AnotherFoxGuy/bounce
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

in case heuristic overlapping test fails fallback to common overlapping test; create edge contact if hull is not simplified

Browse Source
This commit is contained in:
Irlan 2018-05-03 21:45:00 -03:00
parent f6ba27cbf3
commit 10c01c8fcf
2 changed files with 104 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

69
src/bounce/dynamics/contacts/collide/collide_hulls.cpp
View File

@ -23,7 +23,7 @@
#include <bounce/dynamics/shapes/hull_shape.h>
#include <bounce/collision/shapes/hull.h>
void b3BuildEdgeContact(b3Manifold& manifold,
void b3BuildEdgeContact(b3Manifold& manifold,
const b3Transform& xf1, u32 index1, const b3HullShape* s1,
const b3Transform& xf2, u32 index2, const b3HullShape* s2)
{
@ -52,13 +52,13 @@ void b3BuildEdgeContact(b3Manifold& manifold,
B3_ASSERT(L2 > B3_LINEAR_SLOP);
// Compute the closest points on the two lines.
float32 b = b3Dot(N1, N2);
float32 b = b3Dot(N1, N2);
float32 den = 1.0f - b * b;
if (den <= 0.0f)
{
return;
}
float32 inv_den = 1.0f / den;
b3Vec3 E3 = P1 - P2;
@ -80,7 +80,7 @@ void b3BuildEdgeContact(b3Manifold& manifold,
{
N = -N;
}
b3FeaturePair pair = b3MakePair(index1, index1 + 1, index2, index2 + 1);
manifold.pointCount = 1;
@ -113,7 +113,7 @@ void b3BuildFaceContact(b3Manifold& manifold,
b3Plane plane1 = b3Mul(xf1, localPlane1);
// 2. Find the incident face polygon (2).
// Put the reference plane normal in the frame of the incident hull (2).
b3Vec3 normal1 = b3MulT(xf2.rotation, plane1.normal);
@ -133,7 +133,7 @@ void b3BuildFaceContact(b3Manifold& manifold,
// 4. Project the clipped polygon on the reference plane for reduction.
// Ensure the deepest point is contained in the reduced polygon.
b3StackArray<b3ClusterPolygonVertex, 32> polygon1;
u32 minIndex = 0;
float32 minSeparation = B3_MAX_FLOAT;
@ -164,10 +164,10 @@ void b3BuildFaceContact(b3Manifold& manifold,
// 5. Reduce.
b3Vec3 normal = plane1.normal;
// Ensure normal orientation to hull 2.
b3Vec3 s_normal = flipNormal ? -normal : normal;
b3StackArray<b3ClusterPolygonVertex, 32> reducedPolygon1;
b3ReducePolygon(reducedPolygon1, polygon1, s_normal, minIndex);
B3_ASSERT(!reducedPolygon1.IsEmpty());
@ -186,7 +186,7 @@ void b3BuildFaceContact(b3Manifold& manifold,
{
// Swap the feature pairs.
b3FeaturePair pair = b3MakePair(v2.pair.inEdge2, v2.pair.inEdge1, v2.pair.outEdge2, v2.pair.outEdge1);
mp->localNormal1 = b3MulT(xf2.rotation, s_normal);
mp->localPoint1 = b3MulT(xf2, v2.position);
mp->localPoint2 = b3MulT(xf1, v1);
@ -202,20 +202,22 @@ void b3BuildFaceContact(b3Manifold& manifold,
mp->key = b3MakeKey(v2.pair);
}
}
manifold.pointCount = pointCount;
}
void b3CollideHulls(b3Manifold& manifold,
void b3CollideHulls(b3Manifold& manifold,
const b3Transform& xf1, const b3HullShape* s1,
const b3Transform& xf2, const b3HullShape* s2)
{
B3_ASSERT(manifold.pointCount == 0);
const b3Hull* hull1 = s1->m_hull;
float32 r1 = s1->m_radius;
const b3Hull* hull2 = s2->m_hull;
float32 r2 = s2->m_radius;
float32 totalRadius = r1 + r2;
b3FaceQuery faceQuery1 = b3QueryFaceSeparation(xf1, hull1, xf2, hull2);
@ -236,7 +238,7 @@ void b3CollideHulls(b3Manifold& manifold,
return;
}
const float32 kTol = 0.05f * B3_LINEAR_SLOP;
const float32 kTol = 0.1f * B3_LINEAR_SLOP;
if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation) + kTol)
{
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
@ -252,6 +254,41 @@ void b3CollideHulls(b3Manifold& manifold,
b3BuildFaceContact(manifold, xf2, faceQuery2.index, s2, xf1, s1, true);
}
}
// Heuristic succeded.
if (manifold.pointCount > 0)
{
return;
}
// Heuristic failed. Fallback.
if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation))
{
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
}
else
{
if (faceQuery1.separation > faceQuery2.separation)
{
b3BuildFaceContact(manifold, xf1, faceQuery1.index, s1, xf2, s2, false);
}
else
{
b3BuildFaceContact(manifold, xf2, faceQuery2.index, s2, xf1, s1, true);
}
}
// When both convex hulls are not simplified clipping might fail and create no contact points.
// For example, when a hull contains tiny faces, coplanar faces, and/or non-sharped edges.
// So we simply create a contact point between the segments.
// The hulls might overlap, but is better than solving no contact points.
if (manifold.pointCount == 0)
{
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
}
// If the shapes are overlapping then at least on point must be created.
B3_ASSERT(manifold.pointCount > 0);
}
bool b3_convexCache = true;
@ -262,9 +299,9 @@ void b3CollideHulls(b3Manifold& manifold,
const b3Transform& xf2, const b3HullShape* s2,
b3FeatureCache* cache);
void b3CollideHullAndHull(b3Manifold& manifold,
void b3CollideHullAndHull(b3Manifold& manifold,
const b3Transform& xf1, const b3HullShape* s1,
const b3Transform& xf2, const b3HullShape* s2,
const b3Transform& xf2, const b3HullShape* s2,
b3ConvexCache* cache)
{
++b3_convexCalls;

