In a nutshell, we added a more reliable check, based on if the origin is in the GJK simplex, to determine if we are really intersecting and need to run EPA.
See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
and remove this temporary code from libCCD
Note, for large differences in shapes, use double precision build!
Use btSetCustomEnterProfileZoneFunc(CProfileManager::Start_Profile) and
btSetCustomLeaveProfileZoneFunc(CProfileManager::Stop_Profile) to get old behavior.
error_message and warning_message are common strings that are likely to
collide. Renamed to bt_id_{error,warning}_message to more strongly
uniquify.
grep -r error_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/error_message/bt_id_error_message/g"
grep -r warning_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/warning_message/bt_id_warning_message/g"
This avoids issues with systems with large mass ratios.
Test: add this to BasicDemo/BasicExample.cpp in initPhysics
m_dynamicsWorld->getSolverInfo().m_numIterations = 1000;
m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-4;
- Limits the maximum number of threads to 64, since btThreadSupportPosix
and btThreadsupportWin32 don't support more than 64 bits at this moment,
due to the use of UINT64 bitmasks. This could be fixed by using
std::bitset or some other alternative.
- Introduces a threadpool class, b3ThreadPool, which is a simple wrapper
around btThreadSupportInterface and uses this instead of the global task
scheduler for parallel raycasting. This is actually quite a bit faster
than the task scheduler (~10-15% in my tests for parallel raycasts),
since the advanced features (parallelFor) are not necessary for the
parallel raycasts.
- Puts 16*1024 of MAX_RAY_INTERSECTION_MAX_SIZE_STREAMING in
parentheses, since it otherwise causes problems with other operators
of equal precedence and introduces a smaller constant for Apple targets.
- Refactors the parallel raycasts code and adds some more profiling.
(and issue with TaskScheduler/btTaskScheduler.cpp, add JobQueue::exit, call it first, since it uses the m_threadSupport which was deleted before the destrucor was called.
Use a hashmap to store user timers, to avoid allocating many identical strings.
reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large)
If needed, we can expose this cooldown time.
Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
Extract faces directly from btConvexHullComputer (in initializePolyhedralFeatures), instead of reconstructing them, thanks to Josh Klint in #1654
PyBullet: use initializePolyhedralFeatures for convex hulls and boxes (to allow SAT)
PyBullet: expose setPhysicsEngineParameter(enableSAT=0 or 1) to enable Separating Axis Test based collision detection for convex vs convex/box and convex versus concave triangles (in a triangle mesh).
erwincoumans
Erwin Coumans
Robert Haschke
Colin Basnett
Jeongseok Lee
Michael Beardsworth
Jeffrey Bingham
Tigran Gasparian