diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch')
38 files changed, 1265 insertions, 321 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index f6c1e32ac7c..9a749a03793 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -19,9 +19,10 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btSphereShape.h" -SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle) +SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle,btScalar contactBreakingThreshold) :m_sphere(sphere), -m_triangle(triangle) +m_triangle(triangle), +m_contactBreakingThreshold(contactBreakingThreshold) { } @@ -40,7 +41,7 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res //move sphere into triangle space btTransform sphereInTr = transformB.inverseTimes(transformA); - if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact)) + if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact,m_contactBreakingThreshold)) { if (swapResults) { @@ -93,7 +94,7 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve } ///combined discrete/continuous sphere-triangle -bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact) +bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold) { const btVector3* vertices = &m_triangle->getVertexPtr(0); @@ -115,10 +116,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po normal *= btScalar(-1.); } - ///todo: move this gContactBreakingThreshold into a proper structure - extern btScalar gContactBreakingThreshold; - - btScalar contactMargin = gContactBreakingThreshold; + btScalar contactMargin = contactBreakingThreshold; bool isInsideContactPlane = distanceFromPlane < r + contactMargin; bool isInsideShellPlane = distanceFromPlane < r; @@ -140,8 +138,8 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po btVector3 nearestOnEdge; for (int i = 0; i < m_triangle->getNumEdges(); i++) { - btPoint3 pa; - btPoint3 pb; + btVector3 pa; + btVector3 pb; m_triangle->getEdge(i,pa,pb); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h index 26dabaa480e..981bd54e76c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h @@ -17,7 +17,7 @@ subject to the following restrictions: #define SPHERE_TRIANGLE_DETECTOR_H #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" -#include "LinearMath/btPoint3.h" + class btSphereShape; @@ -30,19 +30,19 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface { virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); - SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle); + SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold); virtual ~SphereTriangleDetector() {}; private: - bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact); + bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold); bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p ); bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal); btSphereShape* m_sphere; btTriangleShape* m_triangle; - + btScalar m_contactBreakingThreshold; }; #endif //SPHERE_TRIANGLE_DETECTOR_H diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp new file mode 100644 index 00000000000..7e5da6c5872 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp @@ -0,0 +1,47 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "btActivatingCollisionAlgorithm.h" +#include "btCollisionDispatcher.h" +#include "btCollisionObject.h" + +btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci) +:btCollisionAlgorithm(ci) +//, +//m_colObj0(0), +//m_colObj1(0) +{ +} +btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1) +:btCollisionAlgorithm(ci) +//, +//m_colObj0(0), +//m_colObj1(0) +{ +// if (ci.m_dispatcher1->needsCollision(colObj0,colObj1)) +// { +// m_colObj0 = colObj0; +// m_colObj1 = colObj1; +// +// m_colObj0->activate(); +// m_colObj1->activate(); +// } +} + +btActivatingCollisionAlgorithm::~btActivatingCollisionAlgorithm() +{ +// m_colObj0->activate(); +// m_colObj1->activate(); +} diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h new file mode 100644 index 00000000000..25fe088942d --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h @@ -0,0 +1,36 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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 __BT_ACTIVATING_COLLISION_ALGORITHM_H +#define __BT_ACTIVATING_COLLISION_ALGORITHM_H + +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" + +///This class is not enabled yet (work-in-progress) to more aggressively activate objects. +class btActivatingCollisionAlgorithm : public btCollisionAlgorithm +{ +// btCollisionObject* m_colObj0; +// btCollisionObject* m_colObj1; + +public: + + btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci); + + btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1); + + virtual ~btActivatingCollisionAlgorithm(); + +}; +#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp index cd0c028012c..d3342c547b5 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp @@ -22,7 +22,7 @@ subject to the following restrictions: #define USE_PERSISTENT_CONTACTS 1 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1) -: btCollisionAlgorithm(ci), +: btActivatingCollisionAlgorithm(ci,obj0,obj1), m_ownManifold(false), m_manifoldPtr(mf) { diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h index 35afaf175a1..e7d2cc25c22 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef BOX_BOX__COLLISION_ALGORITHM_H #define BOX_BOX__COLLISION_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/BroadphaseCollision/btDispatcher.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" @@ -24,14 +24,14 @@ subject to the following restrictions: class btPersistentManifold; ///box-box collision detection -class btBoxBoxCollisionAlgorithm : public btCollisionAlgorithm +class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm { bool m_ownManifold; btPersistentManifold* m_manifoldPtr; public: btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) - : btCollisionAlgorithm(ci) {} + : btActivatingCollisionAlgorithm(ci) {} virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp index 45ebff5dc45..31353f1b2c4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp @@ -207,7 +207,13 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]) cy += q*(p[i*2+1]+p[i*2+3]); } q = p[n*2-2]*p[1] - p[0]*p[n*2-1]; - a = 1.f/(btScalar(3.0)*(a+q)); + if (btFabs(a+q) > SIMD_EPSILON) + { + a = 1.f/(btScalar(3.0)*(a+q)); + } else + { + a=1e30f; + } cx = a*(cx + q*(p[n*2-2]+p[0])); cy = a*(cy + q*(p[n*2-1]+p[1])); } @@ -226,9 +232,9 @@ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]) a = btScalar(j)*(2*M__PI/m) + A[i0]; if (a > M__PI) a -= 2*M__PI; btScalar maxdiff=1e9,diff; -#if defined(DEBUG) || defined (_DEBUG) - *iret = i0; // iret is not allowed to keep this value -#endif + + *iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0 + for (i=0; i<n; i++) { if (avail[i]) { diff = btFabs (A[i]-a); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h index fad770ac26d..1db51a36d03 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h @@ -22,7 +22,7 @@ class btPoolAllocator; ///btCollisionConfiguration allows to configure Bullet collision detection ///stack allocator size, default collision algorithms and persistent manifold pool size -///todo: describe the meaning +///@todo: describe the meaning class btCollisionConfiguration { diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h index c6728918d16..a6da5f61a3c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define COLLISION_CREATE_FUNC #include "LinearMath/btAlignedObjectArray.h" -typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray; class btCollisionAlgorithm; class btCollisionObject; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index a031a9f9784..e6ff2130aad 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -52,12 +52,12 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++) { m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j); - assert(m_doubleDispatch[i][j]); + btAssert(m_doubleDispatch[i][j]); } } -}; +} void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc) @@ -78,7 +78,13 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1) btCollisionObject* body0 = (btCollisionObject*)b0; btCollisionObject* body1 = (btCollisionObject*)b1; - + + //test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold' + //btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold())); + btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()); + + btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold()); + void* mem = 0; if (m_persistentManifoldPoolAllocator->getFreeCount()) @@ -89,7 +95,7 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1) mem = btAlignedAlloc(sizeof(btPersistentManifold),16); } - btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0); + btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold); manifold->m_index1a = m_manifoldsPtr.size(); m_manifoldsPtr.push_back(manifold); @@ -144,7 +150,6 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo - bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1) { //here you can do filtering @@ -158,8 +163,8 @@ bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1) { - assert(body0); - assert(body1); + btAssert(body0); + btAssert(body1); bool needsCollision = true; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp index 846c9b9b989..285b8f174e4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -19,6 +19,7 @@ subject to the following restrictions: btCollisionObject::btCollisionObject() : m_anisotropicFriction(1.f,1.f,1.f), m_hasAnisotropicFriction(false), + m_contactProcessingThreshold(0.f), m_broadphaseHandle(0), m_collisionShape(0), m_rootCollisionShape(0), diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 8442868cf89..0d5b7886443 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -29,8 +29,11 @@ struct btBroadphaseProxy; class btCollisionShape; #include "LinearMath/btMotionState.h" #include "LinearMath/btAlignedAllocator.h" +#include "LinearMath/btAlignedObjectArray.h" +typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray; + /// btCollisionObject can be used to manage collision detection objects. /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. @@ -49,8 +52,10 @@ protected: //without destroying the continuous interpolated motion (which uses this interpolation velocities) btVector3 m_interpolationLinearVelocity; btVector3 m_interpolationAngularVelocity; + btVector3 m_anisotropicFriction; - bool m_hasAnisotropicFriction; + bool m_hasAnisotropicFriction; + btScalar m_contactProcessingThreshold; btBroadphaseProxy* m_broadphaseHandle; btCollisionShape* m_collisionShape; @@ -74,7 +79,7 @@ protected: ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer void* m_userObjectPointer; - ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody etc. + ///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc. ///do not assign your own m_internalType unless you write a new dynamics object class. int m_internalType; @@ -106,14 +111,19 @@ public: CF_STATIC_OBJECT= 1, CF_KINEMATIC_OBJECT= 2, CF_NO_CONTACT_RESPONSE = 4, - CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution) + CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution) + CF_CHARACTER_OBJECT = 16 }; enum CollisionObjectTypes { CO_COLLISION_OBJECT =1, CO_RIGID_BODY, - CO_SOFT_BODY + ///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter + ///It is useful for collision sensors, explosion objects, character controller etc. + CO_GHOST_OBJECT, + CO_SOFT_BODY, + CO_HF_FLUID }; SIMD_FORCE_INLINE bool mergesSimulationIslands() const @@ -136,6 +146,16 @@ public: return m_hasAnisotropicFriction; } + ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default. + ///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges + void setContactProcessingThreshold( btScalar contactProcessingThreshold) + { + m_contactProcessingThreshold = contactProcessingThreshold; + } + btScalar getContactProcessingThreshold() const + { + return m_contactProcessingThreshold; + } SIMD_FORCE_INLINE bool isStaticObject() const { return (m_collisionFlags & CF_STATIC_OBJECT) != 0; @@ -193,7 +213,7 @@ public: m_collisionShape = collisionShape; } - int getActivationState() const { return m_activationState1;} + SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;} void setActivationState(int newState); @@ -210,7 +230,7 @@ public: void activate(bool forceActivation = false); - inline bool isActive() const + SIMD_FORCE_INLINE bool isActive() const { return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); } @@ -254,12 +274,12 @@ public: } - btBroadphaseProxy* getBroadphaseHandle() + SIMD_FORCE_INLINE btBroadphaseProxy* getBroadphaseHandle() { return m_broadphaseHandle; } - const btBroadphaseProxy* getBroadphaseHandle() const + SIMD_FORCE_INLINE const btBroadphaseProxy* getBroadphaseHandle() const { return m_broadphaseHandle; } @@ -305,7 +325,7 @@ public: return m_interpolationAngularVelocity; } - const int getIslandTag() const + SIMD_FORCE_INLINE int getIslandTag() const { return m_islandTag1; } @@ -315,7 +335,7 @@ public: m_islandTag1 = tag; } - const int getCompanionId() const + SIMD_FORCE_INLINE int getCompanionId() const { return m_companionId; } @@ -325,7 +345,7 @@ public: m_companionId = id; } - const btScalar getHitFraction() const + SIMD_FORCE_INLINE btScalar getHitFraction() const { return m_hitFraction; } @@ -336,7 +356,7 @@ public: } - const int getCollisionFlags() const + SIMD_FORCE_INLINE int getCollisionFlags() const { return m_collisionFlags; } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index d8674a320a7..10e880e2523 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -32,6 +32,9 @@ subject to the following restrictions: #include "LinearMath/btQuickprof.h" #include "LinearMath/btStackAlloc.h" +//#define USE_BRUTEFORCE_RAYBROADPHASE 1 +//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest +//#define RECALCULATE_AABB_RAYCAST 1 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor) #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" @@ -66,6 +69,7 @@ btCollisionWorld::~btCollisionWorld() // getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); getBroadphase()->destroyProxy(bp,m_dispatcher1); + collisionObject->setBroadphaseHandle(0); } } @@ -113,6 +117,41 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho } + + +void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj) +{ + btVector3 minAabb,maxAabb; + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + //need to increase the aabb for contact thresholds + btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); + minAabb -= contactThreshold; + maxAabb += contactThreshold; + + btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; + + //moving objects should be moderately sized, probably something wrong if not + if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) + { + bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); + } else + { + //something went wrong, investigate + //this assert is unwanted in 3D modelers (danger of loosing work) + colObj->setActivationState(DISABLE_SIMULATION); + + static bool reportMe = true; + if (reportMe && m_debugDrawer) + { + reportMe = false; + m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); + m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); + m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); + m_debugDrawer->reportErrorWarning("Thanks.\n"); + } + } +} + void btCollisionWorld::updateAabbs() { BT_PROFILE("updateAabbs"); @@ -125,38 +164,9 @@ void btCollisionWorld::updateAabbs() //only update aabb of active objects if (colObj->isActive()) { - btPoint3 minAabb,maxAabb; - colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); - //need to increase the aabb for contact thresholds - btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); - minAabb -= contactThreshold; - maxAabb += contactThreshold; - - btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; - - //moving objects should be moderately sized, probably something wrong if not - if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) - { - bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); - } else - { - //something went wrong, investigate - //this assert is unwanted in 3D modelers (danger of loosing work) - colObj->setActivationState(DISABLE_SIMULATION); - - static bool reportMe = true; - if (reportMe && m_debugDrawer) - { - reportMe = false; - m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); - m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); - m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); - m_debugDrawer->reportErrorWarning("Thanks.\n"); - } - } + updateSingleAabb(colObj); } } - } @@ -226,6 +236,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra if (collisionShape->isConvex()) { +// BT_PROFILE("rayTestConvex"); btConvexCast::CastResult castResult; castResult.m_fraction = resultCallback.m_closestHitFraction; @@ -269,6 +280,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra } else { if (collisionShape->isConcave()) { +// BT_PROFILE("rayTestConcave"); if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { ///optimized version for btBvhTriangleMeshShape @@ -286,7 +298,8 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to), + //@BP Mod + btTriangleRaycastCallback(from,to, resultCallback->m_flags), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) @@ -317,7 +330,8 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); } else { - btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape; + //generic (slower) case + btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); @@ -330,11 +344,12 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra { btCollisionWorld::RayResultCallback* m_resultCallback; btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; + btConcaveShape* m_triangleMesh; BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, - btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to), + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh): + //@BP Mod + btTriangleRaycastCallback(from,to, resultCallback->m_flags), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) @@ -363,7 +378,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra }; - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape); rcb.m_hitFraction = resultCallback.m_closestHitFraction; btVector3 rayAabbMinLocal = rayFromLocal; @@ -371,10 +386,11 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btVector3 rayAabbMaxLocal = rayFromLocal; rayAabbMaxLocal.setMax(rayToLocal); - triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); + concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); } } else { - //todo: use AABB tree or other BVH acceleration structure! +// BT_PROFILE("rayTestCompound"); + ///@todo: use AABB tree or other BVH acceleration structure, see btDbvt if (collisionShape->isCompound()) { const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); @@ -408,9 +424,10 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt { if (collisionShape->isConvex()) { + //BT_PROFILE("convexSweepConvex"); btConvexCast::CastResult castResult; castResult.m_allowedPenetration = allowedPenetration; - castResult.m_fraction = btScalar(1.);//?? + castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//?? btConvexShape* convexShape = (btConvexShape*) collisionShape; btVoronoiSimplexSolver simplexSolver; @@ -452,6 +469,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt { if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { + //BT_PROFILE("convexSweepbtBvhTriangleMesh"); btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); @@ -508,7 +526,8 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal); } else { - btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + //BT_PROFILE("convexSweepConcave"); + btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); @@ -520,10 +539,10 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt { btCollisionWorld::ConvexResultCallback* m_resultCallback; btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; + btConcaveShape* m_triangleMesh; BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, - btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld): btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), m_resultCallback(resultCallback), m_collisionObject(collisionObject), @@ -556,7 +575,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt }; - BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform); + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform); tccb.m_hitFraction = resultCallback.m_closestHitFraction; btVector3 boxMinLocal, boxMaxLocal; castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); @@ -567,12 +586,13 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt rayAabbMaxLocal.setMax(convexToLocal); rayAabbMinLocal += boxMinLocal; rayAabbMaxLocal += boxMaxLocal; - triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); + concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); } } else { - //todo: use AABB tree or other BVH acceleration structure! + ///@todo : use AABB tree or other BVH acceleration structure! if (collisionShape->isCompound()) { + BT_PROFILE("convexSweepCompound"); const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); int i=0; for (i=0;i<compoundShape->getNumChildShapes();i++) @@ -596,51 +616,173 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt } } -void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const + +struct btSingleRayCallback : public btBroadphaseRayCallback { + btVector3 m_rayFromWorld; + btVector3 m_rayToWorld; + btTransform m_rayFromTrans; + btTransform m_rayToTrans; + btVector3 m_hitNormal; - btTransform rayFromTrans,rayToTrans; - rayFromTrans.setIdentity(); - rayFromTrans.setOrigin(rayFromWorld); - rayToTrans.setIdentity(); + const btCollisionWorld* m_world; + btCollisionWorld::RayResultCallback& m_resultCallback; - rayToTrans.setOrigin(rayToWorld); + btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld), + m_world(world), + m_resultCallback(resultCallback) + { + m_rayFromTrans.setIdentity(); + m_rayFromTrans.setOrigin(m_rayFromWorld); + m_rayToTrans.setIdentity(); + m_rayToTrans.setOrigin(m_rayToWorld); - /// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD) + btVector3 rayDir = (rayToWorld-rayFromWorld); - int i; - for (i=0;i<m_collisionObjects.size();i++) + rayDir.normalize (); + ///what about division by zero? --> just set rayDirection[i] to INF/1e30 + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld); + + } + + + + virtual bool process(const btBroadphaseProxy* proxy) { ///terminate further ray tests, once the closestHitFraction reached zero - if (resultCallback.m_closestHitFraction == btScalar(0.f)) - break; + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; - btCollisionObject* collisionObject= m_collisionObjects[i]; //only perform raycast if filterMask matches - if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) + { //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + //btVector3 collisionObjectAabbMin,collisionObjectAabbMax; +#if 0 +#ifdef RECALCULATE_AABB btVector3 collisionObjectAabbMin,collisionObjectAabbMax; collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); - - btScalar hitLambda = resultCallback.m_closestHitFraction; - btVector3 hitNormal; - if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) +#else + //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax); + const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin; + const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax; +#endif +#endif + //btScalar hitLambda = m_resultCallback.m_closestHitFraction; + //culling already done by broadphase + //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal)) { - rayTestSingle(rayFromTrans,rayToTrans, + m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans, collisionObject, collisionObject->getCollisionShape(), collisionObject->getWorldTransform(), - resultCallback); + m_resultCallback); } } - + return true; } +}; + +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const +{ + BT_PROFILE("rayTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback); + +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB); +#else + for (int i=0;i<this->getNumCollisionObjects();i++) + { + rayCB.process(m_collisionObjects[i]->getBroadphaseHandle()); + } +#endif //USE_BRUTEFORCE_RAYBROADPHASE } -void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const + +struct btSingleSweepCallback : public btBroadphaseRayCallback { + + btTransform m_convexFromTrans; + btTransform m_convexToTrans; + btVector3 m_hitNormal; + const btCollisionWorld* m_world; + btCollisionWorld::ConvexResultCallback& m_resultCallback; + btScalar m_allowedCcdPenetration; + const btConvexShape* m_castShape; + + + btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration) + :m_convexFromTrans(convexFromTrans), + m_convexToTrans(convexToTrans), + m_world(world), + m_resultCallback(resultCallback), + m_allowedCcdPenetration(allowedPenetration), + m_castShape(castShape) + { + btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin()); + btVector3 rayDir = unnormalizedRayDir.normalized(); + ///what about division by zero? --> just set rayDirection[i] to INF/1e30 + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(unnormalizedRayDir); + + } + + virtual bool process(const btBroadphaseProxy* proxy) + { + ///terminate further convex sweep tests, once the closestHitFraction reached zero + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; + + //only perform raycast if filterMask matches + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + m_resultCallback, + m_allowedCcdPenetration); + } + + return true; + } +}; + + + +void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const +{ + + BT_PROFILE("convexSweepTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + /// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical + + + btTransform convexFromTrans,convexToTrans; convexFromTrans = convexFromWorld; convexToTrans = convexToWorld; @@ -649,12 +791,21 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT { btVector3 linVel, angVel; btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); + btVector3 zeroLinVel; + zeroLinVel.setValue(0,0,0); btTransform R; R.setIdentity (); R.setRotation (convexFromTrans.getRotation()); - castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); + castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); } +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + + btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration); + + m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax); + +#else /// go over all objects, and if the ray intersects their aabb + cast shape aabb, // do a ray-shape query using convexCaster (CCD) int i; @@ -676,9 +827,9 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT collisionObject->getCollisionShape(), collisionObject->getWorldTransform(), resultCallback, - getDispatchInfo().m_allowedCcdPenetration); + allowedCcdPenetration); } } } - +#endif //USE_BRUTEFORCE_RAYBROADPHASE } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index 7557691a9a9..87f7137a55b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ +Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.