53
src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
View File

@ -192,8 +192,7 @@ void b3CollideCache(b3Manifold& manifold,
return;
}
const float32 kTol = 0.05f * B3_LINEAR_SLOP;
const float32 kTol = 0.1f * B3_LINEAR_SLOP;
if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation) + kTol)
{
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
@ -201,6 +200,7 @@ void b3CollideCache(b3Manifold& manifold,
{
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_edge1, edgeQuery.index1, edgeQuery.index2);
return;
}
}
else
@ -212,6 +212,7 @@ void b3CollideCache(b3Manifold& manifold,
{
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_face1, faceQuery1.index, faceQuery1.index);
return;
}
}
else
@ -221,9 +222,57 @@ void b3CollideCache(b3Manifold& manifold,
{
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_face2, faceQuery2.index, faceQuery2.index);
return;
}
}
}
// Heuristic failed. Fallback.
if (edgeQuery.separation > b3Max(faceQuery1.separation, faceQuery2.separation))
{
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
if (manifold.pointCount > 0)
{
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_edge1, edgeQuery.index1, edgeQuery.index2);
return;
}
}
else
{
if (faceQuery1.separation > faceQuery2.separation)
{
b3BuildFaceContact(manifold, xf1, faceQuery1.index, s1, xf2, s2, false);
if (manifold.pointCount > 0)
{
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_face1, faceQuery1.index, faceQuery1.index);
return;
}
}
else
{
b3BuildFaceContact(manifold, xf2, faceQuery2.index, s2, xf1, s1, true);
if (manifold.pointCount > 0)
{
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_face2, faceQuery2.index, faceQuery2.index);
return;
}
}
}
// When both convex hulls are not simplified clipping might fail and create no contact points.
// For example, when a hull contains tiny faces, coplanar faces, and/or non-sharped edges.
// So we simply create a contact point between the segments.
// The hulls might overlap, but is better than solving no contact points.
b3BuildEdgeContact(manifold, xf1, edgeQuery.index1, s1, xf2, edgeQuery.index2, s2);
// If the shapes are overlapping then at least on point must be created.
B3_ASSERT(manifold.pointCount > 0);
// Write an overlap cache.
cache->m_featurePair = b3MakeFeaturePair(b3SATCacheType::e_overlap, b3SATFeatureType::e_edge1, edgeQuery.index1, edgeQuery.index2);
}
extern u32 b3_convexCacheHits;