mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Correction of a bug in EPA algorithm

Browse Source 
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@425 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2011-05-25 23:04:48 +00:00
parent 867f940102
commit 436bdaf255
3 changed files with 33 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
src/collision/EPA/EPAAlgorithm.cpp
View File

@ -252,20 +252,18 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
suppPointsA[3] = boundingVolume1->getSupportPoint(n, OBJECT_MARGIN); suppPointsA[3] = boundingVolume1->getSupportPoint(n, OBJECT_MARGIN);
suppPointsB[3] = boundingVolume2->getSupportPoint(n.getOpposite(), OBJECT_MARGIN); suppPointsB[3] = boundingVolume2->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
points[3] = suppPointsA[3] - suppPointsB[3]; points[3] = suppPointsA[3] - suppPointsB[3];
suppPointsA[4] = boundingVolume1->getSupportPoint(n.getOpposite(), OBJECT_MARGIN); // TODO : Uncomment this suppPointsA[4] = boundingVolume1->getSupportPoint(n.getOpposite(), OBJECT_MARGIN);
suppPointsB[4] = boundingVolume2->getSupportPoint(n, OBJECT_MARGIN); // TODO : Uncomment this suppPointsB[4] = boundingVolume2->getSupportPoint(n, OBJECT_MARGIN);
points[4] = suppPointsA[4] - suppPointsB[4]; // TODO : Uncomment this points[4] = suppPointsA[4] - suppPointsB[4];
// Construct the triangle faces // Construct the triangle faces
TriangleEPA* face0 = triangleStore.newTriangle(points, 0, 1, 3); TriangleEPA* face0 = triangleStore.newTriangle(points, 0, 1, 3);
TriangleEPA* face1 = triangleStore.newTriangle(points, 1, 2, 3); TriangleEPA* face1 = triangleStore.newTriangle(points, 1, 2, 3);
TriangleEPA* face2 = triangleStore.newTriangle(points, 2, 0, 3); TriangleEPA* face2 = triangleStore.newTriangle(points, 2, 0, 3);
//TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 1, 2); // TODO : Remove this TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 2, 4);
TriangleEPA* face3 = triangleStore.newTriangle(points, 0, 2, 4);// TODO : Uncomment this TriangleEPA* face4 = triangleStore.newTriangle(points, 2, 1, 4);
TriangleEPA* face4 = triangleStore.newTriangle(points, 2, 1, 4);// TODO : Uncomment this TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);
TriangleEPA* face5 = triangleStore.newTriangle(points, 1, 0, 4);// TODO : Uncomment this
// TODO : Uncomment this
// If the polytope hasn't been correctly constructed // If the polytope hasn't been correctly constructed
if (!(face0 && face1 && face2 && face3 && face4 && face5 && if (!(face0 && face1 && face2 && face3 && face4 && face5 &&
face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 && face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
@ -273,16 +271,6 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
face4->getDistSquare() > 0.0 && face5->getDistSquare() > 0.0)) { face4->getDistSquare() > 0.0 && face5->getDistSquare() > 0.0)) {
return false; return false;
} }
// TODO : Remove this
/*
if (!(face0 && face1 && face2 && face3 &&
face0->getDistSquare() > 0.0 && face1->getDistSquare() > 0.0 &&
face2->getDistSquare() > 0.0 && face3->getDistSquare() > 0.0)) {
return false;
}
*/
// Associate the edges of neighbouring faces // Associate the edges of neighbouring faces
link(EdgeEPA(face0, 1), EdgeEPA(face1, 2)); link(EdgeEPA(face0, 1), EdgeEPA(face1, 2));
@ -300,11 +288,10 @@ bool EPAAlgorithm::computePenetrationDepthAndContactPoints(Simplex simplex, cons
addFaceCandidate(face1, triangleHeap, nbTriangles, DBL_MAX); addFaceCandidate(face1, triangleHeap, nbTriangles, DBL_MAX);
addFaceCandidate(face2, triangleHeap, nbTriangles, DBL_MAX); addFaceCandidate(face2, triangleHeap, nbTriangles, DBL_MAX);
addFaceCandidate(face3, triangleHeap, nbTriangles, DBL_MAX); addFaceCandidate(face3, triangleHeap, nbTriangles, DBL_MAX);
addFaceCandidate(face4, triangleHeap, nbTriangles, DBL_MAX); // TODO : Uncomment this addFaceCandidate(face4, triangleHeap, nbTriangles, DBL_MAX);
addFaceCandidate(face5, triangleHeap, nbTriangles, DBL_MAX); // TODO : Uncomment this addFaceCandidate(face5, triangleHeap, nbTriangles, DBL_MAX);
nbVertices = 5; // TODO : Uncomment this nbVertices = 5;
//nbVertices = 4; // TODO : Remove this
} }
break; break;
} }

46
src/collision/EPA/EdgeEPA.cpp
View File

@ -74,39 +74,39 @@ bool EdgeEPA::computeSilhouette(const Vector3D* vertices, uint index, TrianglesS
return false; return false;
} }
} else {
else { // The current triangle is visible and therefore obsolete
// The current triangle is visible and therefore obsolete ownerTriangle->setIsObsolete(true);
ownerTriangle->setIsObsolete(true);
int backup = triangleStore.getNbTriangles(); int backup = triangleStore.getNbTriangles();
if(!ownerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) { if(!ownerTriangle->getAdjacentEdge(indexOfNextCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
ownerTriangle->setIsObsolete(false); ownerTriangle->setIsObsolete(false);
TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource()); TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource());
// If the triangle has been created // If the triangle has been created
if (triangle) { if (triangle) {
halfLink(EdgeEPA(triangle, 1), *this); halfLink(EdgeEPA(triangle, 1), *this);
return true; return true;
}
return false;
} }
else if (!ownerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
ownerTriangle->setIsObsolete(false);
return false; triangleStore.setNbTriangles(backup);
}
else if (!ownerTriangle->getAdjacentEdge(indexOfPreviousCounterClockwiseEdge(this->index)).computeSilhouette(vertices, index, triangleStore)) {
ownerTriangle->setIsObsolete(false);
triangleStore.setNbTriangles(backup); TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource());
TriangleEPA* triangle = triangleStore.newTriangle(vertices, index, getTarget(), getSource()); if (triangle) {
halfLink(EdgeEPA(triangle, 1), *this);
return true;
}
if (triangle) { return false;
halfLink(EdgeEPA(triangle, 1), *this);
return true;
} }
return false;
} }
} }

1
src/collision/EPA/TrianglesStore.h
View File

@ -94,6 +94,7 @@ inline TriangleEPA* TrianglesStore::newTriangle(const Vector3D* vertices, uint v
new (newTriangle) TriangleEPA(v0, v1, v2); new (newTriangle) TriangleEPA(v0, v1, v2);
if (!newTriangle->computeClosestPoint(vertices)) { if (!newTriangle->computeClosestPoint(vertices)) {
nbTriangles--; nbTriangles--;
// TODO : DO WE HAVE TO add "delete newTriangle;" here ??
newTriangle = 0; newTriangle = 0;
} }
} }