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. @@ -22,39 +22,39 @@ subject to the following restrictions: * * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ). * - * There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions. - * Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php + * There is the Physics Forum for feedback and general Collision Detection and Physics discussions. + * Please visit http://www.bulletphysics.com * * @section install_sec Installation * * @subsection step1 Step 1: Download - * You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/ + * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list * @subsection step2 Step 2: Building * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8. * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version). * - * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet. + * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet. + * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam. * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files. - * So if you are not using MSVC, you can run configure and jam . - * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/ + * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam * * @subsection step3 Step 3: Testing demos - * Try to run and experiment with CcdPhysicsDemo executable as a starting point. + * Try to run and experiment with BasicDemo executable as a starting point. * Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation. * The Dependencies can be seen in this documentation under Directories * - * @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation - * Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform. - * PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody + * @subsection step4 Step 4: Integrating in your application, full Rigid Body and Soft Body simulation + * Check out BasicDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform. + * Check out SoftDemo how to use soft body dynamics, using btSoftRigidDynamicsWorld. * @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras) * Bullet Collision Detection can also be used without the Dynamics/Extras. - * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org + * Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. * @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation. * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector. * * @section copyright Copyright - * Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon - * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky, + * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon + * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky, * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt. * */ @@ -71,7 +71,7 @@ class btBroadphaseInterface; #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" #include "btCollisionObject.h" -#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray +#include "btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" #include "LinearMath/btAlignedObjectArray.h" @@ -107,6 +107,11 @@ public: m_broadphasePairCache = pairCache; } + const btBroadphaseInterface* getBroadphase() const + { + return m_broadphasePairCache; + } + btBroadphaseInterface* getBroadphase() { return m_broadphasePairCache; @@ -128,8 +133,10 @@ public: return m_dispatcher1; } - virtual void updateAabbs(); + void updateSingleAabb(btCollisionObject* colObj); + virtual void updateAabbs(); + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) { m_debugDrawer = debugDrawer; @@ -179,6 +186,8 @@ public: btCollisionObject* m_collisionObject; short int m_collisionFilterGroup; short int m_collisionFilterMask; + //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback + unsigned int m_flags; virtual ~RayResultCallback() { @@ -192,7 +201,9 @@ public: :m_closestHitFraction(btScalar(1.)), m_collisionObject(0), m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), - m_collisionFilterMask(btBroadphaseProxy::AllFilter) + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + //@BP Mod + m_flags(0) { } @@ -347,7 +358,7 @@ public: // convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback // This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback. - void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback) const; + void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const; /// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 535b61992b0..1dea91a0b0b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -19,19 +19,32 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btDbvt.h" #include "LinearMath/btIDebugDraw.h" #include "LinearMath/btAabbUtil2.h" +#include "btManifoldResult.h" btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) -:btCollisionAlgorithm(ci), +:btActivatingCollisionAlgorithm(ci,body0,body1), m_isSwapped(isSwapped), m_sharedManifold(ci.m_manifold) { m_ownsManifold = false; btCollisionObject* colObj = m_isSwapped? body1 : body0; + btAssert (colObj->getCollisionShape()->isCompound()); + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); + m_compoundShapeRevision = compoundShape->getUpdateRevision(); + + preallocateChildAlgorithms(body0,body1); +} + +void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1) +{ + btCollisionObject* colObj = m_isSwapped? body1 : body0; btCollisionObject* otherObj = m_isSwapped? body0 : body1; - assert (colObj->getCollisionShape()->isCompound()); + btAssert (colObj->getCollisionShape()->isCompound()); btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); + int numChildren = compoundShape->getNumChildShapes(); int i; @@ -46,14 +59,13 @@ m_sharedManifold(ci.m_manifold) btCollisionShape* tmpShape = colObj->getCollisionShape(); btCollisionShape* childShape = compoundShape->getChildShape(i); colObj->internalSetTemporaryCollisionShape( childShape ); - m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold); + m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold); colObj->internalSetTemporaryCollisionShape( tmpShape ); } } } - -btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() +void btCompoundCollisionAlgorithm::removeChildAlgorithms() { int numChildren = m_childCollisionAlgorithms.size(); int i; @@ -67,6 +79,11 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() } } +btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() +{ + removeChildAlgorithms(); +} + @@ -167,13 +184,50 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt btCollisionObject* colObj = m_isSwapped? body1 : body0; btCollisionObject* otherObj = m_isSwapped? body0 : body1; - assert (colObj->getCollisionShape()->isCompound()); + + + btAssert (colObj->getCollisionShape()->isCompound()); btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); + ///btCompoundShape might have changed: + ////make sure the internal child collision algorithm caches are still valid + if (compoundShape->getUpdateRevision() != m_compoundShapeRevision) + { + ///clear and update all + removeChildAlgorithms(); + + preallocateChildAlgorithms(body0,body1); + } + + btDbvt* tree = compoundShape->getDynamicAabbTree(); //use a dynamic aabb tree to cull potential child-overlaps btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); + ///we need to refresh all contact manifolds + ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep + ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm + { + int i; + btManifoldArray manifoldArray; + for (i=0;i<m_childCollisionAlgorithms.size();i++) + { + if (m_childCollisionAlgorithms[i]) + { + m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray); + for (int m=0;m<manifoldArray.size();m++) + { + if (manifoldArray[m]->getNumContacts()) + { + resultOut->setPersistentManifold(manifoldArray[m]); + resultOut->refreshContactPoints(); + resultOut->setPersistentManifold(0);//??necessary? + } + } + manifoldArray.clear(); + } + } + } if (tree) { @@ -242,7 +296,7 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* btCollisionObject* colObj = m_isSwapped? body1 : body0; btCollisionObject* otherObj = m_isSwapped? body0 : body1; - assert (colObj->getCollisionShape()->isCompound()); + btAssert (colObj->getCollisionShape()->isCompound()); btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); @@ -285,3 +339,4 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* } + diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h index 624a3cf10f5..255e0af668c 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef COMPOUND_COLLISION_ALGORITHM_H #define COMPOUND_COLLISION_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btDispatcher.