Changeset 2882 for code/trunk/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp (modified) (5 diffs)

code/trunk/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

@@ -5 +5 @@
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
 subject to the following restrictions:
 
@@ -23 +23 @@
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
-m_isSwapped(isSwapped)
+m_isSwapped(isSwapped),
+m_numPerturbationIterations(numPerturbationIterations),
+m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
 {
         btCollisionObject* convexObj = m_isSwapped? col1 : col0;
         btCollisionObject* planeObj = m_isSwapped? col0 : col1;
-        
+
         if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
         {
@@ -49 +51 @@
 }
 
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-        (void)dispatchInfo;
-        (void)resultOut;
-        if (!m_manifoldPtr)
-                return;
-
-        btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
         btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
@@ -64 +59 @@
         btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-        bool hasCollision = false;
+    bool hasCollision = false;
         const btVector3& planeNormal = planeShape->getPlaneNormal();
         const btScalar& planeConstant = planeShape->getPlaneConstant();
+        
+        btTransform convexWorldTransform = convexObj->getWorldTransform();
+        btTransform convexInPlaneTrans;
+        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
+        //now perturbe the convex-world transform
+        convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
         btTransform planeInConvex;
-        planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
-        btTransform convexInPlaneTrans;
-        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+        planeInConvex= convexWorldTransform.inverse() * planeObj->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);
@@ -88 +88 @@
                 resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
         }
+}
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+{
+        (void)dispatchInfo;
+        if (!m_manifoldPtr)
+                return;
+
+    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+        btCollisionObject* planeObj = m_isSwapped? body0: body1;
+
+        btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
+        btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
+
+    bool hasCollision = false;
+        const btVector3& planeNormal = planeShape->getPlaneNormal();
+        const btScalar& planeConstant = planeShape->getPlaneConstant();
+
+        //first perform a collision query with the non-perturbated collision objects
+        {
+                btQuaternion rotq(0,0,0,1);
+                collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
+        }
+
+        if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+        {
+                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;
+
+                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,body0,body1,dispatchInfo,resultOut);
+                }
+        }
+
         if (m_ownManifold)
         {