From dae8af0a78a508666de9c5fe2c1dd693535da1b8 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 28 Sep 2017 15:45:14 -0700 Subject: [PATCH] remote b3GjkPairDetector, it is obsolete and unused, causing clang compile problems see https://github.com/bulletphysics/bullet3/issues/1347 --- setup.py | 2 +- .../b3ConvexHullContact.cpp | 158 +----- .../b3GjkPairDetector.cpp | 533 ------------------ .../NarrowphaseCollision/b3GjkPairDetector.h | 84 --- 4 files changed, 11 insertions(+), 766 deletions(-) delete mode 100644 src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp delete mode 100644 src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h diff --git a/setup.py b/setup.py index 29139f534..0321e9658 100644 --- a/setup.py +++ b/setup.py @@ -441,7 +441,7 @@ print("-----") setup( name = 'pybullet', - version='1.4.9', + version='1.5.1', description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.', url='https://github.com/bulletphysics/bullet3', diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp index 4bdee1a05..fb435aa7f 100644 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp +++ b/src/Bullet3OpenCL/NarrowphaseCollision/b3ConvexHullContact.cpp @@ -24,8 +24,8 @@ bool clipConvexFacesAndFindContactsCPU = false;//false;//true; bool reduceConcaveContactsOnGPU = true;//false; bool reduceConvexContactsOnGPU = true;//false; bool findConvexClippingFacesGPU = true; -bool useGjk = true;///option for CPU/host testing, when findSeparatingAxisOnGpu = false -bool useGjkContacts = true;//////option for CPU/host testing when findSeparatingAxisOnGpu = false +bool useGjk = false;///option for CPU/host testing, when findSeparatingAxisOnGpu = false +bool useGjkContacts = false;//////option for CPU/host testing when findSeparatingAxisOnGpu = false static int myframecount=0;///for testing @@ -2606,146 +2606,6 @@ void computeContactSphereConvex(int pairIndex, -#include "b3GjkPairDetector.h" -#include "b3GjkEpa.h" -#include "b3VoronoiSimplexSolver.h" - -int computeContactConvexConvex( b3AlignedObjectArray& pairs, - int pairIndex, - int bodyIndexA, int bodyIndexB, - int collidableIndexA, int collidableIndexB, - const b3AlignedObjectArray& rigidBodies, - const b3AlignedObjectArray& collidables, - const b3AlignedObjectArray& convexShapes, - const b3AlignedObjectArray& convexVertices, - const b3AlignedObjectArray& uniqueEdges, - const b3AlignedObjectArray& convexIndices, - const b3AlignedObjectArray& faces, - b3AlignedObjectArray& globalContactsOut, - int& nGlobalContactsOut, - int maxContactCapacity, - b3AlignedObjectArray&hostHasSepAxis, - b3AlignedObjectArray&hostSepAxis - - - //,const b3AlignedObjectArray& oldContacts - ) -{ - int contactIndex = -1; - b3VoronoiSimplexSolver simplexSolver; - b3GjkEpaSolver2 epaSolver; - - b3GjkPairDetector gjkDetector(&simplexSolver,&epaSolver); - - b3Transform transA; - transA.setOrigin(rigidBodies[bodyIndexA].m_pos); - transA.setRotation(rigidBodies[bodyIndexA].m_quat); - - b3Transform transB; - transB.setOrigin(rigidBodies[bodyIndexB].m_pos); - transB.setRotation(rigidBodies[bodyIndexB].m_quat); - float maximumDistanceSquared = 1e30f; - - b3Vector3 resultPointOnBWorld; - b3Vector3 sepAxis2=b3MakeVector3(0,1,0); - b3Scalar distance2 = 1e30f; - - int shapeIndexA = collidables[collidableIndexA].m_shapeIndex; - int shapeIndexB = collidables[collidableIndexB].m_shapeIndex; - - //int sz = sizeof(b3Contact4); - - bool result2 = getClosestPoints(&gjkDetector, transA, transB, - convexShapes[shapeIndexA], convexShapes[shapeIndexB], - convexVertices,convexVertices, - maximumDistanceSquared, - sepAxis2, - distance2, - resultPointOnBWorld); - - - if (result2) - { - if (nGlobalContactsOut=0) - { - //printf("add existing points?