diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp | 90 |
1 files changed, 80 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index 5cceb04dbb4..4353cdac0b1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -1,6 +1,7 @@ #include "btInternalEdgeUtility.h" #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" +#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" @@ -9,7 +10,6 @@ //#define DEBUG_INTERNAL_EDGE - #ifdef DEBUG_INTERNAL_EDGE #include <stdio.h> #endif //DEBUG_INTERNAL_EDGE @@ -456,8 +456,14 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) return; - btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape(); - btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); + btBvhTriangleMeshShape* trimesh = 0; + + if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE ) + trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape(); + else + trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape(); + + btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); if (!triangleInfoMapPtr) return; @@ -501,14 +507,63 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; localContactNormalOnB.normalize();//is this necessary? - - if ((info->m_edgeV0V1Angle)< SIMD_2_PI) + + // Get closest edge + int bestedge=-1; + btScalar disttobestedge=BT_LARGE_FLOAT; + // + // Edge 0 -> 1 + if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + btVector3 nearest; + btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest ); + btScalar len=(contact-nearest).length(); + // + if( len < disttobestedge ) + { + bestedge=0; + disttobestedge=len; + } + } + // Edge 1 -> 2 + if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + btVector3 nearest; + btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest ); + btScalar len=(contact-nearest).length(); + // + if( len < disttobestedge ) + { + bestedge=1; + disttobestedge=len; + } + } + // Edge 2 -> 0 + if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) + { + btVector3 nearest; + btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest ); + btScalar len=(contact-nearest).length(); + // + if( len < disttobestedge ) + { + bestedge=2; + disttobestedge=len; + } + } + +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f); + btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red ); +#endif + if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) { #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black); #endif btScalar len = (contact-nearest).length(); if(len<triangleInfoMapPtr->m_edgeDistanceThreshold) + if( bestedge==0 ) { btVector3 edge(v0-v1); isNearEdge = true; @@ -577,7 +632,11 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW - if ((info->m_edgeV1V2Angle)< SIMD_2_PI) +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green ); +#endif + + if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) { #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black); @@ -587,6 +646,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* btScalar len = (contact-nearest).length(); if(len<triangleInfoMapPtr->m_edgeDistanceThreshold) + if( bestedge==1 ) { isNearEdge = true; #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW @@ -658,8 +718,11 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue); #endif //BT_INTERNAL_EDGE_DEBUG_DRAW +#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW + btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue ); +#endif - if ((info->m_edgeV2V0Angle)< SIMD_2_PI) + if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold) { #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW @@ -668,6 +731,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* btScalar len = (contact-nearest).length(); if(len<triangleInfoMapPtr->m_edgeDistanceThreshold) + if( bestedge==2 ) { isNearEdge = true; #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW @@ -759,11 +823,17 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal; } else { + btVector3 newNormal = tri_normal *frontFacing; + //if the tri_normal is pointing opposite direction as the current local contact normal, skip it + btScalar d = newNormal.dot(localContactNormalOnB) ; + if (d< 0) + { + return; + } //modify the normal to be the triangle normal (or backfacing normal) - cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing); + cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal; } - - + // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB); |