Changeset 8351 for code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.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/NarrowPhaseCollision/btGjkPairDetector.cpp (modified) (20 diffs)

code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp

@@ -39 +39 @@
 
 
-
 btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*  penetrationDepthSolver)
-:m_cachedSeparatingAxis(btScalar(0.),btScalar(0.),btScalar(1.)),
+:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
 m_penetrationDepthSolver(penetrationDepthSolver),
 m_simplexSolver(simplexSolver),
 m_minkowskiA(objectA),
 m_minkowskiB(objectB),
+m_shapeTypeA(objectA->getShapeType()),
+m_shapeTypeB(objectB->getShapeType()),
+m_marginA(objectA->getMargin()),
+m_marginB(objectB->getMargin()),
 m_ignoreMargin(false),
 m_lastUsedMethod(-1),
@@ -51 +54 @@
 {
 }
-
-void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
+btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*        penetrationDepthSolver)
+:m_cachedSeparatingAxis(btScalar(0.),btScalar(1.),btScalar(0.)),
+m_penetrationDepthSolver(penetrationDepthSolver),
+m_simplexSolver(simplexSolver),
+m_minkowskiA(objectA),
+m_minkowskiB(objectB),
+m_shapeTypeA(shapeTypeA),
+m_shapeTypeB(shapeTypeB),
+m_marginA(marginA),
+m_marginB(marginB),
+m_ignoreMargin(false),
+m_lastUsedMethod(-1),
+m_catchDegeneracies(1)
+{
+}
+
+void    btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults)
+{
+        (void)swapResults;
+
+        getClosestPointsNonVirtual(input,output,debugDraw);
+}
+
+#ifdef __SPU__
+void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+#else
+void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
+#endif
 {
         m_cachedSeparatingDistance = 0.f;
@@ -65 +94 @@
         localTransB.getOrigin() -= positionOffset;
 
-#ifdef __SPU__
-        btScalar marginA = m_minkowskiA->getMarginNonVirtual();
-        btScalar marginB = m_minkowskiB->getMarginNonVirtual();
-#else
-        btScalar marginA = m_minkowskiA->getMargin();
-        btScalar marginB = m_minkowskiB->getMargin();
-#ifdef TEST_NON_VIRTUAL
-        btScalar marginAv = m_minkowskiA->getMarginNonVirtual();
-        btScalar marginBv = m_minkowskiB->getMarginNonVirtual();
-        btAssert(marginA == marginAv);
-        btAssert(marginB == marginBv);
-#endif //TEST_NON_VIRTUAL
-#endif
-        
-
+        bool check2d = m_minkowskiA->isConvex2d() && m_minkowskiB->isConvex2d();
+
+        btScalar marginA = m_marginA;
+        btScalar marginB = m_marginB;
 
         gNumGjkChecks++;
@@ -108 +126 @@
 
         {
-                btScalar squaredDistance = SIMD_INFINITY;
+                btScalar squaredDistance = BT_LARGE_FLOAT;
                 btScalar delta = btScalar(0.);
                 
@@ -124 +142 @@
                         btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
 
+#if 1
+
+                        btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+                        btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+//                      btVector3 pInA  = localGetSupportingVertexWithoutMargin(m_shapeTypeA, m_minkowskiA, seperatingAxisInA,input.m_convexVertexData[0]);//, &featureIndexA);
+//                      btVector3 qInB  = localGetSupportingVertexWithoutMargin(m_shapeTypeB, m_minkowskiB, seperatingAxisInB,input.m_convexVertexData[1]);//, &featureIndexB);
+
+#else
 #ifdef __SPU__
                         btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
@@ -137 +164 @@
 #endif //
 #endif //__SPU__
+#endif
+
 
                         btVector3  pWorld = localTransA(pInA);  
@@ -145 +174 @@
 #endif
 
+                        if (check2d)
+                        {
+                                pWorld[2] = 0.f;
+                                qWorld[2] = 0.f;
+                        }
+
                         btVector3 w     = pWorld - qWorld;
                         delta = m_cachedSeparatingAxis.dot(w);
@@ -151 +186 @@
                         if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) 
                         {
+                                m_degenerateSimplex = 10;
                                 checkSimplex=true;
                                 //checkPenetration = false;
@@ -172 +208 @@
                                 {
                                         m_degenerateSimplex = 2;
+                                } else
+                                {
+                                        m_degenerateSimplex = 11;
                                 }
                                 checkSimplex = true;
@@ -185 +224 @@
                 spu_printf("addVertex 2\n");
 #endif
+                        btVector3 newCachedSeparatingAxis;
+
                         //calculate the closest point to the origin (update vector v)
-                        if (!m_simplexSolver->closest(m_cachedSeparatingAxis))
+                        if (!m_simplexSolver->closest(newCachedSeparatingAxis))
                         {
                                 m_degenerateSimplex = 3;
@@ -193 +234 @@
                         }
 
