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Use the original code for convex-plane collision in (btConvexPlaneCollisionAlgorithm),

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rather than the perturbed rotated version (it is slower and harder to debug)
This commit is contained in:
erwin.coumans
2011-09-14 01:28:40 +00:00
parent b690019e39
commit fe6991822d
3 changed files with 24 additions and 9 deletions
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25
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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@@ -102,14 +102,29 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal(); const btVector3& planeNormal = planeShape->getPlaneNormal();
//const btScalar& planeConstant = planeShape->getPlaneConstant(); const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
//first perform a collision query with the non-perturbated collision objects btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{ {
btQuaternion rotq(0,0,0,1); /// report a contact. internally this will be kept persistent, and contact reduction is done
collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut); btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
} }
if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold) if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)

2
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
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@@ -61,7 +61,7 @@ public:
CreateFunc() CreateFunc()
: m_numPerturbationIterations(1), : m_numPerturbationIterations(1),
m_minimumPointsPerturbationThreshold(1) m_minimumPointsPerturbationThreshold(0)
{ {
} }

4
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -417,10 +417,10 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.)); btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.); vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec); btVector3 tmp = localGetSupportingVertex(vec);
m_localAabbMax[i] = tmp[i]+m_collisionMargin; m_localAabbMax[i] = tmp[i];
vec[i] = btScalar(-1.); vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec); tmp = localGetSupportingVertex(vec);
m_localAabbMin[i] = tmp[i]-m_collisionMargin; m_localAabbMin[i] = tmp[i];
} }
#endif #endif
} }