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path: root/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp173
1 files changed, 101 insertions, 72 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
index 1fdbb2457d1..fe31f08d61a 100644
--- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
+++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
@@ -20,63 +20,20 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#define NUM_UNITSPHERE_POINTS 42
-static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
-{
-btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
-btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
-btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
-btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
-btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
-btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
-btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
-btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
-btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
-btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
-btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
-btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
-btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
-btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
-btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
-btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
-btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
-btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
-btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
-btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
-btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
-btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
-btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
-btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
-btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
-btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
-btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
-btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
-btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
-btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
-btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
-btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
-btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
-btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
-btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
-btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
-btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
-btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
-btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
-btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
-};
bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
- class btIDebugDraw* debugDraw
+ class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
)
{
+ (void)stackAlloc;
(void)v;
+ bool check2d= convexA->isConvex2d() && convexB->isConvex2d();
struct btIntermediateResult : public btDiscreteCollisionDetectorInterface::Result
{
@@ -90,10 +47,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btScalar m_depth;
bool m_hasResult;
- virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
+ virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
+ }
+ virtual void setShapeIdentifiersB(int partId1,int index1)
+ {
(void)partId1;
(void)index1;
}
@@ -107,7 +67,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
};
//just take fixed number of orientation, and sample the penetration depth in that direction
- btScalar minProj = btScalar(1e30);
+ btScalar minProj = btScalar(BT_LARGE_FLOAT);
btVector3 minNorm(btScalar(0.), btScalar(0.), btScalar(0.));
btVector3 minA,minB;
btVector3 seperatingAxisInA,seperatingAxisInB;
@@ -128,7 +88,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
for (i=0;i<numSampleDirections;i++)
{
- const btVector3& norm = sPenetrationDirections[i];
+ btVector3 norm = getPenetrationDirections()[i];
seperatingAxisInABatch[i] = (-norm) * transA.getBasis() ;
seperatingAxisInBBatch[i] = norm * transB.getBasis() ;
}
@@ -142,7 +102,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm);
norm = transA.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
numSampleDirections++;
@@ -159,7 +119,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm);
norm = transB.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
seperatingAxisInABatch[numSampleDirections] = (-norm) * transA.getBasis();
seperatingAxisInBBatch[numSampleDirections] = norm * transB.getBasis();
numSampleDirections++;
@@ -169,29 +129,44 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
+
convexA->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInABatch,supportVerticesABatch,numSampleDirections);
convexB->batchedUnitVectorGetSupportingVertexWithoutMargin(seperatingAxisInBBatch,supportVerticesBBatch,numSampleDirections);
for (i=0;i<numSampleDirections;i++)
{
- const btVector3& norm = sPenetrationDirections[i];
- seperatingAxisInA = seperatingAxisInABatch[i];
- seperatingAxisInB = seperatingAxisInBBatch[i];
+ btVector3 norm = getPenetrationDirections()[i];
+ if (check2d)
+ {
+ norm[2] = 0.f;
+ }
+ if (norm.length2()>0.01)
+ {
- pInA = supportVerticesABatch[i];
- qInB = supportVerticesBBatch[i];
+ seperatingAxisInA = seperatingAxisInABatch[i];
+ seperatingAxisInB = seperatingAxisInBBatch[i];
- pWorld = transA(pInA);
- qWorld = transB(qInB);
- w = qWorld - pWorld;
- btScalar delta = norm.dot(w);
- //find smallest delta
- if (delta < minProj)
- {
- minProj = delta;
- minNorm = norm;
- minA = pWorld;
- minB = qWorld;
+ pInA = supportVerticesABatch[i];
+ qInB = supportVerticesBBatch[i];
+
+ pWorld = transA(pInA);
+ qWorld = transB(qInB);
+ if (check2d)
+ {
+ pWorld[2] = 0.f;
+ qWorld[2] = 0.f;
+ }
+
+ w = qWorld - pWorld;
+ btScalar delta = norm.dot(w);
+ //find smallest delta
+ if (delta < minProj)
+ {
+ minProj = delta;
+ minNorm = norm;
+ minA = pWorld;
+ minB = qWorld;
+ }
}
}
#else
@@ -208,7 +183,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm;
convexA->getPreferredPenetrationDirection(i,norm);
norm = transA.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
numSampleDirections++;
}
}
@@ -223,7 +198,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btVector3 norm;
convexB->getPreferredPenetrationDirection(i,norm);
norm = transB.getBasis() * norm;
- sPenetrationDirections[numSampleDirections] = norm;
+ getPenetrationDirections()[numSampleDirections] = norm;
numSampleDirections++;
}
}
@@ -232,7 +207,7 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
for (int i=0;i<numSampleDirections;i++)
{
- const btVector3& norm = sPenetrationDirections[i];
+ const btVector3& norm = getPenetrationDirections()[i];
seperatingAxisInA = (-norm)* transA.getBasis();
seperatingAxisInB = norm* transB.getBasis();
pInA = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
@@ -260,7 +235,8 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
if (minProj < btScalar(0.))
return false;
- minProj += (convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
+ btScalar extraSeparation = 0.5f;///scale dependent
+ minProj += extraSeparation+(convexA->getMarginNonVirtual() + convexB->getMarginNonVirtual());
@@ -298,9 +274,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
input.m_transformA = displacedTrans;
input.m_transformB = transB;
- input.m_maximumDistanceSquared = btScalar(1e30);//minProj;
+ input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);//minProj;
btIntermediateResult res;
+ gjkdet.setCachedSeperatingAxis(-minNorm);
gjkdet.getClosestPoints(input,res,debugDraw);
btScalar correctedMinNorm = minProj - res.m_depth;
@@ -309,12 +286,14 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
//the penetration depth is over-estimated, relax it
btScalar penetration_relaxation= btScalar(1.);
minNorm*=penetration_relaxation;
+
if (res.m_hasResult)
{
pa = res.m_pointInWorld - minNorm * correctedMinNorm;
pb = res.m_pointInWorld;
+ v = minNorm;
#ifdef DEBUG_DRAW
if (debugDraw)
@@ -329,5 +308,55 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
return res.m_hasResult;
}
+btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections()
+{
+ static btVector3 sPenetrationDirections[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
+ {
+ btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
+ btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
+ btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
+ btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
+ btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
+ btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
+ btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
+ btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
+ btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
+ btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
+ btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
+ btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
+ btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
+ btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
+ btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
+ btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
+ btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
+ btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
+ btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
+ btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
+ btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
+ btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
+ btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
+ btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
+ btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
+ btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
+ btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
+ };
+
+ return sPenetrationDirections;
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-27 12:57:56 +0300