3 seperatingAxisInA = (normalInB)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = -normalInB* input.m_transformB.getBasis();
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
d1 = (-normalInB).dot(w);
}
btScalar d0 = 0.f;
{
btVector3 seperatingAxisInA = (-normalInB)* input.m_transformA.getBasis();
btVector3 seperatingAxisInB = normalInB* input.m_transformB.getBasis();
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
d0 = normalInB.dot(w);
}
if (d1>d0)
{
m_lastUsedMethod = 10;
normalInB*=-1;
}
}
isValid = true;
m_lastUsedMethod = 3;
} else
{
m_lastUsedMethod = 8;