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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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96
thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp vendored
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@@ -23,25 +23,24 @@ subject to the following restrictions:
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? col0Wrap : col1Wrap;
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(), planeObjWrap->getCollisionObject());
m_ownManifold = true;
}
}
btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
{
if (m_ownManifold)
@@ -51,32 +50,32 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
}
}
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
bool hasCollision = false;
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
//now perturbe the convex-world transform
convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
convexWorldTransform.getBasis() *= btMatrix3x3(perturbeRot);
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
planeInConvex = convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
@@ -86,70 +85,69 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)dispatchInfo;
if (!m_manifoldPtr)
return;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
btConvexShape* convexShape = (btConvexShape*)convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*)planeObjWrap->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
planeInConvex = convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
convexInPlaneTrans = planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis() * -planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneProjected = vtxInPlane - distance * planeNormal;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold;
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
resultOut->addContactPoint(normalOnSurfaceB, pOnB, distance);
}
//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
//they keep on rolling forever because of the additional off-center contact points
//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1);
btVector3 v0, v1;
btPlaneSpace1(planeNormal, v0, v1);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radius = convexShape->getAngularMotionDisc();
perturbeAngle = gContactBreakingThreshold / radius;
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
if (perturbeAngle > angleLimit)
perturbeAngle = angleLimit;
btQuaternion perturbeRot(v0,perturbeAngle);
for (int i=0;i<m_numPerturbationIterations;i++)
btQuaternion perturbeRot(v0, perturbeAngle);
for (int i = 0; i < m_numPerturbationIterations; i++)
{
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(planeNormal,iterationAngle);
collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
btScalar iterationAngle = i * (SIMD_2_PI / btScalar(m_numPerturbationIterations));
btQuaternion rotq(planeNormal, iterationAngle);
collideSingleContact(rotq.inverse() * perturbeRot * rotq, body0Wrap, body1Wrap, dispatchInfo, resultOut);
}
}
@@ -162,7 +160,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectW
}
}
btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;