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fixed bug in contact manifold generation, concave and compound objects require point with deepest penetration.

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This commit is contained in:
Erwin Coumans 2006-09-05 04:16:35 +00:00
parent 289105bcd9
commit ed064df60b
1 changed files with 23 additions and 9 deletions
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28
extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp vendored
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@ -91,33 +91,51 @@ void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
}
int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
{
//calculate 4 possible cases areas, and take biggest area
//also need to keep 'deepest'
SimdScalar res0,res1,res2,res3;
int maxPenetrationIndex = -1;
#define KEEP_DEEPEST_POINT 1
#ifdef KEEP_DEEPEST_POINT
float maxPenetration = pt.GetDistance();
for (int i=0;i<4;i++)
{
if (m_pointCache[i].GetDistance() < maxPenetration)
{
maxPenetrationIndex = i;
maxPenetration = m_pointCache[i].GetDistance();
}
}
#endif //KEEP_DEEPEST_POINT
SimdScalar res0(0.f),res1(0.f),res2(0.f),res3(0.f);
if (maxPenetrationIndex != 0)
{
SimdVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
SimdVector3 cross = a0.cross(b0);
res0 = cross.length2();
}
if (maxPenetrationIndex != 1)
{
SimdVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
SimdVector3 cross = a1.cross(b1);
res1 = cross.length2();
}
if (maxPenetrationIndex != 2)
{
SimdVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
SimdVector3 cross = a2.cross(b2);
res2 = cross.length2();
}
if (maxPenetrationIndex != 3)
{
SimdVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
SimdVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
@ -127,14 +145,10 @@ int PersistentManifold::SortCachedPoints(const ManifoldPoint& pt)
SimdVector4 maxvec(res0,res1,res2,res3);
int biggestarea = maxvec.closestAxis4();
return biggestarea;
}
int PersistentManifold::GetCacheEntry(const ManifoldPoint& newPoint) const
{
SimdScalar shortestDist = GetContactBreakingTreshold() * GetContactBreakingTreshold();