Changeset 2907 for code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision

Timestamp:

Apr 8, 2009, 12:36:08 AM (16 years ago)

Author:

dafrick

Message:

Merging of the current QuestSystem branch.

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp (modified) (2 diffs)
• src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h (modified) (3 diffs)
• src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp (modified) (3 diffs)
• src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h (modified) (1 diff)
• src/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp (modified) (2 diffs)

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp

@@ -136 +136 @@
                         //btScalar clippedDist  = dist;
                         
+                        //don't report time of impact for motion away from the contact normal (or causes minor penetration)
+                        if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
+                                return false;
                         
                         dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
@@ -197 +200 @@
 
                 }
-
-                //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;

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -151 +151 @@
                         if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
                         {
-                                checkPenetration = false;
+                                checkSimplex=true;
+                                //checkPenetration = false;
                                 break;
                         }

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -113 +113 @@
                         }
                         
+                        ///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
+                        btScalar        getAppliedImpulse() const
+                        {
+                                return m_appliedImpulse;
+                        }
+
                         
 

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -184 +184 @@
                 
         }
+        if (insertIndex<0)
+                insertIndex=0;
+
         btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
         m_pointCache[insertIndex] = newPoint;

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -56 +56 @@
 
         btScalar        m_contactBreakingThreshold;
+        btScalar        m_contactProcessingThreshold;
 
         
@@ -71 +72 @@
         btPersistentManifold();
 
-        btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold)
+        btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
                 : m_body0(body0),m_body1(body1),m_cachedPoints(0),
-                m_contactBreakingThreshold(contactBreakingThreshold)
+                m_contactBreakingThreshold(contactBreakingThreshold),
+                m_contactProcessingThreshold(contactProcessingThreshold)
         {
                 
@@ -112 +114 @@
         ///@todo: get this margin from the current physics / collision environment
         btScalar        getContactBreakingThreshold() const;
+
+        btScalar        getContactProcessingThreshold() const
+        {
+                return m_contactProcessingThreshold;
+        }
         
         int getCacheEntry(const btManifoldPoint& newPoint) const;

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp

@@ -24 +24 @@
 #include "btRaycastCallback.h"
 
-btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to)
+btTriangleRaycastCallback::btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags)
         :
         m_from(from),
         m_to(to),
+   //@BP Mod
+   m_flags(flags),
         m_hitFraction(btScalar(1.))
 {
@@ -56 +58 @@
                 return ; // same sign
         }
+   //@BP Mod - Backface filtering
+   if (((m_flags & kF_FilterBackfaces) != 0) && (dist_a > btScalar(0.0)))
+   {
+      // Backface, skip check
+      return;
+   }
         
         const btScalar proj_length=dist_a-dist_b;
@@ -90 +98 @@
                                         if ( (btScalar)(cp2.dot(triangleNormal)) >=edge_tolerance) 
                                         {
+                  //@BP Mod
+                  // Triangle normal isn't normalized
+                                      triangleNormal.normalize();
 
-                                                if ( dist_a > 0 )
+                  //@BP Mod - Allow for unflipped normal when raycasting against backfaces
+                  if (((m_flags & kF_KeepUnflippedNormal) != 0) || (dist_a <= btScalar(0.0)))
                                                 {
-                                                        m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
+                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
                                                 }
                                                 else
                                                 {
-                                                        m_hitFraction = reportHit(-triangleNormal,distance,partId,triangleIndex);
+                     m_hitFraction = reportHit(triangleNormal,distance,partId,triangleIndex);
                                                 }
                                         }

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h

@@ -30 +30 @@
         btVector3 m_to;
 
+   //@BP Mod - allow backface filtering and unflipped normals
+   enum EFlags
+   {
+      kF_None                 = 0,
+      kF_FilterBackfaces      = 1 << 0,
+      kF_KeepUnflippedNormal  = 1 << 1,   // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
+
+      kF_Terminator        = 0xFFFFFFFF
+   };
+   unsigned int m_flags;
+
         btScalar        m_hitFraction;
 
-        btTriangleRaycastCallback(const btVector3& from,const btVector3& to);
+        btTriangleRaycastCallback(const btVector3& from,const btVector3& to, unsigned int flags=0);
         
         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);

code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp

@@ -26 +26 @@
 
 #include "btVoronoiSimplexSolver.h"
-#include <assert.h>
-//#include <stdio.h>
 
 #define VERTA  0
@@ -38 +36 @@
 {
         
-        assert(m_numVertices>0);
+        btAssert(m_numVertices>0);
         m_numVertices--;
         m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];