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added preferred direction, to improve penetration depth quality (better matching collision normal) for triangle meshes.

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This commit is contained in:
ejcoumans
2007-08-22 01:09:48 +00:00
parent dbdc2a812f
commit fa2be67e8a
2 changed files with 77 additions and 4 deletions
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11
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#include "SpuVoronoiSimplexSolver.h"
#include "SpuGjkPairDetector.h"
#include "SpuContactResult.h"
#include "SpuPreferredPenetrationDirections.h"
#include "SpuLocalSupport.h"
@@ -200,15 +201,17 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
int numSampleDirections = NUM_UNITSPHERE_POINTS;
///this is necessary, otherwise the normal is not correct, and sphere will rotate forever on a sloped triangle mesh
#define DO_PREFERRED_DIRECTIONS 1
#ifdef DO_PREFERRED_DIRECTIONS
{
int numPDA = convexA->getNumPreferredPenetrationDirections();
int numPDA = spuGetNumPreferredPenetrationDirections(shapeTypeA,convexA);
if (numPDA)
{
for (int i=0;i<numPDA;i++)
{
btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm);
spuGetPreferredPenetrationDirection(shapeTypeA,convexA,i,norm);
norm = transA.getBasis() * norm;
sPenetrationDirections[numSampleDirections] = norm;
numSampleDirections++;
@@ -217,13 +220,13 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver&
}
{
int numPDB = convexB->getNumPreferredPenetrationDirections();
int numPDB = spuGetNumPreferredPenetrationDirections(shapeTypeB,convexB);
if (numPDB)
{
for (int i=0;i<numPDB;i++)
{
btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm);
spuGetPreferredPenetrationDirection(shapeTypeB,convexB,i,norm);
norm = transB.getBasis() * norm;
sPenetrationDirections[numSampleDirections] = norm;
numSampleDirections++;

70
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h Normal file
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@@ -0,0 +1,70 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 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.
*/
#ifndef _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
#define _SPU_PREFERRED_PENETRATION_DIRECTIONS_H
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
int spuGetNumPreferredPenetrationDirections(int shapeType, void* shape)
{
switch (shapeType)
{
case TRIANGLE_SHAPE_PROXYTYPE:
{
return 2;
//spu_printf("2\n");
break;
}
default:
{
#if __ASSERT
spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
#endif // __ASSERT
}
}
return 0;
}
void spuGetPreferredPenetrationDirection(int shapeType, void* shape, int index, btVector3& penetrationVector)
{
switch (shapeType)
{
case TRIANGLE_SHAPE_PROXYTYPE:
{
btVector3* vertices = (btVector3*)shape;
///calcNormal
penetrationVector = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
penetrationVector.normalize();
if (index)
penetrationVector *= btScalar(-1.);
break;
}
default:
{
#if __ASSERT
spu_printf("spuGetNumPreferredPenetrationDirections() - Unsupported bound type: %d.\n", shapeType);
#endif // __ASSERT
}
}
}
#endif //_SPU_PREFERRED_PENETRATION_DIRECTIONS_H