Fix Cylinder shape collision with margins when using GJK-EPA
In the case of falling back to GJK-EPA algorithm to generate cylinder contact points, margins were never taken into account. This fixes the depenetration phase for kinematic bodies and allows consistent floor detection for cylinder shapes.
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PouleyKetchoupp
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3ddab1c9d1
commit
abb5660925
3 changed files with 69 additions and 34 deletions
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@ -1635,7 +1635,7 @@ static void _collision_capsule_cylinder(const ShapeSW *p_a, const Transform &p_t
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CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CapsuleShapeSW, CylinderShapeSW, withMargin>::test_contact_points;
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// Fallback to generic algorithm to find the best separating axis.
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if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) {
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if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
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return;
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}
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@ -1809,7 +1809,7 @@ static void _collision_cylinder_cylinder(const ShapeSW *p_a, const Transform &p_
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CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CylinderShapeSW, CylinderShapeSW, withMargin>::test_contact_points;
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// Fallback to generic algorithm to find the best separating axis.
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if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) {
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if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
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return;
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}
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@ -1826,7 +1826,7 @@ static void _collision_cylinder_convex_polygon(const ShapeSW *p_a, const Transfo
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CollisionSolverSW::CallbackResult callback = SeparatorAxisTest<CylinderShapeSW, ConvexPolygonShapeSW, withMargin>::test_contact_points;
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// Fallback to generic algorithm to find the best separating axis.
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if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator)) {
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if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
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return;
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}
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@ -111,25 +111,60 @@ struct MinkowskiDiff {
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Transform transform_A;
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Transform transform_B;
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real_t margin_A = 0.0;
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real_t margin_B = 0.0;
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Vector3 (*get_support)(const ShapeSW*, const Vector3&, real_t);
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void Initialize(const ShapeSW* shape0, const Transform& wtrs0, const real_t margin0,
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const ShapeSW* shape1, const Transform& wtrs1, const real_t margin1) {
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m_shapes[0] = shape0;
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m_shapes[1] = shape1;
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transform_A = wtrs0;
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transform_B = wtrs1;
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margin_A = margin0;
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margin_B = margin1;
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if ((margin0 > 0.0) || (margin1 > 0.0)) {
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get_support = get_support_with_margin;
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} else {
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get_support = get_support_without_margin;
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}
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}
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static Vector3 get_support_without_margin(const ShapeSW* p_shape, const Vector3& p_dir, real_t p_margin) {
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return p_shape->get_support(p_dir.normalized());
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}
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static Vector3 get_support_with_margin(const ShapeSW* p_shape, const Vector3& p_dir, real_t p_margin) {
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Vector3 local_dir_norm = p_dir;
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if (local_dir_norm.length_squared() < CMP_EPSILON2) {
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local_dir_norm = Vector3(-1.0, -1.0, -1.0);
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}
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local_dir_norm.normalize();
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return p_shape->get_support(local_dir_norm) + p_margin * local_dir_norm;
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}
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// i wonder how this could be sped up... if it can
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_FORCE_INLINE_ Vector3 Support0 ( const Vector3& d ) const {
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return transform_A.xform( m_shapes[0]->get_support( transform_A.basis.xform_inv(d).normalized() ) );
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_FORCE_INLINE_ Vector3 Support0(const Vector3& d) const {
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return transform_A.xform(get_support(m_shapes[0], transform_A.basis.xform_inv(d), margin_A));
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}
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_FORCE_INLINE_ Vector3 Support1 ( const Vector3& d ) const {
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return transform_B.xform( m_shapes[1]->get_support( transform_B.basis.xform_inv(d).normalized() ) );
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_FORCE_INLINE_ Vector3 Support1(const Vector3& d) const {
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return transform_B.xform(get_support(m_shapes[1], transform_B.basis.xform_inv(d), margin_B));
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}
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_FORCE_INLINE_ Vector3 Support ( const Vector3& d ) const {
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return ( Support0 ( d )-Support1 ( -d ) );
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_FORCE_INLINE_ Vector3 Support (const Vector3& d) const {
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return (Support0(d) - Support1(-d));
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}
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_FORCE_INLINE_ Vector3 Support ( const Vector3& d,U index ) const
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{
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if ( index )
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return ( Support1 ( d ) );
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else
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return ( Support0 ( d ) );
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_FORCE_INLINE_ Vector3 Support(const Vector3& d, U index) const {
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if (index) {
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return Support1(d);
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} else {
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return Support0(d);
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}
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}
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};
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@ -822,21 +857,17 @@ struct GJK
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};
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//
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static void Initialize( const ShapeSW* shape0,const Transform& wtrs0,
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const ShapeSW* shape1,const Transform& wtrs1,
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static void Initialize( const ShapeSW* shape0, const Transform& wtrs0, real_t margin0,
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const ShapeSW* shape1, const Transform& wtrs1, real_t margin1,
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sResults& results,
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tShape& shape,
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bool withmargins)
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tShape& shape)
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{
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/* Results */
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results.witnesses[0] =
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results.witnesses[1] = Vector3(0,0,0);
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results.witnesses[0] = Vector3(0,0,0);
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results.witnesses[1] = Vector3(0,0,0);
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results.status = sResults::Separated;
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/* Shape */
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shape.m_shapes[0] = shape0;
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shape.m_shapes[1] = shape1;
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shape.transform_A = wtrs0;
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shape.transform_B = wtrs1;
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shape.Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1);
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}
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@ -851,13 +882,15 @@ struct GJK
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//
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bool Distance( const ShapeSW* shape0,
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const Transform& wtrs0,
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const ShapeSW* shape1,
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real_t margin0,
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const ShapeSW* shape1,
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const Transform& wtrs1,
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real_t margin1,
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const Vector3& guess,
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sResults& results)
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{
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tShape shape;
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Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
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Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1, results, shape);
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GJK gjk;
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GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,guess);
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if(gjk_status==GJK::eStatus::Valid)
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@ -889,14 +922,16 @@ bool Distance( const ShapeSW* shape0,
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//
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bool Penetration( const ShapeSW* shape0,
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const Transform& wtrs0,
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const ShapeSW* shape1,
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real_t margin0,
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const ShapeSW* shape1,
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const Transform& wtrs1,
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const Vector3& guess,
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real_t margin1,
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const Vector3& guess,
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sResults& results
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)
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{
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tShape shape;
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Initialize(shape0,wtrs0,shape1,wtrs1,results,shape,false);
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Initialize(shape0, wtrs0, margin0, shape1, wtrs1, margin1, results, shape);
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GJK gjk;
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GJK::eStatus::_ gjk_status=gjk.Evaluate(shape,-guess);
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switch(gjk_status)
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@ -957,7 +992,7 @@ bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform &p_tra
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GjkEpa2::sResults res;
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if (GjkEpa2::Distance(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) {
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if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) {
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r_result_A = res.witnesses[0];
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r_result_B = res.witnesses[1];
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@ -967,11 +1002,11 @@ bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform &p_tra
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return false;
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}
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bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap) {
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bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) {
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GjkEpa2::sResults res;
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if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_transform_B.origin - p_transform_A.origin, res)) {
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if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_B, p_transform_B.origin - p_transform_A.origin, res)) {
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if (p_result_callback) {
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if (p_swap)
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p_result_callback(res.witnesses[1], res.witnesses[0], p_userdata);
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@ -34,7 +34,7 @@
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#include "collision_solver_sw.h"
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#include "shape_sw.h"
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bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false);
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bool gjk_epa_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CollisionSolverSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0);
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bool gjk_epa_calculate_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B);
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#endif
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