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Code Releases Wiki Activity

Update Bullet to the latest commit 126b676

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This commit is contained in:
Oussama
2019-01-03 14:26:51 +01:00
committed by Rémi Verschelde
parent a6722cf362
commit 22b7c9dfa8
612 changed files with 114715 additions and 103413 deletions
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99
thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp vendored
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@@ -22,7 +22,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -34,8 +33,6 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -45,31 +42,28 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
{
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold(false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
{
(void)body0Wrap;
(void)body1Wrap;
}
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
{
if (m_ownManifold)
@@ -79,26 +73,22 @@ btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
}
}
void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
{
m_lowLevelOfDetail = useLowLevel;
}
extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvex2dConvex2dAlgorithm ::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -106,49 +96,41 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
//comment-out next line to test multi-contact generation
//resultOut->getPersistentManifold()->clearManifold();
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
btVector3 normalOnB;
btVector3 pointOnBWorld;
{
btGjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
btGjkPairDetector gjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
btVector3 v0,v1;
btVector3 v0, v1;
btVector3 sepNormalWorldSpace;
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
@@ -158,7 +140,6 @@ btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* c
///col0->m_worldTransform,
btScalar resultFraction = btScalar(1.);
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
@@ -166,77 +147,65 @@ btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* c
squareMot1 < col1->getCcdSquareMotionThreshold())
return resultFraction;
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
/// Convex0 against sphere for Convex1
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
btGjkConvexCast ccd1(convex0, &sphere1, &voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction()> result.m_fraction)
col0->setHitFraction( result.m_fraction );
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction(result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
col1->setHitFraction(result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
/// Sphere (for convex0) against Convex1
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
btGjkConvexCast ccd1(&sphere0, convex1, &voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
col1->getWorldTransform(), col1->getInterpolationWorldTransform(), result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction( result.m_fraction);
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction(result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
col1->setHitFraction(result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
return resultFraction;
}