Changeset 2430 for code/branches/physics/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

Timestamp:

Dec 13, 2008, 11:45:51 PM (16 years ago)

Author:

rgrieder

Message:

Updated to Bullet 2.73 (first part).

File:

• code/branches/physics/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp (modified) (3 diffs)

code/branches/physics/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -39 +39 @@
 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
 
-#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
+#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
 
@@ -61 +61 @@
 
 btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
-: btCollisionAlgorithm(ci),
-m_gjkPairDetector(0,0,simplexSolver,pdSolver),
+: btActivatingCollisionAlgorithm(ci,body0,body1),
+m_simplexSolver(simplexSolver),
+m_pdSolver(pdSolver),
 m_ownManifold (false),
 m_manifoldPtr(mf),
 m_lowLevelOfDetail(false)
+#ifdef USE_SEPDISTANCE_UTIL2
+,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
+                          (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc())
+#endif
 {
         (void)body0;
         (void)body1;
-
-
 }
 
@@ -108 +111 @@
         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
+        
 
         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;
+        gjkPairDetector.setMinkowskiA(min0);
+        gjkPairDetector.setMinkowskiB(min1);
+
+#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_maximumDistanceSquared = btScalar(1e30);
-        
         input.m_transformA = body0->getWorldTransform();
         input.m_transformB = body1->getWorldTransform();
-        
-        m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
-#endif
+
+        gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
+        btScalar sepDist = gjkPairDetector.getCachedSeparatingDistance()+dispatchInfo.m_convexConservativeDistanceThreshold;
+
+#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)