Changeset 2908 for code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp (modified) (6 diffs)

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -52 +52 @@
 btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface*                       simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 {
-        m_numPerturbationIterations = 0;
-        m_minimumPointsPerturbationThreshold = 3;
         m_simplexSolver = simplexSolver;
         m_pdSolver = pdSolver;
@@ -62 +60 @@
 }
 
-btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
 : btActivatingCollisionAlgorithm(ci,body0,body1),
 m_simplexSolver(simplexSolver),
@@ -68 +66 @@
 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()),
+                          (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc())
 #endif
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
         (void)body0;
@@ -98 +94 @@
 
 
-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;
+
+
 
 //
@@ -170 +111 @@
         resultOut->setPersistentManifold(m_manifoldPtr);
 
-        //comment-out next line to test multi-contact generation
-        //resultOut->getPersistentManifold()->clearManifold();
         
 
@@ -208 +147 @@
 
         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
-        
-        //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