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

2007-08-22 01:09:48 +00:00
parent dbdc2a812f
commit fa2be67e8a
2 changed files with 77 additions and 4 deletions
--- a/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
+++ b/Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h
@@ -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