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Calculation of bounding box: margins should be added before basis transform.

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Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
This commit is contained in:
erwin.coumans
2008-09-04 22:53:24 +00:00
parent 5334611f48
commit d8a5bf2c9c
29 changed files with 54 additions and 51 deletions
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2
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -55,7 +55,7 @@ btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* o
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_firstAllocatedHandle = -1;
{
for (int i = m_firstFreeHandle; i < maxProxies; i++)

5
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
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@@ -61,11 +61,10 @@ protected:
void* m_pHandlesRawPtr;
int m_firstFreeHandle; // free handles list
int m_firstAllocatedHandle;
int allocHandle()
{
btAssert(m_firstFreeHandle);
btAssert(m_numHandles < m_maxHandles);
int freeHandle = m_firstFreeHandle;
m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
m_numHandles++;

5
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -127,6 +127,11 @@ void btCollisionWorld::updateAabbs()
{
btPoint3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not

12
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -22,7 +22,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
@@ -70,11 +72,14 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
@@ -176,10 +181,13 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereSphereCF);
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereBoxCF);
m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxSphereCF);
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereTriangleCF);
m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
@@ -212,7 +220,7 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
{
return m_sphereSphereCF;
}
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
{
return m_sphereBoxCF;
@@ -222,6 +230,8 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
{
return m_boxSphereCF;
}
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
{

3
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -71,8 +71,11 @@ class btDefaultCollisionConfiguration : public btCollisionConfiguration
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
btCollisionAlgorithmCreateFunc* m_triangleSphereCF;

5
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -21,14 +21,15 @@ subject to the following restrictions:
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
btVector3 halfExtents = getHalfExtentsWithoutMargin();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;

4
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -112,6 +112,7 @@ void btCompoundShape::recalculateLocalAabb()
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -121,10 +122,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const

5
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
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@@ -53,6 +53,7 @@ public:
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents+= btVector3(margin,margin,margin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -62,10 +63,6 @@ public:
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(margin,margin,margin);
aabbMin = center - extent;
aabbMax = center + extent;
}

6
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
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@@ -47,6 +47,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -56,12 +57,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btTriangleMeshShape::recalcLocalAabb()