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Merge pull request #892 from erwincoumans/master

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Fix contact normal issue if disabling/using small margins, See Issue …
This commit is contained in:
erwincoumans
2016-12-19 16:01:26 -08:00
committed by GitHub
parent b9f1a5da5c e0c46f4b1a
commit e71560a2ee
2 changed files with 51 additions and 43 deletions
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86
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -32,14 +32,16 @@ subject to the following restrictions:
//must be above the machine epsilon //must be above the machine epsilon
#ifdef BT_USE_DOUBLE_PRECISION #ifdef BT_USE_DOUBLE_PRECISION
#define REL_ERROR2 btScalar(1.0e-12) #define REL_ERROR2 btScalar(1.0e-12)
btScalar gGjkEpaPenetrationTolerance = 1e-7;
#else #else
#define REL_ERROR2 btScalar(1.0e-6) #define REL_ERROR2 btScalar(1.0e-6)
btScalar gGjkEpaPenetrationTolerance = 0.001;
#endif #endif
//temp globals, to improve GJK/EPA/penetration calculations //temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0; int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0; int gNumGjkChecks = 0;
btScalar gGjkEpaPenetrationTolerance = 0.001;
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver) btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)), :m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
@@ -279,7 +281,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
btScalar lenSqr =m_cachedSeparatingAxis.length2(); btScalar lenSqr =m_cachedSeparatingAxis.length2();
//valid normal //valid normal
if (lenSqr < 0.0001) if (lenSqr < REL_ERROR2)
{ {
m_degenerateSimplex = 5; m_degenerateSimplex = 5;
} }
@@ -351,46 +353,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
pointOnA = tmpPointOnA; pointOnA = tmpPointOnA;
pointOnB = tmpPointOnB; pointOnB = tmpPointOnB;
normalInB = tmpNormalInB; 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; isValid = true;
} else } else
@@ -447,6 +410,47 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
m_cachedSeparatingAxis = normalInB; m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance; m_cachedSeparatingDistance = distance;
{
///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;
}
}
output.addContactPoint( output.addContactPoint(
normalInB, normalInB,
pointOnB+positionOffset, pointOnB+positionOffset,

6
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
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@@ -26,8 +26,12 @@ subject to the following restrictions:
///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure ///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
#define BT_USE_EQUAL_VERTEX_THRESHOLD #define BT_USE_EQUAL_VERTEX_THRESHOLD
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
#ifdef BT_USE_DOUBLE_PRECISION
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
#else
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
#endif//BT_USE_DOUBLE_PRECISION
struct btUsageBitfield{ struct btUsageBitfield{
btUsageBitfield() btUsageBitfield()