diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp | 204 |
1 files changed, 176 insertions, 28 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index cb830f889be..274c5f5bdc6 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -38,7 +38,7 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" @@ -51,6 +51,8 @@ subject to the following restrictions: btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) { + m_numPerturbationIterations = 0; + m_minimumPointsPerturbationThreshold = 3; m_simplexSolver = simplexSolver; m_pdSolver = pdSolver; } @@ -59,17 +61,22 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc() { } -btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) -: btCollisionAlgorithm(ci), -m_gjkPairDetector(0,0,simplexSolver,pdSolver), +btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) +: btActivatingCollisionAlgorithm(ci,body0,body1), +m_simplexSolver(simplexSolver), +m_pdSolver(pdSolver), m_ownManifold (false), m_manifoldPtr(mf), -m_lowLevelOfDetail(false) +m_lowLevelOfDetail(false), +#ifdef USE_SEPDISTANCE_UTIL2 +,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(), + (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()), +#endif +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) { (void)body0; (void)body1; - - } @@ -90,8 +97,63 @@ void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel) } +struct btPerturbedContactResult : public btManifoldResult +{ + btManifoldResult* m_originalManifoldResult; + btTransform m_transformA; + btTransform m_transformB; + btTransform m_unPerturbedTransform; + bool m_perturbA; + btIDebugDraw* m_debugDrawer; + + + btPerturbedContactResult(btManifoldResult* originalResult,const btTransform& transformA,const btTransform& transformB,const btTransform& unPerturbedTransform,bool perturbA,btIDebugDraw* debugDrawer) + :m_originalManifoldResult(originalResult), + m_transformA(transformA), + m_transformB(transformB), + m_perturbA(perturbA), + m_unPerturbedTransform(unPerturbedTransform), + m_debugDrawer(debugDrawer) + { + } + virtual ~ btPerturbedContactResult() + { + } + + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar orgDepth) + { + btVector3 endPt,startPt; + btScalar newDepth; + btVector3 newNormal; + + if (m_perturbA) + { + btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth; + endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg); + newDepth = (endPt - pointInWorld).dot(normalOnBInWorld); + startPt = endPt+normalOnBInWorld*newDepth; + } else + { + endPt = pointInWorld + normalOnBInWorld*orgDepth; + startPt = (m_unPerturbedTransform*m_transformB.inverse())(pointInWorld); + newDepth = (endPt - startPt).dot(normalOnBInWorld); + + } + +//#define DEBUG_CONTACTS 1 +#ifdef DEBUG_CONTACTS + m_debugDrawer->drawLine(startPt,endPt,btVector3(1,0,0)); + m_debugDrawer->drawSphere(startPt,0.05,btVector3(0,1,0)); + m_debugDrawer->drawSphere(endPt,0.05,btVector3(0,0,1)); +#endif //DEBUG_CONTACTS + + + m_originalManifoldResult->addContactPoint(normalOnBInWorld,startPt,newDepth); + } +}; +extern btScalar gContactBreakingThreshold; // // Convex-Convex collision algorithm @@ -107,39 +169,125 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl } resultOut->setPersistentManifold(m_manifoldPtr); -#ifdef USE_BT_GJKEPA - btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape())); - btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape())); - const btScalar radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/); - btGjkEpaSolver::sResults results; - if(btGjkEpaSolver::Collide( shape0,body0->getWorldTransform(), - shape1,body1->getWorldTransform(), - radialmargin,results)) - { - dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); - resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); - } -#else + //comment-out next line to test multi-contact generation + //resultOut->getPersistentManifold()->clearManifold(); + btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape()); btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape()); + +#ifdef USE_SEPDISTANCE_UTIL2 + m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform()); + if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f) +#endif //USE_SEPDISTANCE_UTIL2 + + { + btGjkPairDetector::ClosestPointInput input; + btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); //TODO: if (dispatchInfo.m_useContinuous) - m_gjkPairDetector.setMinkowskiA(min0); - m_gjkPairDetector.setMinkowskiB(min1); - input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold(); - input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; - input.m_stackAlloc = dispatchInfo.m_stackAllocator; + gjkPairDetector.setMinkowskiA(min0); + gjkPairDetector.setMinkowskiB(min1); -// input.m_maximumDistanceSquared = btScalar(1e30); - +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + input.m_maximumDistanceSquared = 1e30f; + } else +#endif //USE_SEPDISTANCE_UTIL2 + { + input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold(); + input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; + } + + input.m_stackAlloc = dispatchInfo.m_stackAllocator; input.m_transformA = body0->getWorldTransform(); input.m_transformB = body1->getWorldTransform(); + + gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold; + + //now perturbe directions to get multiple contact points + btVector3 v0,v1; + btVector3 sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized(); + btPlaneSpace1(sepNormalWorldSpace,v0,v1); + //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects - m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + //perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points + if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold) + { + + int i; + + bool perturbeA = true; + const btScalar angleLimit = 0.125f * SIMD_PI; + btScalar perturbeAngle; + btScalar radiusA = min0->getAngularMotionDisc(); + btScalar radiusB = min1->getAngularMotionDisc(); + if (radiusA < radiusB) + { + perturbeAngle = gContactBreakingThreshold /radiusA; + perturbeA = true; + } else + { + perturbeAngle = gContactBreakingThreshold / radiusB; + perturbeA = false; + } + if ( perturbeAngle > angleLimit ) + perturbeAngle = angleLimit; + + btTransform unPerturbedTransform; + if (perturbeA) + { + unPerturbedTransform = input.m_transformA; + } else + { + unPerturbedTransform = input.m_transformB; + } + + for ( i=0;i<m_numPerturbationIterations;i++) + { + btQuaternion perturbeRot(v0,perturbeAngle); + btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations)); + btQuaternion rotq(sepNormalWorldSpace,iterationAngle); + + + if (perturbeA) + { + input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis()); + input.m_transformB = body1->getWorldTransform(); +#ifdef DEBUG_CONTACTS + dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0); +#endif //DEBUG_CONTACTS + } else + { + input.m_transformA = body0->getWorldTransform(); + input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis()); +#ifdef DEBUG_CONTACTS + dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0); #endif + } + + btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw); + gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw); + + + } + } + + + +#ifdef USE_SEPDISTANCE_UTIL2 + if (dispatchInfo.m_useConvexConservativeDistanceUtil) + { + m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform()); + } +#endif //USE_SEPDISTANCE_UTIL2 + + + } if (m_ownManifold) { |