Changeset 8351 for code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

Timestamp:

Apr 28, 2011, 7:15:14 AM (14 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

File:

• code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp (modified) (12 diffs)

code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp

@@ -14 +14 @@
 */
 
+///Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance
+///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
+///with reproduction case
+//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
+
 #include "btConvexConvexAlgorithm.h"
 
@@ -21 +26 @@
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+
+
 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -44 +52 @@
 
 
-
+///////////
+
+
+
+static SIMD_FORCE_INLINE void segmentsClosestPoints(
+        btVector3& ptsVector,
+        btVector3& offsetA,
+        btVector3& offsetB,
+        btScalar& tA, btScalar& tB,
+        const btVector3& translation,
+        const btVector3& dirA, btScalar hlenA,
+        const btVector3& dirB, btScalar hlenB )
+{
+        // compute the parameters of the closest points on each line segment
+
+        btScalar dirA_dot_dirB = btDot(dirA,dirB);
+        btScalar dirA_dot_trans = btDot(dirA,translation);
+        btScalar dirB_dot_trans = btDot(dirB,translation);
+
+        btScalar denom = 1.0f - dirA_dot_dirB * dirA_dot_dirB;
+
+        if ( denom == 0.0f ) {
+                tA = 0.0f;
+        } else {
+                tA = ( dirA_dot_trans - dirB_dot_trans * dirA_dot_dirB ) / denom;
+                if ( tA < -hlenA )
+                        tA = -hlenA;
+                else if ( tA > hlenA )
+                        tA = hlenA;
+        }
+
+        tB = tA * dirA_dot_dirB - dirB_dot_trans;
+
+        if ( tB < -hlenB ) {
+                tB = -hlenB;
+                tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+                if ( tA < -hlenA )
+                        tA = -hlenA;
+                else if ( tA > hlenA )
+                        tA = hlenA;
+        } else if ( tB > hlenB ) {
+                tB = hlenB;
+                tA = tB * dirA_dot_dirB + dirA_dot_trans;
+
+                if ( tA < -hlenA )
+                        tA = -hlenA;
+                else if ( tA > hlenA )
+                        tA = hlenA;
+        }
+
+        // compute the closest points relative to segment centers.
+
+        offsetA = dirA * tA;
+        offsetB = dirB * tB;
+
+        ptsVector = translation - offsetA + offsetB;
+}
+
+
+static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
+        btVector3& normalOnB,
+        btVector3& pointOnB,
+        btScalar capsuleLengthA,
+        btScalar        capsuleRadiusA,
+        btScalar capsuleLengthB,
+        btScalar        capsuleRadiusB,
+        int capsuleAxisA,
+        int capsuleAxisB,
+        const btTransform& transformA,
+        const btTransform& transformB,
+        btScalar distanceThreshold )
+{
+        btVector3 directionA = transformA.getBasis().getColumn(capsuleAxisA);
+        btVector3 translationA = transformA.getOrigin();
+        btVector3 directionB = transformB.getBasis().getColumn(capsuleAxisB);
+        btVector3 translationB = transformB.getOrigin();
+
+        // translation between centers
+
+        btVector3 translation = translationB - translationA;
+
+        // compute the closest points of the capsule line segments
+
+        btVector3 ptsVector;           // the vector between the closest points
+        
+        btVector3 offsetA, offsetB;    // offsets from segment centers to their closest points
+        btScalar tA, tB;              // parameters on line segment
+
+        segmentsClosestPoints( ptsVector, offsetA, offsetB, tA, tB, translation,
+                                                   directionA, capsuleLengthA, directionB, capsuleLengthB );
+
+        btScalar distance = ptsVector.length() - capsuleRadiusA - capsuleRadiusB;
+
+        if ( distance > distanceThreshold )
+                return distance;
+
+        btScalar lenSqr = ptsVector.length2();
+        if (lenSqr<= (SIMD_EPSILON*SIMD_EPSILON))
+        {
+                //degenerate case where 2 capsules are likely at the same location: take a vector tangential to 'directionA'
+                btVector3 q;
+                btPlaneSpace1(directionA,normalOnB,q);
+        } else
+        {
+                // compute the contact normal
+                normalOnB = ptsVector*-btRecipSqrt(lenSqr);
+        }
+        pointOnB = transformB.getOrigin()+offsetB + normalOnB * capsuleRadiusB;
+
+        return distance;
+}
+
+
+
+
+
+
+
+//////////
 
