Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

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

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

@@ -58 +58 @@
 }
 
-#define MAX_OVERLAP btScalar(0.)
-
 
 
@@ -94 +92 @@
 }
 
-///combined discrete/continuous sphere-triangle
 bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
 {
 
         const btVector3* vertices = &m_triangle->getVertexPtr(0);
-        const btVector3& c = sphereCenter;
-        btScalar r = m_sphere->getRadius();
-
-        btVector3 delta (0,0,0);
+        
+        btScalar radius = m_sphere->getRadius();
+        btScalar radiusWithThreshold = radius + contactBreakingThreshold;
 
         btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
         normal.normalize();
-        btVector3 p1ToCentre = c - vertices[0];
+        btVector3 p1ToCentre = sphereCenter - vertices[0];
         btScalar distanceFromPlane = p1ToCentre.dot(normal);
 
@@ -112 +108 @@
         {
                 //triangle facing the other way
-        
                 distanceFromPlane *= btScalar(-1.);
                 normal *= btScalar(-1.);
         }
 
-        btScalar contactMargin = contactBreakingThreshold;
-        bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
-        bool isInsideShellPlane = distanceFromPlane < r;
-        
-        btScalar deltaDotNormal = delta.dot(normal);
-        if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
-                return false;
-
+        bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
+        
         // Check for contact / intersection
         bool hasContact = false;
         btVector3 contactPoint;
         if (isInsideContactPlane) {
-                if (facecontains(c,vertices,normal)) {
+                if (facecontains(sphereCenter,vertices,normal)) {
                         // Inside the contact wedge - touches a point on the shell plane
                         hasContact = true;
-                        contactPoint = c - normal*distanceFromPlane;
+                        contactPoint = sphereCenter - normal*distanceFromPlane;
                 } else {
                         // Could be inside one of the contact capsules
-                        btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
+                        btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
                         btVector3 nearestOnEdge;
                         for (int i = 0; i < m_triangle->getNumEdges(); i++) {
@@ -144 +133 @@
                                 m_triangle->getEdge(i,pa,pb);
 
-                                btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
+                                btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
                                 if (distanceSqr < contactCapsuleRadiusSqr) {
                                         // Yep, we're inside a capsule
@@ -156 +145 @@
 
         if (hasContact) {
-                btVector3 contactToCentre = c - contactPoint;
+                btVector3 contactToCentre = sphereCenter - contactPoint;
                 btScalar distanceSqr = contactToCentre.length2();
-                if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
-                        btScalar distance = btSqrt(distanceSqr);
-                        resultNormal = contactToCentre;
-                        resultNormal.normalize();
-                        point = contactPoint;
-                        depth = -(r-distance);
+
+                if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
+                {
+                        if (distanceSqr>SIMD_EPSILON)
+                        {
+                                btScalar distance = btSqrt(distanceSqr);
+                                resultNormal = contactToCentre;
+                                resultNormal.normalize();
+                                point = contactPoint;
+                                depth = -(radius-distance);
+                        } else
+                        {
+                                btScalar distance = 0.f;
+                                resultNormal = normal;
+                                point = contactPoint;
+                                depth = -radius;
+                        }
                         return true;
                 }
-
-                if (delta.dot(contactToCentre) >= btScalar(0.0)) 
-                        return false;
-                
-                // Moving towards the contact point -> collision
-                point = contactPoint;
-                timeOfImpact = btScalar(0.0);
-                return true;
         }