\n"); - //refresh - - int numOldPoints = 0;//oldContacts[pairs[pairIndex].z].getNPoints(); - if (numOldPoints) - { - //newContact = oldContacts[pairs[pairIndex].z]; -#ifdef PERSISTENT_CONTACTS_HOST - b3ContactCache::refreshContactPoints(transA,transB,newContact); -#endif //PERSISTENT_CONTACTS_HOST - } - numPoints = b3Contact4Data_getNumPoints(&newContact); - - } - - /* - int insertIndex = m_manifoldPtr->getCacheEntry(newPt); - if (insertIndex >= 0) - { - //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); - m_manifoldPtr->replaceContactPoint(newPt,insertIndex); - } else - { - insertIndex = m_manifoldPtr->addManifoldPoint(newPt); - } - */ - - int p=numPoints; - if (numPoints<4) - { - numPoints++; - } else - { - p=3; - } - - { - resultPointOnBWorld.w = distance2; - newContact.m_worldPosB[p] = resultPointOnBWorld; -#ifdef PERSISTENT_CONTACTS_HOST - b3Vector3 resultPointOnAWorld = resultPointOnBWorld+distance2*sepAxis2; - newContact.m_localPosA[p] = transA.inverse()*resultPointOnAWorld; - newContact.m_localPosB[p] = transB.inverse()*resultPointOnBWorld; -#endif - newContact.m_worldNormalOnB = sepAxis2; - - - hostHasSepAxis[pairIndex] = 1; - hostSepAxis[pairIndex] =sepAxis2; - //printf("sepAxis[%d]=%f,%f,%f,%f\n",pairIndex,sepAxis2.x,sepAxis2.y,sepAxis2.z,sepAxis2.w); - } - //printf("bodyIndexA %d,bodyIndexB %d,normal=%f,%f,%f numPoints %d\n",bodyIndexA,bodyIndexB,normalOnSurfaceB.x,normalOnSurfaceB.y,normalOnSurfaceB.z,numPoints); - newContact.m_worldNormalOnB.w = (b3Scalar)numPoints; - - - nGlobalContactsOut++; - } else - { - b3Error("Error: exceeding contact capacity (%d/%d)\n", nGlobalContactsOut,maxContactCapacity); - } - } - - return contactIndex; -} int computeContactConvexConvex2( int pairIndex, @@ -3025,8 +2885,8 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray* hostCollidables[collidableIndexB].m_shapeType == SHAPE_CONVEX_HULL) { //printf("hostPairs[i].z=%d\n",hostPairs[i].z); - //int contactIndex = computeContactConvexConvex2(i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts); - int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts); + int contactIndex = computeContactConvexConvex2( i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts); + //int contactIndex = computeContactConvexConvex(hostPairs,i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf,hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts); if (contactIndex>=0) @@ -3538,9 +3398,10 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray* - + //int contactIndex = computeContactConvexConvex2( i,bodyIndexA,bodyIndexB,collidableIndexA,collidableIndexB,hostBodyBuf, hostCollidables,hostConvexData,hostVertices,hostUniqueEdges,hostIndices,hostFaces,hostContacts,nContacts,maxContactCapacity,oldHostContacts); + b3AlignedObjectArray oldHostContacts; int result; - result = computeContactConvexConvex( hostPairs, + result = computeContactConvexConvex2( //hostPairs, pairIndex, bodyIndexA, bodyIndexB, collidableIndexA, collidableIndexB, @@ -3554,8 +3415,9 @@ void GpuSatCollision::computeConvexConvexContactsGPUSAT( b3OpenCLArray* hostContacts, nGlobalContactsOut, maxContactCapacity, - hostHasSepAxis, - hostSepAxis + oldHostContacts + //hostHasSepAxis, + //hostSepAxis ); }//mpr diff --git a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp b/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp deleted file mode 100644 index 39f8c31ba..000000000 --- a/src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.cpp +++ /dev/null @@ -1,533 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -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. -*/ - -#include "b3GjkPairDetector.h" -#include "Bullet3Common/b3Transform.h" -#include "b3VoronoiSimplexSolver.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" -#include "b3VectorFloat4.h" -#include "b3GjkEpa.h" -#include "b3SupportMappings.h" - -//must be above the machine epsilon -#define REL_ERROR2 b3Scalar(1.0e-6) - -//temp globals, to improve GJK/EPA/penetration calculations -int gNumDeepPenetrationChecks2 = 0; -int gNumGjkChecks2 = 0; -int gGjkSeparatingAxis2=0; -int gEpaSeparatingAxis2=0; - - - -b3GjkPairDetector::b3GjkPairDetector(b3VoronoiSimplexSolver* simplexSolver,b3GjkEpaSolver2* penetrationDepthSolver) -:m_cachedSeparatingAxis(b3MakeVector3(b3Scalar(0.),b3Scalar(-1.),b3Scalar(0.))), -m_penetrationDepthSolver(penetrationDepthSolver), -m_simplexSolver(simplexSolver), -m_ignoreMargin(false), -m_lastUsedMethod(-1), -m_catchDegeneracies(1), -m_fixContactNormalDirection(1) -{ -} - - - - -bool calcPenDepth( b3VoronoiSimplexSolver& simplexSolver, - const b3Transform& transformA, const b3Transform& transformB, - const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const b3AlignedObjectArray& verticesA, - const b3AlignedObjectArray& verticesB, - b3Vector3& v, b3Vector3& wWitnessOnA, b3Vector3& wWitnessOnB) -{ - - (void)v; - (void)simplexSolver; - - b3Vector3 guessVector(transformB.getOrigin()-transformA.getOrigin()); - b3GjkEpaSolver2::sResults results; - - - if(b3GjkEpaSolver2::Penetration(transformA,transformB,&hullA,&hullB,verticesA,verticesB,guessVector,results)) - { - wWitnessOnA = results.witnesses[0]; - wWitnessOnB = results.witnesses[1]; - v = results.normal; - return true; - } - else - { - if(b3GjkEpaSolver2::Distance(transformA,transformB,&hullA,&hullB,verticesA,verticesB,guessVector,results)) - { - wWitnessOnA = results.witnesses[0]; - wWitnessOnB = results.witnesses[1]; - v = results.normal; - return false; - } - } - - return false; -} -#define dot3F4 b3Dot - -inline void project(const b3ConvexPolyhedronData& hull, const float4& pos, const b3Quaternion& orn, const float4& dir, const b3AlignedObjectArray& vertices, b3Scalar& min, b3Scalar& max) -{ - min = FLT_MAX; - max = -FLT_MAX; - int numVerts = hull.m_numVertices; - - const float4 localDir = b3QuatRotate(orn.inverse(),dir); - - b3Scalar offset = dot3F4(pos,dir); - - for(int i=0;i max) max = dp; - } - if(min>max) - { - b3Scalar tmp = min; - min = max; - max = tmp; - } - min += offset; - max += offset; -} - -#if 0 -static bool TestSepAxis(const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB, - const float4& posA,const b3Quaternion& ornA, - const float4& posB,const b3Quaternion& ornB, - float4& sep_axis, const b3AlignedObjectArray& verticesA,const b3AlignedObjectArray& verticesB,b3Scalar& depth) -{ - b3Scalar Min0,Max0; - b3Scalar Min1,Max1; - project(hullA,posA,ornA,sep_axis,verticesA, Min0, Max0); - project(hullB,posB,ornB, sep_axis,verticesB, Min1, Max1); - - if(Max0=0.0f); - b3Scalar d1 = Max1 - Min0; - b3Assert(d1>=0.0f); - if (d0& verticesA, - const b3AlignedObjectArray& verticesB, - b3Scalar maximumDistanceSquared, - b3Vector3& resultSepNormal, - float& resultSepDistance, - b3Vector3& resultPointOnB) -{ - //resultSepDistance = maximumDistanceSquared; - - gjkDetector->m_cachedSeparatingDistance = 0.f; - - b3Scalar distance=b3Scalar(0.); - b3Vector3 normalInB= b3MakeVector3(b3Scalar(0.),b3Scalar(0.),b3Scalar(0.)); - b3Vector3 pointOnA,pointOnB; - - b3Transform localTransA = transA; - b3Transform localTransB = transB; - - b3Vector3 positionOffset = b3MakeVector3(0,0,0);// = (localTransA.getOrigin() + localTransB.getOrigin()) * b3Scalar(0.5); - localTransA.getOrigin() -= positionOffset; - localTransB.getOrigin() -= positionOffset; - - bool check2d = false;//m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d(); - - b3Scalar marginA = 0.f;//m_marginA; - b3Scalar marginB = 0.f;//m_marginB; - - gNumGjkChecks2++; - - - //for CCD we don't use margins - if (gjkDetector->m_ignoreMargin) - { - marginA = b3Scalar(0.); - marginB = b3Scalar(0.); - } - - gjkDetector->m_curIter = 0; - int gGjkMaxIter = 1000;//this is to catch invalid input, perhaps check for #NaN? - gjkDetector->m_cachedSeparatingAxis.setValue(1,1,1);//0,0,0); - - bool isValid = false; - bool checkSimplex = false; - bool checkPenetration = true; - gjkDetector->m_degenerateSimplex = 0; - - gjkDetector->m_lastUsedMethod = -1; - - { - b3Scalar squaredDistance = B3_LARGE_FLOAT; - b3Scalar delta = -1e30f;//b3Scalar(0.); - // b3Scalar prevDelta = -1e30f;//b3Scalar(0.); - - b3Scalar margin = marginA + marginB; - // b3Scalar bestDeltaN = -1e30f; - // b3Vector3 bestSepAxis= b3MakeVector3(0,0,0); - - - - gjkDetector->m_simplexSolver->reset(); - - for ( ; ; ) - //while (true) - { - - - b3Vector3 seperatingAxisInA = (-gjkDetector->m_cachedSeparatingAxis)* localTransA.getBasis(); - b3Vector3 seperatingAxisInB = gjkDetector->m_cachedSeparatingAxis* localTransB.getBasis(); - - b3Vector3 pInA = localGetSupportVertexWithoutMargin(seperatingAxisInA,&hullA,verticesA); - b3Vector3 qInB = localGetSupportVertexWithoutMargin(seperatingAxisInB,&hullB,verticesB); - - b3Vector3 pWorld = localTransA(pInA); - b3Vector3 qWorld = localTransB(qInB); - - -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("got local supporting vertices\n"); -#endif - - if (check2d) - { - pWorld[2] = 0.f; - qWorld[2] = 0.f; - } - - b3Vector3 w = pWorld - qWorld; - delta = gjkDetector->m_cachedSeparatingAxis.dot(w); - - // potential exit, they don't overlap - if ((delta > b3Scalar(0.0)) && (delta * delta > squaredDistance * maximumDistanceSquared)) - { - gjkDetector->m_degenerateSimplex = 10; - checkSimplex=true; - //checkPenetration = false; - break; - } - - //exit 0: the new point is already in the simplex, or we didn't come any closer - if (gjkDetector->m_simplexSolver->inSimplex(w)) - { - gjkDetector->m_degenerateSimplex = 1; - checkSimplex = true; - break; - } - // are we getting any closer ? - b3Scalar f0 = squaredDistance - delta; - b3Scalar f1 = squaredDistance * REL_ERROR2; - - if (f0 <= f1) - { - if (f0 <= b3Scalar(0.)) - { - gjkDetector->m_degenerateSimplex = 2; - } else - { - gjkDetector->m_degenerateSimplex = 11; - } - checkSimplex = true; - break; - } - -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("addVertex 1\n"); -#endif - //add current vertex to simplex - gjkDetector->m_simplexSolver->addVertex(w, pWorld, qWorld); -#ifdef