-                        if(m_cachedSeparatingAxis.length2()<REL_ERROR2)
+                        if(newCachedSeparatingAxis.length2()<REL_ERROR2)
             {
+                                m_cachedSeparatingAxis = newCachedSeparatingAxis;
                 m_degenerateSimplex = 6;
                 checkSimplex = true;
@@ -201 +243 @@
 
                         btScalar previousSquaredDistance = squaredDistance;
-                        squaredDistance = m_cachedSeparatingAxis.length2();
+                        squaredDistance = newCachedSeparatingAxis.length2();
+#if 0
+///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
+                        if (squaredDistance>previousSquaredDistance)
+                        {
+                                m_degenerateSimplex = 7;
+                                squaredDistance = previousSquaredDistance;
+                checkSimplex = false;
+                break;
+                        }
+#endif //
                         
+                        m_cachedSeparatingAxis = newCachedSeparatingAxis;
+
                         //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
 
@@ -210 +264 @@
                                 m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
                                 checkSimplex = true;
+                                m_degenerateSimplex = 12;
+                                
                                 break;
                         }
@@ -240 +296 @@
                                 //do we need this backup_closest here ?
                                 m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+                                m_degenerateSimplex = 13;
                                 break;
                         }
@@ -248 +305 @@
                         m_simplexSolver->compute_points(pointOnA, pointOnB);
                         normalInB = pointOnA-pointOnB;
-                        btScalar lenSqr = m_cachedSeparatingAxis.length2();
+                        btScalar lenSqr =m_cachedSeparatingAxis.length2();
+                        
                         //valid normal
                         if (lenSqr < 0.0001)
@@ -280 +338 @@
                 {
                         //penetration case
-                
+
                         //if there is no way to handle penetrations, bail out
                         if (m_penetrationDepthSolver)
@@ -288 +346 @@
                                 
                                 gNumDeepPenetrationChecks++;
+                                m_cachedSeparatingAxis.setZero();
 
                                 bool isValid2 = m_penetrationDepthSolver->calcPenDepth( 
@@ -297 +356 @@
                                         );
 
+
                                 if (isValid2)
                                 {
                                         btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
                                         btScalar lenSqr = tmpNormalInB.length2();
+                                        if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
+                                        {
+                                                tmpNormalInB = m_cachedSeparatingAxis;
+                                                lenSqr = m_cachedSeparatingAxis.length2();
+                                        }
+
                                         if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
                                         {
@@ -316 +382 @@
                                                 } else
                                                 {
-                                                        
+                                                        m_lastUsedMethod = 8;
                                                 }
                                         } else
                                         {
-                                                //isValid = false;
-                                                m_lastUsedMethod = 4;
+                                                m_lastUsedMethod = 9;
                                         }
                                 } else
+
                                 {
-                                        m_lastUsedMethod = 5;
+                                        ///this is another degenerate case, where the initial GJK calculation reports a degenerate case
+                                        ///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
+                                        ///reports a valid positive distance. Use the results of the second GJK instead of failing.
+                                        ///thanks to Jacob.Langford for the reproduction case
+                                        ///http://code.google.com/p/bullet/issues/detail?id=250
+
+                                
+                                        if (m_cachedSeparatingAxis.length2() > btScalar(0.))
+                                        {
+                                                btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
+                                                //only replace valid distances when the distance is less
+                                                if (!isValid || (distance2 < distance))
+                                                {
+                                                        distance = distance2;
+                                                        pointOnA = tmpPointOnA;
+                                                        pointOnB = tmpPointOnB;
+                                                        pointOnA -= m_cachedSeparatingAxis * marginA ;
+                                                        pointOnB += m_cachedSeparatingAxis * marginB ;
+                                                        normalInB = m_cachedSeparatingAxis;
+                                                        normalInB.normalize();
+                                                        isValid = true;
+                                                        m_lastUsedMethod = 6;
+                                                } else
+                                                {
+                                                        m_lastUsedMethod = 5;
+                                                }
+                                        }
                                 }
                                 
                         }
+
                 }
         }
 
-        if (isValid)
+        
+
+        if (isValid && ((distance < 0) || (distance*distance < input.m_maximumDistanceSquared)))
         {
-#ifdef __SPU__
-                //spu_printf("distance\n");
-#endif //__CELLOS_LV2__
-
-
-#ifdef DEBUG_SPU_COLLISION_DETECTION
-                spu_printf("output 1\n");
-#endif
+#if 0
+///some debugging
+//              if (check2d)
+                {
+                        printf("n = %2.3f,%2.3f,%2.3f. ",normalInB[0],normalInB[1],normalInB[2]);
+                        printf("distance = %2.3f exit=%d deg=%d\n",distance,m_lastUsedMethod,m_degenerateSimplex);
+                }
+#endif 
+
                 m_cachedSeparatingAxis = normalInB;
                 m_cachedSeparatingDistance = distance;
@@ -350 +446 @@
                         distance);
 
-#ifdef DEBUG_SPU_COLLISION_DETECTION
-                spu_printf("output 2\n");
-#endif
-                //printf("gjk add:%f",distance);
         }