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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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58
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -78,6 +78,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
(void)stackAlloc;
(void)v;
bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
{
@@ -132,7 +133,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
for (i=0;i<numSampleDirections;i++)
{
const btVector3& norm = sPenetrationDirections[i];
btVector3 norm = sPenetrationDirections[i];
seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
}
@@ -173,29 +174,44 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
for (i=0;i<numSampleDirections;i++)
{
const btVector3& norm = sPenetrationDirections[i];
seperatingAxisInA = seperatingAxisInABatch[i];
seperatingAxisInB = seperatingAxisInBBatch[i];
pInA = supportVerticesABatch[i];
qInB = supportVerticesBBatch[i];
pWorld = transA(pInA);
qWorld = transB(qInB);
w = qWorld - pWorld;
btScalar delta = norm.dot(w);
//find smallest delta
if (delta < minProj)
btVector3 norm = sPenetrationDirections[i];
if (check2d)
{
minProj = delta;
minNorm = norm;
minA = pWorld;
minB = qWorld;
norm[2] = 0.f;
}
if (norm.length2()>0.01)
{
seperatingAxisInA = seperatingAxisInABatch[i];
seperatingAxisInB = seperatingAxisInBBatch[i];
pInA = supportVerticesABatch[i];
qInB = supportVerticesBBatch[i];
pWorld = transA(pInA);
qWorld = transB(qInB);
if (check2d)
{
pWorld[2] = 0.f;
qWorld[2] = 0.f;
}
w = qWorld - pWorld;
btScalar delta = norm.dot(w);
//find smallest delta
if (delta < minProj)
{
minProj = delta;
minNorm = norm;
minA = pWorld;
minB = qWorld;
}
}
}
#else
@@ -264,7 +280,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
if (minProj < btScalar(0.))
return false;
minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
btScalar extraSeparation = 0.5f;///scale dependent
minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
@@ -305,6 +322,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
btIntermediateResult res;
gjkdet.setCachedSeperatingAxis(-minNorm);
gjkdet.getClosestPoints(input,res,debugDraw);
btScalar correctedMinNorm = minProj - res.m_depth;
@@ -313,12 +331,14 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
//the penetration depth is over-estimated, relax it
btScalar penetration_relaxation= btScalar(1.);
minNorm*=penetration_relaxation;
if (res.m_hasResult)
{
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
pb = res.m_pointInWorld;
v = minNorm;
#ifdef DEBUG_DRAW
if (debugDraw)