diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp | 41 |
1 files changed, 33 insertions, 8 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 2c565734e97..6551cfb92fe 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -16,7 +16,6 @@ subject to the following restrictions: #include "btContinuousConvexCollision.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" -#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" #include "LinearMath/btTransformUtil.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" @@ -26,7 +25,7 @@ subject to the following restrictions: -btContinuousConvexCollision::btContinuousConvexCollision ( btConvexShape* convexA,btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) +btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver) :m_simplexSolver(simplexSolver), m_penetrationDepthSolver(penetrationDepthSolver), m_convexA(convexA),m_convexB(convexB) @@ -35,7 +34,7 @@ m_convexA(convexA),m_convexB(convexB) /// This maximum should not be necessary. It allows for untested/degenerate cases in production code. /// You don't want your game ever to lock-up. -#define MAX_ITERATIONS 1000 +#define MAX_ITERATIONS 64 bool btContinuousConvexCollision::calcTimeOfImpact( const btTransform& fromA, @@ -52,10 +51,18 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btTransformUtil::calculateVelocity(fromA,toA,btScalar(1.),linVelA,angVelA); btTransformUtil::calculateVelocity(fromB,toB,btScalar(1.),linVelB,angVelB); + btScalar boundingRadiusA = m_convexA->getAngularMotionDisc(); btScalar boundingRadiusB = m_convexB->getAngularMotionDisc(); btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB; + btVector3 relLinVel = (linVelB-linVelA); + + btScalar relLinVelocLength = (linVelB-linVelA).length(); + + if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) + return false; + btScalar radius = btScalar(0.001); @@ -93,7 +100,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btGjkPairDetector::ClosestPointInput input; //we don't use margins during CCD - gjk.setIgnoreMargin(true); + // gjk.setIgnoreMargin(true); input.m_transformA = fromA; input.m_transformB = fromB; @@ -108,25 +115,31 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btScalar dist; dist = pointCollector1.m_distance; n = pointCollector1.m_normalOnBInWorld; + + btScalar projectedLinearVelocity = relLinVel.dot(n); //not close enough while (dist > radius) { numIter++; if (numIter > maxIter) + { return false; //todo: report a failure - + } btScalar dLambda = btScalar(0.); + projectedLinearVelocity = relLinVel.dot(n); + //calculate safe moving fraction from distance / (linear+rotational velocity) //btScalar clippedDist = GEN_min(angularConservativeRadius,dist); //btScalar clippedDist = dist; - btScalar projectedLinearVelocity = (linVelB-linVelA).dot(n); dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); + + lambda = lambda + dLambda; if (lambda > btScalar(1.)) @@ -135,9 +148,14 @@ bool btContinuousConvexCollision::calcTimeOfImpact( if (lambda < btScalar(0.)) return false; + //todo: next check with relative epsilon if (lambda <= lastLambda) + { + return false; + //n.setValue(0,0,0); break; + } lastLambda = lambda; @@ -163,11 +181,13 @@ bool btContinuousConvexCollision::calcTimeOfImpact( { //degenerate ?! result.m_fraction = lastLambda; - result.m_normal = n; + n = pointCollector.m_normalOnBInWorld; + result.m_normal=n;//.setValue(1,1,1);// = n; + result.m_hitPoint = pointCollector.m_pointInWorld; return true; } c = pointCollector.m_pointInWorld; - + n = pointCollector.m_normalOnBInWorld; dist = pointCollector.m_distance; } else { @@ -177,8 +197,13 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } + //don't report time of impact for motion away from the contact normal (or causes minor penetration) + if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON) + return false; + result.m_fraction = lambda; result.m_normal = n; + result.m_hitPoint = c; return true; } |