 
@@ -70 +197 @@
 m_lowLevelOfDetail(false),
 #ifdef USE_SEPDISTANCE_UTIL2
-,m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
+m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngularMotionDisc(),
                           (static_cast<btConvexShape*>(body1->getCollisionShape()))->getAngularMotionDisc()),
 #endif
@@ -112 +239 @@
                 m_transformA(transformA),
                 m_transformB(transformB),
+                m_unPerturbedTransform(unPerturbedTransform),
                 m_perturbA(perturbA),
-                m_unPerturbedTransform(unPerturbedTransform),
                 m_debugDrawer(debugDrawer)
         {
@@ -156 +283 @@
 extern btScalar gContactBreakingThreshold;
 
+
 //
 // Convex-Convex collision algorithm
@@ -177 +305 @@
         btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
 
+        btVector3  normalOnB;
+                btVector3  pointOnBWorld;
+#ifndef BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
+        if ((min0->getShapeType() == CAPSULE_SHAPE_PROXYTYPE) && (min1->getShapeType() == CAPSULE_SHAPE_PROXYTYPE))
+        {
+                btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
+                btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
+                btVector3 localScalingA = capsuleA->getLocalScaling();
+                btVector3 localScalingB = capsuleB->getLocalScaling();
+                
+                btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+
+                btScalar dist = capsuleCapsuleDistance(normalOnB,       pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
+                        capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
+                        body0->getWorldTransform(),body1->getWorldTransform(),threshold);
+
+                if (dist<threshold)
+                {
+                        btAssert(normalOnB.length2()>=(SIMD_EPSILON*SIMD_EPSILON));
+                        resultOut->addContactPoint(normalOnB,pointOnBWorld,dist);       
+                }
+                resultOut->refreshContactPoints();
+                return;
+        }
+#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
+
+
 #ifdef USE_SEPDISTANCE_UTIL2
-        m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
+        if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+        {
+                m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
+        }
+
         if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
 #endif //USE_SEPDISTANCE_UTIL2
@@ -195 +354 @@
         if (dispatchInfo.m_useConvexConservativeDistanceUtil)
         {
-                input.m_maximumDistanceSquared = 1e30f;
+                input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
         } else
 #endif //USE_SEPDISTANCE_UTIL2
         {
-                input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+                if (dispatchInfo.m_convexMaxDistanceUseCPT)
+                {
+                        input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
+                } else
+                {
+                        input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+                }
                 input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
         }
@@ -208 +373 @@
 
         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);
+
+        
+
+#ifdef USE_SEPDISTANCE_UTIL2
+        btScalar sepDist = 0.f;
+        if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+        {
+                sepDist = gjkPairDetector.getCachedSeparatingDistance();
+                if (sepDist>SIMD_EPSILON)
+                {
+                        sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
+                        //now perturbe directions to get multiple contact points
+                        
+                }
+        }
+#endif //USE_SEPDISTANCE_UTIL2
+
         //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)
+        if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
         {
                 
                 int i;
+                btVector3 v0,v1;
+                btVector3 sepNormalWorldSpace;
+        
+                sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
+                btPlaneSpace1(sepNormalWorldSpace,v0,v1);
+
 
                 bool perturbeA = true;
@@ -250 +432 @@
                 for ( i=0;i<m_numPerturbationIterations;i++)
                 {
+                        if (v0.length2()>SIMD_EPSILON)
+                        {
                         btQuaternion perturbeRot(v0,perturbeAngle);
                         btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
@@ -273 +457 @@
                         btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
                         gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
+                        }
                         
-                        
                 }
         }
@@ -281 +465 @@
 
 #ifdef USE_SEPDISTANCE_UTIL2
-        if (dispatchInfo.m_useConvexConservativeDistanceUtil)
+        if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
         {
                 m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());