DEBUG_SPU_COLLISION_DETECTION - spu_printf("addVertex 2\n"); -#endif - b3Vector3 newCachedSeparatingAxis; - - //calculate the closest point to the origin (update vector v) - if (!gjkDetector->m_simplexSolver->closest(newCachedSeparatingAxis)) - { - gjkDetector->m_degenerateSimplex = 3; - checkSimplex = true; - break; - } - - if(newCachedSeparatingAxis.length2()m_cachedSeparatingAxis = newCachedSeparatingAxis; - gjkDetector->m_degenerateSimplex = 6; - checkSimplex = true; - break; - } - - b3Scalar previousSquaredDistance = squaredDistance; - squaredDistance = newCachedSeparatingAxis.length2(); -#if 0 -///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo - if (squaredDistance>previousSquaredDistance) - { - gjkDetector->m_degenerateSimplex = 7; - squaredDistance = previousSquaredDistance; - checkSimplex = false; - break; - } -#endif // - - - //redundant gjkDetector->m_simplexSolver->compute_points(pointOnA, pointOnB); - - //are we getting any closer ? - if (previousSquaredDistance - squaredDistance <= B3_EPSILON * previousSquaredDistance) - { -// gjkDetector->m_simplexSolver->backup_closest(gjkDetector->m_cachedSeparatingAxis); - checkSimplex = true; - gjkDetector->m_degenerateSimplex = 12; - - break; - } - - gjkDetector->m_cachedSeparatingAxis = newCachedSeparatingAxis; - - //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject - if (gjkDetector->m_curIter++ > gGjkMaxIter) - { - #if defined(DEBUG) || defined (_DEBUG) || defined (DEBUG_SPU_COLLISION_DETECTION) - - printf("btGjkPairDetector maxIter exceeded:%i\n",gjkDetector->m_curIter); - printf("sepAxis=(%f,%f,%f), squaredDistance = %f\n", - gjkDetector->m_cachedSeparatingAxis.getX(), - gjkDetector->m_cachedSeparatingAxis.getY(), - gjkDetector->m_cachedSeparatingAxis.getZ(), - squaredDistance); - - - #endif - break; - - } - - - bool check = (!gjkDetector->m_simplexSolver->fullSimplex()); - //bool check = (!gjkDetector->m_simplexSolver->fullSimplex() && squaredDistance > B3_EPSILON * gjkDetector->m_simplexSolver->maxVertex()); - - if (!check) - { - //do we need this backup_closest here ? -// gjkDetector->m_simplexSolver->backup_closest(gjkDetector->m_cachedSeparatingAxis); - gjkDetector->m_degenerateSimplex = 13; - break; - } - } - - if (checkSimplex) - { - gjkDetector->m_simplexSolver->compute_points(pointOnA, pointOnB); - normalInB = gjkDetector->m_cachedSeparatingAxis; - b3Scalar lenSqr =gjkDetector->m_cachedSeparatingAxis.length2(); - - //valid normal - if (lenSqr < 0.0001) - { - gjkDetector->m_degenerateSimplex = 5; - } - if (lenSqr > B3_EPSILON*B3_EPSILON) - { - b3Scalar rlen = b3Scalar(1.) / b3Sqrt(lenSqr ); - normalInB *= rlen; //normalize - b3Scalar s = b3Sqrt(squaredDistance); - - b3Assert(s > b3Scalar(0.0)); - pointOnA -= gjkDetector->m_cachedSeparatingAxis * (marginA / s); - pointOnB += gjkDetector->m_cachedSeparatingAxis * (marginB / s); - distance = ((b3Scalar(1.)/rlen) - margin); - isValid = true; - - gjkDetector->m_lastUsedMethod = 1; - } else - { - gjkDetector->m_lastUsedMethod = 2; - } - } - - bool catchDegeneratePenetrationCase = - (gjkDetector->m_catchDegeneracies && gjkDetector->m_penetrationDepthSolver && gjkDetector->m_degenerateSimplex && ((distance+margin) < 0.01)); - - //if (checkPenetration && !isValid) - if (checkPenetration && (!isValid || catchDegeneratePenetrationCase )) - { - //penetration case - - //if there is no way to handle penetrations, bail out - if (gjkDetector->m_penetrationDepthSolver) - { - // Penetration depth case. - b3Vector3 tmpPointOnA,tmpPointOnB; - - gNumDeepPenetrationChecks2++; - gjkDetector->m_cachedSeparatingAxis.setZero(); - - bool isValid2 = calcPenDepth( - *gjkDetector->m_simplexSolver, - transA,transB,hullA,hullB,verticesA,verticesB, - gjkDetector->m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB - ); - - - if (isValid2) - { - b3Vector3 tmpNormalInB = tmpPointOnB-tmpPointOnA; - b3Scalar lenSqr = tmpNormalInB.length2(); - if (lenSqr <= (B3_EPSILON*B3_EPSILON)) - { - tmpNormalInB = gjkDetector->m_cachedSeparatingAxis; - lenSqr = gjkDetector->m_cachedSeparatingAxis.length2(); - } - - if (lenSqr > (B3_EPSILON*B3_EPSILON)) - { - tmpNormalInB /= b3Sqrt(lenSqr); - b3Scalar distance2 = -(tmpPointOnA-tmpPointOnB).length(); - //only replace valid penetrations when the result is deeper (check) - if (!isValid || (distance2 < distance)) - { - distance = distance2; - pointOnA = tmpPointOnA; - pointOnB = tmpPointOnB; - normalInB = tmpNormalInB; - isValid = true; - gjkDetector->m_lastUsedMethod = 3; - } else - { - gjkDetector->m_lastUsedMethod = 8; - } - } else - { - gjkDetector->m_lastUsedMethod = 9; - } - } else - - { - ///this is another degenerate case, where the initial GJK calculation reports a degenerate case - ///EPA reports no penetration, and the second GJK (using the supporting vector without margin) - ///reports a valid positive distance. Use the results of the second GJK instead of failing. - ///thanks to Jacob.Langford for the reproduction case - ///http://code.google.com/p/bullet/issues/detail?id=250 - - - if (gjkDetector->m_cachedSeparatingAxis.length2() > b3Scalar(0.)) - { - b3Scalar 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 -= gjkDetector->m_cachedSeparatingAxis * marginA ; - pointOnB += gjkDetector->m_cachedSeparatingAxis * marginB ; - normalInB = gjkDetector->m_cachedSeparatingAxis; - normalInB.normalize(); - isValid = true; - gjkDetector->m_lastUsedMethod = 6; - } else - { - gjkDetector->m_lastUsedMethod = 5; - } - } - } - - } - - } - } - - - - if (isValid && (distance < 0)) - //if (isValid && ((distance < 0) || (distance*distance < maximumDistanceSquared))) - { - - if (1)//m_fixContactNormalDirection) - { - ///@workaround for sticky convex collisions - //in some degenerate cases (usually when the use uses very small margins) - //the contact normal is pointing the wrong direction - //so fix it now (until we can deal with all degenerate cases in GJK and EPA) - //contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A - //We like to use a dot product of the normal against the difference of the centroids, - //once the centroid is available in the API - //until then we use the center of the aabb to approximate the centroid - b3Vector3 posA = localTransA*hullA.m_localCenter; - b3Vector3 posB = localTransB*hullB.m_localCenter; - - - b3Vector3 diff = posA-posB; - if (diff.dot(normalInB) < 0.f) - normalInB *= -1.f; - } - gjkDetector->m_cachedSeparatingAxis = normalInB; - gjkDetector->m_cachedSeparatingDistance = distance; - - /*output.addContactPoint( - normalInB, - pointOnB+positionOffset, - distance); - */ - - static float maxPenetrationDistance = 0.f; - if (distance& verticesA, - const b3AlignedObjectArray& verticesB, - b3Scalar maximumDistanceSquared, - b3Vector3& resultSepNormal, - float& resultSepDistance, - b3Vector3& resultPointOnB); - -#endif //B3_GJK_PAIR_DETECTOR_H