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" @@ -26,16 +26,23 @@ class btDispatcher; #include "btCollisionCreateFunc.h" #include "LinearMath/btAlignedObjectArray.h" class btDispatcher; +class btCollisionObject; /// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes -class btCompoundCollisionAlgorithm : public btCollisionAlgorithm +class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm { btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms; bool m_isSwapped; class btPersistentManifold* m_sharedManifold; bool m_ownsManifold; + + int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated + + void removeChildAlgorithms(); + void preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1); + public: btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 6d28904cb03..cbc5530732b 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -27,7 +27,7 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) -: btCollisionAlgorithm(ci), +: btActivatingCollisionAlgorithm(ci,body0,body1), m_isSwapped(isSwapped), m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped) { @@ -72,7 +72,7 @@ btConvexTriangleCallback::~btConvexTriangleCallback() void btConvexTriangleCallback::clearCache() { m_dispatcher->clearManifold(m_manifoldPtr); -}; +} @@ -93,7 +93,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i ///debug drawing of the overlapping triangles - if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0) + if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe )) { btVector3 color(255,255,0); btTransform& tr = ob->getWorldTransform(); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h index 34b9a107be9..984a4c39e8e 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btDispatcher.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "BulletCollision/CollisionShapes/btTriangleCallback.h" @@ -34,8 +34,8 @@ class btConvexTriangleCallback : public btTriangleCallback btVector3 m_aabbMin; btVector3 m_aabbMax ; - btManifoldResult* m_resultOut; + btManifoldResult* m_resultOut; btDispatcher* m_dispatcher; const btDispatcherInfo* m_dispatchInfoPtr; btScalar m_collisionMarginTriangle; @@ -70,7 +70,7 @@ int m_triangleCount; /// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes. -class btConvexConcaveCollisionAlgorithm : public btCollisionAlgorithm +class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm { bool m_isSwapped; @@ -78,6 +78,7 @@ class btConvexConcaveCollisionAlgorithm : public btCollisionAlgorithm btConvexTriangleCallback m_btConvexTriangleCallback; + public: btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); 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) { diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h index a0030e6793d..62dd33eb98d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -16,30 +16,50 @@ subject to the following restrictions: #ifndef CONVEX_CONVEX_ALGORITHM_H #define CONVEX_CONVEX_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "btCollisionCreateFunc.h" #include "btCollisionDispatcher.h" +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil class btConvexPenetrationDepthSolver; -///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations. -class btConvexConvexAlgorithm : public btCollisionAlgorithm +///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise +///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. +///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util +///for certain pairs that have a small size ratio +///#define USE_SEPDISTANCE_UTIL2 1 + +///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. +///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. +///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888 +class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm { - btGjkPairDetector m_gjkPairDetector; -public: +#ifdef USE_SEPDISTANCE_UTIL2 + btConvexSeparatingDistanceUtil m_sepDistance; +#endif + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + bool m_ownManifold; btPersistentManifold* m_manifoldPtr; bool m_lowLevelOfDetail; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + + ///cache separating vector to speedup collision detection + public: - btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + virtual ~btConvexConvexAlgorithm(); @@ -65,9 +85,12 @@ public: struct CreateFunc :public btCollisionAlgorithmCreateFunc { + btConvexPenetrationDepthSolver* m_pdSolver; btSimplexSolverInterface* m_simplexSolver; - + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); virtual ~CreateFunc(); @@ -75,7 +98,7 @@ public: virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); - return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver); + return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp index 391cf6c7bc4..a7b3b163d66 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 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, +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. @@ -22,15 +22,17 @@ subject to the following restrictions: //#include <stdio.h> -btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped) +btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold) : btCollisionAlgorithm(ci), m_ownManifold(false), m_manifoldPtr(mf), -m_isSwapped(isSwapped) +m_isSwapped(isSwapped), +m_numPerturbationIterations(numPerturbationIterations), +m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) { btCollisionObject* convexObj = m_isSwapped? col1 : col0; btCollisionObject* planeObj = m_isSwapped? col0 : col1; - + if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj)) { m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj); @@ -48,30 +50,28 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() } } - - -void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { - (void)dispatchInfo; - (void)resultOut; - if (!m_manifoldPtr) - return; - - btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* convexObj = m_isSwapped? body1 : body0; btCollisionObject* planeObj = m_isSwapped? body0: body1; btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); - bool hasCollision = false; + bool hasCollision = false; const btVector3& planeNormal = planeShape->getPlaneNormal(); const btScalar& planeConstant = planeShape->getPlaneConstant(); - btTransform planeInConvex; - planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform(); + + btTransform convexWorldTransform = convexObj->getWorldTransform(); btTransform convexInPlaneTrans; - convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform(); - + convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform; + //now perturbe the convex-world transform + convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot); + btTransform planeInConvex; + planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform(); + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + btVector3 vtxInPlane = convexInPlaneTrans(vtx); btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); @@ -87,6 +87,53 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0 btVector3 pOnB = vtxInPlaneWorld; resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); } +} + + +void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + if (!m_manifoldPtr) + return; + + btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* planeObj = m_isSwapped? body0: body1; + + btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + + //first perform a collision query with the non-perturbated collision objects + { + btQuaternion rotq(0,0,0,1); + collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut); + } + + if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold) + { + btVector3 v0,v1; + btPlaneSpace1(planeNormal,v0,v1); + //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects + + const btScalar angleLimit = 0.125f * SIMD_PI; + btScalar perturbeAngle; + btScalar radius = convexShape->getAngularMotionDisc(); + perturbeAngle = gContactBreakingThreshold / radius; + if ( perturbeAngle > angleLimit ) + perturbeAngle = angleLimit; + + btQuaternion perturbeRot(v0,perturbeAngle); + for (int i=0;i<m_numPerturbationIterations;i++) + { + btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations)); + btQuaternion rotq(planeNormal,iterationAngle); + collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut); + } + } + if (m_ownManifold) { if (m_manifoldPtr->getNumContacts()) diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h index 7b258554171..368ca71dda0 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 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, +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. @@ -28,18 +28,22 @@ class btPersistentManifold; /// Other features are frame-coherency (persistent data) and collision response. class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm { - bool m_ownManifold; + bool m_ownManifold; btPersistentManifold* m_manifoldPtr; - bool m_isSwapped; - + bool m_isSwapped; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + public: - btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped); + btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold); virtual ~btConvexPlaneCollisionAlgorithm(); virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); virtual void getAllContactManifolds(btManifoldArray& manifoldArray) @@ -52,15 +56,24 @@ public: struct CreateFunc :public btCollisionAlgorithmCreateFunc { + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + CreateFunc() + : m_numPerturbationIterations(3), + m_minimumPointsPerturbationThreshold(3) + { + } + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm)); if (!m_swapped) { - return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false); + return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); } else { - return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true); + return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); } } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp index 1c317080544..3ae25f109c2 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp @@ -100,11 +100,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault int maxSize = sizeof(btConvexConvexAlgorithm); int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm); int maxSize3 = sizeof(btCompoundCollisionAlgorithm); - int maxSize4 = sizeof(btEmptyAlgorithm); - + int sl = sizeof(btConvexSeparatingDistanceUtil); + sl = sizeof(btGjkPairDetector); int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2); collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3); - collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4); if (constructionInfo.m_stackAlloc) { @@ -289,3 +288,10 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg //failed to find an algorithm return m_emptyCreateFunc; } + +void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold) +{ + btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc; + convexConvex->m_numPerturbationIterations = numPerturbationIterations; + convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; +} diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h index df48ee95a18..6d8cab726bd 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -33,9 +33,9 @@ struct btDefaultCollisionConstructionInfo :m_stackAlloc(0), m_persistentManifoldPool(0), m_collisionAlgorithmPool(0), - m_defaultMaxPersistentManifoldPoolSize(65535), - m_defaultMaxCollisionAlgorithmPoolSize(65535), - m_defaultStackAllocatorSize(5*1024*1024) + m_defaultMaxPersistentManifoldPoolSize(4096), + m_defaultMaxCollisionAlgorithmPoolSize(4096), + m_defaultStackAllocatorSize(0) { } }; @@ -44,7 +44,7 @@ struct btDefaultCollisionConstructionInfo ///btCollisionConfiguration allows to configure Bullet collision detection ///stack allocator, pool memory allocators -///todo: describe the meaning +///@todo: describe the meaning class btDefaultCollisionConfiguration : public btCollisionConfiguration { @@ -111,6 +111,14 @@ public: virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. + ///By default, this feature is disabled for best performance. + ///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature. + ///@param minimumPointsPerturbationThreshold is the minimum number of points in the contact cache, above which the feature is disabled + ///3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first. + ///See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points. + ///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection. + void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3); }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.cpp new file mode 100644 index 00000000000..86141fa6899 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.cpp @@ -0,0 +1,171 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#include "btGhostObject.h" +#include "btCollisionWorld.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "LinearMath/btAabbUtil2.h" + +btGhostObject::btGhostObject() +{ + m_internalType = CO_GHOST_OBJECT; +} + +btGhostObject::~btGhostObject() +{ + ///btGhostObject should have been removed from the world, so no overlapping objects + btAssert(!m_overlappingObjects.size()); +} + + +void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy) +{ + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btAssert(otherObject); + ///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index==m_overlappingObjects.size()) + { + //not found + m_overlappingObjects.push_back(otherObject); + } +} + +void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy) +{ + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btAssert(otherObject); + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index<m_overlappingObjects.size()) + { + m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1]; + m_overlappingObjects.pop_back(); + } +} + + +btPairCachingGhostObject::btPairCachingGhostObject() +{ + m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache(); +} + +btPairCachingGhostObject::~btPairCachingGhostObject() +{ + m_hashPairCache->~btHashedOverlappingPairCache(); + btAlignedFree( m_hashPairCache ); +} + +void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy) +{ + btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle(); + btAssert(actualThisProxy); + + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btAssert(otherObject); + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index==m_overlappingObjects.size()) + { + m_overlappingObjects.push_back(otherObject); + m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy); + } +} + +void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1) +{ + btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; + btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle(); + btAssert(actualThisProxy); + + btAssert(otherObject); + int index = m_overlappingObjects.findLinearSearch(otherObject); + if (index<m_overlappingObjects.size()) + { + m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1]; + m_overlappingObjects.pop_back(); + m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher); + } +} + + +void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const +{ + btTransform convexFromTrans,convexToTrans; + convexFromTrans = convexFromWorld; + convexToTrans = convexToWorld; + btVector3 castShapeAabbMin, castShapeAabbMax; + /* Compute AABB that encompasses angular movement */ + { + btVector3 linVel, angVel; + btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); + btTransform R; + R.setIdentity (); + R.setRotation (convexFromTrans.getRotation()); + castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); + } + + /// go over all objects, and if the ray intersects their aabb + cast shape aabb, + // do a ray-shape query using convexCaster (CCD) + int i; + for (i=0;i<m_overlappingObjects.size();i++) + { + btCollisionObject* collisionObject= m_overlappingObjects[i]; + //only perform raycast if filterMask matches + if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); + AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); + btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btVector3 hitNormal; + if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) + { + btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback, + allowedCcdPenetration); + } + } + } + +} + +void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const +{ + btTransform rayFromTrans; + rayFromTrans.setIdentity(); + rayFromTrans.setOrigin(rayFromWorld); + btTransform rayToTrans; + rayToTrans.setIdentity(); + rayToTrans.setOrigin(rayToWorld); + + + int i; + for (i=0;i<m_overlappingObjects.size();i++) + { + btCollisionObject* collisionObject= m_overlappingObjects[i]; + //only perform raycast if filterMask matches + if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) + { + btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback); + } + } +} + diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h new file mode 100644 index 00000000000..95b5750240c --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btGhostObject.h @@ -0,0 +1,174 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com + +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 BT_GHOST_OBJECT_H +#define BT_GHOST_OBJECT_H + + +#include "btCollisionObject.