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Made btCollisionWorld::convexSweepTest and btGhostObject::convexSweepTest consistent. Both have an optional last argument for allowedCcdPenetration.

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Bugfix due to recent change in friction in constraint solver.
This commit is contained in:
erwin.coumans
2008-11-19 19:55:14 +00:00
parent 50344c4a23
commit decf91a34d
8 changed files with 25 additions and 17 deletions
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2
Demos/AllBulletDemos/Main.cpp
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@@ -71,7 +71,7 @@ void setDefaultSettings()
{ {
viewX = 0.0f; viewX = 0.0f;
viewY = 0.0f; viewY = 0.0f;
framePeriod = 16;//16;//todo: test if this value should be 0 framePeriod = 1;//16;//16;//todo: test if this value should be 0
width = 800;//640; width = 800;//640;
height = 600;//1024;//480; height = 600;//1024;//480;

6
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -765,7 +765,7 @@ struct btSingleSweepCallback : public btBroadphaseRayCallback
void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
{ {
BT_PROFILE("convexSweepTest"); BT_PROFILE("convexSweepTest");
@@ -793,7 +793,7 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
#ifndef USE_BRUTEFORCE_RAYBROADPHASE #ifndef USE_BRUTEFORCE_RAYBROADPHASE
btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,getDispatchInfo().m_allowedCcdPenetration); btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);
m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax); m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);
@@ -819,7 +819,7 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
collisionObject->getCollisionShape(), collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(), collisionObject->getWorldTransform(),
resultCallback, resultCallback,
getDispatchInfo().m_allowedCcdPenetration); allowedCcdPenetration);
} }
} }
} }

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -353,7 +353,7 @@ public:
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback // convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. // This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const; void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.

2
src/BulletCollision/CollisionDispatch/btGhostObject.cpp
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@@ -98,7 +98,7 @@ void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy
} }
void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btScalar allowedCcdPenetration, btCollisionWorld::ConvexResultCallback& resultCallback) const void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
{ {
btTransform convexFromTrans,convexToTrans; btTransform convexFromTrans,convexToTrans;
convexFromTrans = convexFromWorld; convexFromTrans = convexFromWorld;

2
src/BulletCollision/CollisionDispatch/btGhostObject.h
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@@ -43,7 +43,7 @@ public:
virtual ~btGhostObject(); virtual ~btGhostObject();
void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btScalar allowedCcdPenetration,btCollisionWorld::ConvexResultCallback& resultCallback) const; void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const;

2
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -32,6 +32,8 @@ class btManifoldPoint
:m_userPersistentData(0), :m_userPersistentData(0),
m_appliedImpulse(0.f), m_appliedImpulse(0.f),
m_lateralFrictionInitialized(false), m_lateralFrictionInitialized(false),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_lifeTime(0) m_lifeTime(0)
{ {
} }

10
src/BulletDynamics/Character/btKinematicCharacterController.cpp
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@@ -187,7 +187,7 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
if (m_useGhostObjectSweepTest) if (m_useGhostObjectSweepTest)
{ {
m_ghostObject->convexSweepTest (m_convexShape, start, end, world->getDispatchInfo().m_allowedCcdPenetration,callback); m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, world->getDispatchInfo().m_allowedCcdPenetration);
} }
else else
{ {
@@ -284,10 +284,10 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
if (m_useGhostObjectSweepTest) if (m_useGhostObjectSweepTest)
{ {
m_ghostObject->convexSweepTest (m_convexShape, start, end, collisionWorld->getDispatchInfo().m_allowedCcdPenetration,callback); m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
} else } else
{ {
collisionWorld->convexSweepTest (m_convexShape, start, end, callback); collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
} }
m_convexShape->setMargin(margin); m_convexShape->setMargin(margin);
@@ -359,10 +359,10 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
if (m_useGhostObjectSweepTest) if (m_useGhostObjectSweepTest)
{ {
m_ghostObject->convexSweepTest (m_convexShape, start, end, collisionWorld->getDispatchInfo().m_allowedCcdPenetration,callback); m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
} else } else
{ {
collisionWorld->convexSweepTest (m_convexShape, start, end, callback); collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
} }
if (callback.hasHit()) if (callback.hasHit())

12
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -760,7 +760,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_appliedPushImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f;
solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size(); solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size();
if ((!infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) || !cp.m_lateralFrictionInitialized) if (!cp.m_lateralFrictionInitialized)
{ {
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
@@ -773,16 +773,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//?? cp.m_lateralFrictionDir2.normalize();//??
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
} }
} else } else
{ {
//re-calculate friction direction every frame, todo: check if this is really needed //re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
cp.m_lateralFrictionInitialized = true; cp.m_lateralFrictionInitialized = true;
}
}
} else } else
{ {
@@ -999,8 +1002,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
btAssert(pt); btAssert(pt);
pt->m_appliedImpulse = solveManifold.m_appliedImpulse; pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse; pt->m_appliedImpulseLateral2 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
}
//do a callback here? //do a callback here?