Changeset 8393 for code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.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/btInternalEdgeUtility.cpp (modified) (10 diffs)

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

@@ -2 +2 @@
 
 #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
 #include "BulletCollision/CollisionShapes/btTriangleShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
@@ -9 +10 @@
 
 //#define DEBUG_INTERNAL_EDGE
-
 
 #ifdef DEBUG_INTERNAL_EDGE
@@ -457 +457 @@
                 return;
 
-        btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
-        btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
+        btBvhTriangleMeshShape* trimesh = 0;
+        
+        if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
+           trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
+   else    
+           trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
+           
+        btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
         if (!triangleInfoMapPtr)
                 return;
@@ -502 +508 @@
         btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
         localContactNormalOnB.normalize();//is this necessary?
-
-        if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
+        
+        // Get closest edge
+        int      bestedge=-1;
+        float    disttobestedge=BT_LARGE_FLOAT;
+        //
+        // Edge 0 -> 1
+        if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+        {       
+           btVector3 nearest;
+           btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
+           float     len=(contact-nearest).length();
+           //
+           if( len < disttobestedge )
+           {
+              bestedge=0;
+              disttobestedge=len;
+      }       
+   }       
+        // Edge 1 -> 2
+        if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+        {       
+           btVector3 nearest;
+           btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
+           float     len=(contact-nearest).length();
+           //
+           if( len < disttobestedge )
+           {
+              bestedge=1;
+              disttobestedge=len;
+      }       
+   }       
+        // Edge 2 -> 0
+        if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+        {       
+           btVector3 nearest;
+           btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
+           float     len=(contact-nearest).length();
+           //
+           if( len < disttobestedge )
+           {
+              bestedge=2;
+              disttobestedge=len;
+      }       
+   }            
+        
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+   btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
+   btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
+#endif   
+        if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
         {
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
@@ -510 +564 @@
                 btScalar len = (contact-nearest).length();
                 if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+                if( bestedge==0 )
                 {
                         btVector3 edge(v0-v1);
@@ -578 +633 @@
 #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
 
-        if ((info->m_edgeV1V2Angle)< SIMD_2_PI)
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+   btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green );
+#endif   
+
+        if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
         {
 #ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
@@ -588 +647 @@
                 btScalar len = (contact-nearest).length();
                 if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+                if( bestedge==1 )
                 {
                         isNearEdge = true;
@@ -659 +719 @@
         btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
 #endif //BT_INTERNAL_EDGE_DEBUG_DRAW
-
-        if ((info->m_edgeV2V0Angle)< SIMD_2_PI)
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+   btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
+#endif   
+
+        if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
         {
 
@@ -669 +732 @@
                 btScalar len = (contact-nearest).length();
                 if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+                if( bestedge==2 )
                 {
                         isNearEdge = true;
@@ -760 +824 @@
                         } else
                         {
+                                btVector3 newNormal = tri_normal *frontFacing;
+                                //if the tri_normal is pointing opposite direction as the current local contact normal, skip it
+                                btScalar d = newNormal.dot(localContactNormalOnB) ;
+                                if (d< 0)
+                                {
+                                        return;
+                                }
                                 //modify the normal to be the triangle normal (or backfacing normal)
-                                cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing);
-                        }
-                        
-                        
+                                cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
+                        }
+                                                
                         // Reproject collision point along normal.
                         cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;