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h" +#include "LinearMath/btAlignedAllocator.h" +#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" +#include "btCollisionWorld.h" + +class btConvexShape; + +class btDispatcher; + +///The btGhostObject can keep track of all objects that are overlapping +///By default, this overlap is based on the AABB +///This is useful for creating a character controller, collision sensors/triggers, explosions etc. +///We plan on adding rayTest and other queries for the btGhostObject +ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject +{ +protected: + + btAlignedObjectArray<btCollisionObject*> m_overlappingObjects; + +public: + + btGhostObject(); + + virtual ~btGhostObject(); + + void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const; + + void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; + + ///this method is mainly for expert/internal use only. + virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0); + ///this method is mainly for expert/internal use only. + virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0); + + int getNumOverlappingObjects() const + { + return m_overlappingObjects.size(); + } + + btCollisionObject* getOverlappingObject(int index) + { + return m_overlappingObjects[index]; + } + + const btCollisionObject* getOverlappingObject(int index) const + { + return m_overlappingObjects[index]; + } + + btAlignedObjectArray<btCollisionObject*>& getOverlappingPairs() + { + return m_overlappingObjects; + } + + const btAlignedObjectArray<btCollisionObject*> getOverlappingPairs() const + { + return m_overlappingObjects; + } + + // + // internal cast + // + + static const btGhostObject* upcast(const btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_GHOST_OBJECT) + return (const btGhostObject*)colObj; + return 0; + } + static btGhostObject* upcast(btCollisionObject* colObj) + { + if (colObj->getInternalType()==CO_GHOST_OBJECT) + return (btGhostObject*)colObj; + return 0; + } + +}; + +class btPairCachingGhostObject : public btGhostObject +{ + btHashedOverlappingPairCache* m_hashPairCache; + +public: + + btPairCachingGhostObject(); + + virtual ~btPairCachingGhostObject(); + + ///this method is mainly for expert/internal use only. + virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0); + + virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0); + + btHashedOverlappingPairCache* getOverlappingPairCache() + { + return m_hashPairCache; + } + +}; + + + +///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject. +class btGhostPairCallback : public btOverlappingPairCallback +{ + +public: + btGhostPairCallback() + { + } + + virtual ~btGhostPairCallback() + { + + } + + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + { + btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject; + btGhostObject* ghost0 = btGhostObject::upcast(colObj0); + btGhostObject* ghost1 = btGhostObject::upcast(colObj1); + if (ghost0) + ghost0->addOverlappingObjectInternal(proxy1, proxy0); + if (ghost1) + ghost1->addOverlappingObjectInternal(proxy0, proxy1); + return 0; + } + + virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) + { + btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject; + btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject; + btGhostObject* ghost0 = btGhostObject::upcast(colObj0); + btGhostObject* ghost1 = btGhostObject::upcast(colObj1); + if (ghost0) + ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0); + if (ghost1) + ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1); + return 0; + } + + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) + { + btAssert(0); + //need to keep track of all ghost objects and call them here + //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher); + } + + + +}; + +#endif
\ No newline at end of file diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp index d5b12598be2..f8dfa5b101f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp @@ -55,7 +55,7 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) { - assert(m_manifoldPtr); + btAssert(m_manifoldPtr); //order in manifold needs to match if (depth > m_manifoldPtr->getContactBreakingThreshold()) @@ -92,8 +92,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b newPt.m_partId1 = m_partId1; newPt.m_index0 = m_index0; newPt.m_index1 = m_index1; - - ///todo, check this for any side effects + //printf("depth=%f\n",depth); + ///@todo, check this for any side effects if (insertIndex >= 0) { //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h index 5aac9a46f6a..964b6a04483 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.h @@ -45,6 +45,8 @@ class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result int m_partId1; int m_index0; int m_index1; + + public: btManifoldResult() @@ -77,6 +79,7 @@ public: m_index1=index1; } + virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); SIMD_FORCE_INLINE void refreshContactPoints() diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index 9f8e27a4407..0328d0f738f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -24,7 +24,8 @@ subject to the following restrictions: //#include <stdio.h> #include "LinearMath/btQuickprof.h" -btSimulationIslandManager::btSimulationIslandManager() +btSimulationIslandManager::btSimulationIslandManager(): +m_splitIslands(true) { } @@ -43,10 +44,10 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl { { - btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr(); - + for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++) { + btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr(); const btBroadphasePair& collisionPair = pairPtr[i]; btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject; btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject; @@ -143,11 +144,13 @@ class btPersistentManifoldSortPredicate }; -void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects) +void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld) { BT_PROFILE("islandUnionFindAndQuickSort"); + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + m_islandmanifold.resize(0); //we are going to sort the unionfind array, and store the element id in the size @@ -183,7 +186,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio // printf("error in island management\n"); } - assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if (colObj0->getActivationState()== ACTIVE_TAG) @@ -210,7 +213,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio // printf("error in island management\n"); } - assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { @@ -231,13 +234,14 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio // printf("error in island management\n"); } - assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { if ( colObj0->getActivationState() == ISLAND_SLEEPING) { colObj0->setActivationState( WANTS_DEACTIVATION); + colObj0->setDeactivationTime(0.f); } } } @@ -248,11 +252,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio int i; int maxNumManifolds = dispatcher->getNumManifolds(); -#define SPLIT_ISLANDS 1 -#ifdef SPLIT_ISLANDS +//#define SPLIT_ISLANDS 1 +//#ifdef SPLIT_ISLANDS -#endif //SPLIT_ISLANDS +//#endif //SPLIT_ISLANDS for (i=0;i<maxNumManifolds ;i++) @@ -262,7 +266,7 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0()); btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1()); - //todo: check sleeping conditions! + ///@todo: check sleeping conditions! if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) || ((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING)) { @@ -276,24 +280,24 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio { colObj0->activate(); } -#ifdef SPLIT_ISLANDS - // //filtering for response - if (dispatcher->needsResponse(colObj0,colObj1)) - m_islandmanifold.push_back(manifold); -#endif //SPLIT_ISLANDS + if(m_splitIslands) + { + //filtering for response + if (dispatcher->needsResponse(colObj0,colObj1)) + m_islandmanifold.push_back(manifold); + } } } } -// -// todo: this is random access, it can be walked 'cache friendly'! -// -void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback) +///@todo: this is random access, it can be walked 'cache friendly'! +void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback) { + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); - buildIslands(dispatcher,collisionObjects); + buildIslands(dispatcher,collisionWorld); int endIslandIndex=1; int startIslandIndex; @@ -301,84 +305,86 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, BT_PROFILE("processIslands"); -#ifndef SPLIT_ISLANDS - btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer(); - - callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1); -#else - // Sort manifolds, based on islands - // Sort the vector using predicate and std::sort - //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate); + if(!m_splitIslands) + { + btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer(); + int maxNumManifolds = dispatcher->getNumManifolds(); + callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1); + } + else + { + // Sort manifolds, based on islands + // Sort the vector using predicate and std::sort + //std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate); - int numManifolds = int (m_islandmanifold.size()); + int numManifolds = int (m_islandmanifold.size()); - //we should do radix sort, it it much faster (O(n) instead of O (n log2(n)) - m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); + //we should do radix sort, it it much faster (O(n) instead of O (n log2(n)) + m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); - //now process all active islands (sets of manifolds for now) + //now process all active islands (sets of manifolds for now) - int startManifoldIndex = 0; - int endManifoldIndex = 1; + int startManifoldIndex = 0; + int endManifoldIndex = 1; - //int islandId; + //int islandId; - + -// printf("Start Islands\n"); + // printf("Start Islands\n"); - //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated - for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex) - { - int islandId = getUnionFind().getElement(startIslandIndex).m_id; + //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated + for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex) + { + int islandId = getUnionFind().getElement(startIslandIndex).m_id; - bool islandSleeping = false; - - for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++) - { - int i = getUnionFind().getElement(endIslandIndex).m_sz; - btCollisionObject* colObj0 = collisionObjects[i]; - m_islandBodies.push_back(colObj0); - if (!colObj0->isActive()) - islandSleeping = true; - } - + bool islandSleeping = false; + + for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++) + { + int i = getUnionFind().getElement(endIslandIndex).m_sz; + btCollisionObject* colObj0 = collisionObjects[i]; + m_islandBodies.push_back(colObj0); + if (!colObj0->isActive()) + islandSleeping = true; + } + - //find the accompanying contact manifold for this islandId - int numIslandManifolds = 0; - btPersistentManifold** startManifold = 0; + //find the accompanying contact manifold for this islandId + int numIslandManifolds = 0; + btPersistentManifold** startManifold = 0; - if (startManifoldIndex<numManifolds) - { - int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]); - if (curIslandId == islandId) + if (startManifoldIndex<numManifolds) { - startManifold = &m_islandmanifold[startManifoldIndex]; - - for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++) + int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]); + if (curIslandId == islandId) { + startManifold = &m_islandmanifold[startManifoldIndex]; + + for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++) + { + } + /// Process the actual simulation, only if not sleeping/deactivated + numIslandManifolds = endManifoldIndex-startManifoldIndex; } - /// Process the actual simulation, only if not sleeping/deactivated - numIslandManifolds = endManifoldIndex-startManifoldIndex; + } - } + if (!islandSleeping) + { + callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId); + // printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds); + } + + if (numIslandManifolds) + { + startManifoldIndex = endManifoldIndex; + } - if (!islandSleeping) - { - callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId); -// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds); - } - - if (numIslandManifolds) - { - startManifoldIndex = endManifoldIndex; + m_islandBodies.resize(0); } - - m_islandBodies.resize(0); - } -#endif //SPLIT_ISLANDS - + } // else if(!splitIslands) } diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h index 5f4d54cd803..d059f5d6b0d 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h @@ -19,7 +19,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btUnionFind.h" #include "btCollisionCreateFunc.h" #include "LinearMath/btAlignedObjectArray.h" - +#include "btCollisionObject.h" class btCollisionObject; class btCollisionWorld; @@ -35,6 +35,7 @@ class btSimulationIslandManager btAlignedObjectArray<btPersistentManifold*> m_islandmanifold; btAlignedObjectArray<btCollisionObject* > m_islandBodies; + bool m_splitIslands; public: btSimulationIslandManager(); @@ -61,9 +62,18 @@ public: virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0; }; - void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback); + void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback); + + void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); - void buildIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects); + bool getSplitIslands() + { + return m_splitIslands; + } + void setSplitIslands(bool doSplitIslands) + { + m_splitIslands = doSplitIslands; + } }; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp index 1e4bbce451d..8df876928c1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp @@ -21,7 +21,7 @@ subject to the following restrictions: //#include <stdio.h> btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped) -: btCollisionAlgorithm(ci), +: btActivatingCollisionAlgorithm(ci,col0,col1), m_ownManifold(false), m_manifoldPtr(mf), m_isSwapped(isSwapped) diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h index 158f0ffcc74..47111d1c4af 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef SPHERE_BOX_COLLISION_ALGORITHM_H #define SPHERE_BOX_COLLISION_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" class btPersistentManifold; @@ -26,7 +26,7 @@ class btPersistentManifold; /// btSphereBoxCollisionAlgorithm provides sphere-box collision detection. /// Other features are frame-coherency (persistent data) and collision response. -class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm +class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm { bool m_ownManifold; btPersistentManifold* m_manifoldPtr; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp index c2b13f5903f..5c4e78fe518 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp @@ -19,7 +19,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1) -: btCollisionAlgorithm(ci), +: btActivatingCollisionAlgorithm(ci,col0,col1), m_ownManifold(false), m_manifoldPtr(mf) { @@ -78,7 +78,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0 } ///point on A (worldspace) - btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; + ///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; ///point on B (worldspace) btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB; diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h index afdc2ee7fa0..7d07512ca66 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H #define SPHERE_SPHERE_COLLISION_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "btCollisionDispatcher.h" @@ -26,7 +26,7 @@ class btPersistentManifold; /// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. /// Other features are frame-coherency (persistent data) and collision response. /// Also provides the most basic sample for custom/user btCollisionAlgorithm -class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm +class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm { bool m_ownManifold; btPersistentManifold* m_manifoldPtr; @@ -35,7 +35,7 @@ public: btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) - : btCollisionAlgorithm(ci) {} + : btActivatingCollisionAlgorithm(ci) {} virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp index fdbd4abef27..2d5efcf56ba 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -22,7 +22,7 @@ subject to the following restrictions: btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped) -: btCollisionAlgorithm(ci), +: btActivatingCollisionAlgorithm(ci,col0,col1), m_ownManifold(false), m_manifoldPtr(mf), m_swapped(swapped) @@ -56,10 +56,10 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co /// report a contact. internally this will be kept persistent, and contact reduction is done resultOut->setPersistentManifold(m_manifoldPtr); - SphereTriangleDetector detector(sphere,triangle); + SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()); btDiscreteCollisionDetectorInterface::ClosestPointInput input; - input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds + input.m_maximumDistanceSquared = btScalar(1e30);///@todo: tighter bounds input.m_transformA = sphereObj->getWorldTransform(); input.m_transformB = triObj->getWorldTransform(); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h index bbaf228c44c..606c3635ae9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H #define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "btActivatingCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" class btPersistentManifold; @@ -25,7 +25,7 @@ class btPersistentManifold; /// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. /// Other features are frame-coherency (persistent data) and collision response. /// Also provides the most basic sample for custom/user btCollisionAlgorithm -class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm +class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm { bool m_ownManifold; btPersistentManifold* m_manifoldPtr; @@ -35,7 +35,7 @@ public: btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped); btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) - : btCollisionAlgorithm(ci) {} + : btActivatingCollisionAlgorithm(ci) {} virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp index bb01b60fa85..c561df06109 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.cpp @@ -14,8 +14,6 @@ subject to the following restrictions: */ #include "btUnionFind.h" -#include <assert.h> - diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h index 820c8bc858e..e105ecbff18 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btUnionFind.h @@ -98,8 +98,8 @@ class btUnionFind int find(int x) { - //assert(x < m_N); - //assert(x >= 0); + //btAssert(x < m_N); + //btAssert(x >= 0); while (x != m_elements[x].m_id) { @@ -110,8 +110,8 @@ class btUnionFind m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id; #endif // x = m_elements[x].m_id; - //assert(x < m_N); - //assert(x >= 0); + //btAssert(x < m_N); + //btAssert(x >= 0); } return x; |