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Add support for generic 2d convex shapes, through wrapper class btConvex2dShape. See Bullet/Demos/Box2dDemo for example wrapping a btCylinderShape and 2d btConvexHullShape.

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Add some extra degeneracy debugging check in btGjkPairDetector
This commit is contained in:
erwin.coumans
2009-09-17 19:45:22 +00:00
parent 3da9c832ae
commit f65e829ca0
14 changed files with 657 additions and 50 deletions
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49
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -39,7 +39,8 @@ int gNumGjkChecks = 0;
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_penetrationDepthSolver(penetrationDepthSolver),
:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
@@ -53,7 +54,7 @@ m_catchDegeneracies(1)
{
}
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
@@ -92,6 +93,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
localTransA.getOrigin() -= positionOffset;
localTransB.getOrigin() -= positionOffset;
bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
btScalar marginA = m_marginA;
btScalar marginB = m_marginB;
@@ -171,12 +173,19 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
spu_printf("got local supporting vertices\n");
#endif
if (check2d)
{
pWorld[2] = 0.f;
qWorld[2] = 0.f;
}
btVector3 w = pWorld - qWorld;
delta = m_cachedSeparatingAxis.dot(w);
// potential exit, they don't overlap
if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
{
m_degenerateSimplex = 10;
checkSimplex=true;
//checkPenetration = false;
break;
@@ -198,6 +207,9 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
if (f0 <= btScalar(0.))
{
m_degenerateSimplex = 2;
} else
{
m_degenerateSimplex = 11;
}
checkSimplex = true;
break;
@@ -231,6 +243,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
btScalar 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)
{
m_degenerateSimplex = 7;
@@ -238,6 +252,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
checkSimplex = false;
break;
}
#endif //
m_cachedSeparatingAxis = newCachedSeparatingAxis;
@@ -248,6 +263,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
{
m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
checkSimplex = true;
m_degenerateSimplex = 12;
break;
}
@@ -278,6 +295,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
{
//do we need this backup_closest here ?
m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
m_degenerateSimplex = 13;
break;
}
}
@@ -286,7 +304,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
{
m_simplexSolver->compute_points(pointOnA, pointOnB);
normalInB = pointOnA-pointOnB;
btScalar lenSqr = m_cachedSeparatingAxis.length2();
btScalar lenSqr =m_cachedSeparatingAxis.length2();
//valid normal
if (lenSqr < 0.0001)
{
@@ -390,6 +409,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
pointOnA -= m_cachedSeparatingAxis * marginA ;
pointOnB += m_cachedSeparatingAxis * marginB ;
normalInB = m_cachedSeparatingAxis;
normalInB.normalize();
isValid = true;
m_lastUsedMethod = 6;
} else
@@ -404,16 +424,19 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
}
}
if (isValid)
if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
{
#ifdef __SPU__
//spu_printf("distance\n");
#endif //__CELLOS_LV2__
#if 0
///some debugging
// if (check2d)
{
printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]);
printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex);
}
#endif
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 1\n");
#endif
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;
@@ -422,10 +445,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
pointOnB+positionOffset,
distance);
#ifdef DEBUG_SPU_COLLISION_DETECTION
spu_printf("output 2\n");
#endif
//printf("gjk add:%f",distance);
}