Is there SAT algorithm in Bullet Physics Engine

Post Reply
daye
Posts: 4
Joined: Mon Sep 04, 2017 2:59 am

Is there SAT algorithm in Bullet Physics Engine

Post by daye » Sun Jan 06, 2019 1:31 am

Hi everyone,

I want to change the Collision Detection algorithm to SAT algorithm. I only found GJK algorithm in Bullet. Is there SAT algorithm in Bullet Physics Engine which I can call it directly? Or I have to achieve that by myself?

Thank you in advance!
Daye

steven
Posts: 8
Joined: Mon Nov 05, 2018 8:16 am

Re: Is there SAT algorithm in Bullet Physics Engine

Post by steven » Mon Feb 11, 2019 4:34 am

i think you should implement it yourself, but you can refer to the GPU part computeConvexConvexContactsGPUSAT()

User avatar
Erwin Coumans
Site Admin
Posts: 4178
Joined: Sun Jun 26, 2005 6:43 pm
Location: California, USA
Contact:

Re: Is there SAT algorithm in Bullet Physics Engine

Post by Erwin Coumans » Mon Feb 11, 2019 4:52 am

Yes, Bullet provides a SAT implementation.

You need to call the convexHull->initializePolyhedralFeatures(), this will create edges/trangles for a point cloud.
convex hull generation is

then enable SAT using getDispatchInfo().m_enableSatConvex=true;

Implementation is in src\BulletCollision\CollisionDispatch\btConvexConvexAlgorithm.cpp
and its contact clipping here:
src\BulletCollision\NarrowPhaseCollision\btPolyhedralContactClipping.cpp

Post Reply