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deal with degenerate triangles in the btInternalEdgeUtility

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thanks to scarrow, see http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4603&start=15
This commit is contained in:
erwin.coumans 2010-02-05 05:31:08 +00:00
parent 04b7a7fff4
commit a5f51905e8
2 changed files with 20 additions and 0 deletions
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17
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
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@ -72,6 +72,17 @@ struct btConnectivityProcessor : public btTriangleCallback
int sharedVertsA[3]={-1,-1,-1};
int sharedVertsB[3]={-1,-1,-1};
///skip degenerate triangles
btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
return;
btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
///skip degenerate triangles
if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
return;
#if 0
printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n",
m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
@ -94,8 +105,14 @@ struct btConnectivityProcessor : public btTriangleCallback
sharedVertsA[numshared] = i;
sharedVertsB[numshared] = j;
numshared++;
///degenerate case
if(numshared >= 3)
return;
}
}
///degenerate case
if(numshared >= 3)
return;
}
switch (numshared)
{

3
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
View File

@ -53,6 +53,8 @@ struct btTriangleInfoMap : public btInternalTriangleInfoMap
btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
btTriangleInfoMap()
{
@ -60,6 +62,7 @@ struct btTriangleInfoMap : public btInternalTriangleInfoMap
m_planarEpsilon = 0.0001f;
m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
m_edgeDistanceThreshold = btScalar(0.1);
m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
}
};