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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++;