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bullet: Sync with upstream 3.24

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Remove upstreamed patch.
This commit is contained in:
Rémi Verschelde
2022-05-17 00:02:51 +02:00
parent 4a96db7196
commit 7515b47e8e
41 changed files with 3287 additions and 182 deletions
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43
thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp vendored
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@@ -103,6 +103,44 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
if (m_convexBodyWrap->getCollisionShape()->isConvex())
{
#ifndef BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
//an early out optimisation if the object is separated from the triangle
//projected on the triangle normal)
{
const btVector3 v0 = m_triBodyWrap->getWorldTransform()*triangle[0];
const btVector3 v1 = m_triBodyWrap->getWorldTransform()*triangle[1];
const btVector3 v2 = m_triBodyWrap->getWorldTransform()*triangle[2];
btVector3 triangle_normal_world = ( v1 - v0).cross(v2 - v0);
triangle_normal_world.normalize();
btConvexShape* convex = (btConvexShape*)m_convexBodyWrap->getCollisionShape();
btVector3 localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
btVector3 worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
//now check if this is fully on one side of the triangle
btScalar proj_distPt = triangle_normal_world.dot(worldPt);
btScalar proj_distTr = triangle_normal_world.dot(v0);
btScalar contact_threshold = m_manifoldPtr->getContactBreakingThreshold()+ m_resultOut->m_closestPointDistanceThreshold;
btScalar dist = proj_distTr - proj_distPt;
if (dist > contact_threshold)
return;
//also check the other side of the triangle
triangle_normal_world*=-1;
localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
//now check if this is fully on one side of the triangle
proj_distPt = triangle_normal_world.dot(worldPt);
proj_distTr = triangle_normal_world.dot(v0);
dist = proj_distTr - proj_distPt;
if (dist > contact_threshold)
return;
}
#endif //BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
@@ -132,7 +170,10 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId,
m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
}
colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
{
BT_PROFILE("processCollision (GJK?)");
colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
}
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{