ruby-bullet 0.0.2-x86-mingw32
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- data/INSTALL.md +22 -0
- data/LICENSE +23 -0
- data/README.md +41 -0
- data/Rakefile +131 -0
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/*
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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Author: Francisco Len N�jera
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Concave-Concave Collision
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*/
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "btGImpactCollisionAlgorithm.h"
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#include "btContactProcessing.h"
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#include "LinearMath/btQuickprof.h"
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+
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//! Class for accessing the plane equation
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class btPlaneShape : public btStaticPlaneShape
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{
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public:
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btPlaneShape(const btVector3& v, float f)
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:btStaticPlaneShape(v,f)
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{
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}
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void get_plane_equation(btVector4 &equation)
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{
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equation[0] = m_planeNormal[0];
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equation[1] = m_planeNormal[1];
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equation[2] = m_planeNormal[2];
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equation[3] = m_planeConstant;
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}
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+
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+
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void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation)
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{
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equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
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equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
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equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
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equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
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}
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};
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//////////////////////////////////////////////////////////////////////////////////////////////
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#ifdef TRI_COLLISION_PROFILING
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btClock g_triangle_clock;
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float g_accum_triangle_collision_time = 0;
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int g_count_triangle_collision = 0;
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+
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void bt_begin_gim02_tri_time()
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{
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g_triangle_clock.reset();
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}
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+
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void bt_end_gim02_tri_time()
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{
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g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds();
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g_count_triangle_collision++;
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}
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#endif //TRI_COLLISION_PROFILING
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//! Retrieving shapes shapes
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/*!
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Declared here due of insuficent space on Pool allocators
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*/
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//!@{
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class GIM_ShapeRetriever
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{
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public:
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btGImpactShapeInterface * m_gim_shape;
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btTriangleShapeEx m_trishape;
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btTetrahedronShapeEx m_tetrashape;
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public:
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class ChildShapeRetriever
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{
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public:
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GIM_ShapeRetriever * m_parent;
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virtual btCollisionShape * getChildShape(int index)
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{
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return m_parent->m_gim_shape->getChildShape(index);
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}
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virtual ~ChildShapeRetriever() {}
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};
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+
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class TriangleShapeRetriever:public ChildShapeRetriever
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{
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public:
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virtual btCollisionShape * getChildShape(int index)
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{
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m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape);
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return &m_parent->m_trishape;
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}
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virtual ~TriangleShapeRetriever() {}
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};
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class TetraShapeRetriever:public ChildShapeRetriever
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{
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public:
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virtual btCollisionShape * getChildShape(int index)
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{
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m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape);
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return &m_parent->m_tetrashape;
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}
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};
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public:
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ChildShapeRetriever m_child_retriever;
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TriangleShapeRetriever m_tri_retriever;
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TetraShapeRetriever m_tetra_retriever;
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ChildShapeRetriever * m_current_retriever;
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GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape)
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{
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m_gim_shape = gim_shape;
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//select retriever
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if(m_gim_shape->needsRetrieveTriangles())
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{
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m_current_retriever = &m_tri_retriever;
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}
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else if(m_gim_shape->needsRetrieveTetrahedrons())
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{
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m_current_retriever = &m_tetra_retriever;
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}
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else
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{
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m_current_retriever = &m_child_retriever;
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}
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m_current_retriever->m_parent = this;
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}
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+
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btCollisionShape * getChildShape(int index)
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{
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return m_current_retriever->getChildShape(index);
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}
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+
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+
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};
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//!@}
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+
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+
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#ifdef TRI_COLLISION_PROFILING
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+
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//! Gets the average time in miliseconds of tree collisions
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float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime()
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{
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return btGImpactBoxSet::getAverageTreeCollisionTime();
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+
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}
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//! Gets the average time in miliseconds of triangle collisions
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float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
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{
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if(g_count_triangle_collision == 0) return 0;
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+
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float avgtime = g_accum_triangle_collision_time;
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avgtime /= (float)g_count_triangle_collision;
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+
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g_accum_triangle_collision_time = 0;
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g_count_triangle_collision = 0;
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+
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+
return avgtime;
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+
}
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+
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+
#endif //TRI_COLLISION_PROFILING
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+
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+
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+
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+
btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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: btActivatingCollisionAlgorithm(ci,body0,body1)
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+
{
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199
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+
m_manifoldPtr = NULL;
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m_convex_algorithm = NULL;
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+
}
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+
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+
btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
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204
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+
{
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+
clearCache();
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+
}
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+
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208
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+
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209
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+
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210
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+
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+
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+
void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
|
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+
btCollisionObject * body1,
|
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+
const btVector3 & point,
|
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+
const btVector3 & normal,
|
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+
btScalar distance)
|
217
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+
{
|
218
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+
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
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+
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
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+
checkManifold(body0,body1);
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+
m_resultOut->addContactPoint(normal,point,distance);
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+
}
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+
|
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+
|
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+
void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
|
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+
btCollisionObject * body0,
|
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+
btCollisionObject * body1,
|
228
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+
btCollisionShape * shape0,
|
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+
btCollisionShape * shape1)
|
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+
{
|
231
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+
|
232
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+
btCollisionShape* tmpShape0 = body0->getCollisionShape();
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+
btCollisionShape* tmpShape1 = body1->getCollisionShape();
|
234
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+
|
235
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+
body0->internalSetTemporaryCollisionShape(shape0);
|
236
|
+
body1->internalSetTemporaryCollisionShape(shape1);
|
237
|
+
|
238
|
+
{
|
239
|
+
btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
|
240
|
+
// post : checkManifold is called
|
241
|
+
|
242
|
+
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
|
243
|
+
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
|
244
|
+
|
245
|
+
algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
|
246
|
+
|
247
|
+
algor->~btCollisionAlgorithm();
|
248
|
+
m_dispatcher->freeCollisionAlgorithm(algor);
|
249
|
+
}
|
250
|
+
|
251
|
+
body0->internalSetTemporaryCollisionShape(tmpShape0);
|
252
|
+
body1->internalSetTemporaryCollisionShape(tmpShape1);
|
253
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+
}
|
254
|
+
|
255
|
+
void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
|
256
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+
btCollisionObject * body0,
|
257
|
+
btCollisionObject * body1,
|
258
|
+
btCollisionShape * shape0,
|
259
|
+
btCollisionShape * shape1)
|
260
|
+
{
|
261
|
+
|
262
|
+
btCollisionShape* tmpShape0 = body0->getCollisionShape();
|
263
|
+
btCollisionShape* tmpShape1 = body1->getCollisionShape();
|
264
|
+
|
265
|
+
body0->internalSetTemporaryCollisionShape(shape0);
|
266
|
+
body1->internalSetTemporaryCollisionShape(shape1);
|
267
|
+
|
268
|
+
|
269
|
+
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
|
270
|
+
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
|
271
|
+
|
272
|
+
checkConvexAlgorithm(body0,body1);
|
273
|
+
m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
|
274
|
+
|
275
|
+
body0->internalSetTemporaryCollisionShape(tmpShape0);
|
276
|
+
body1->internalSetTemporaryCollisionShape(tmpShape1);
|
277
|
+
|
278
|
+
}
|
279
|
+
|
280
|
+
|
281
|
+
|
282
|
+
|
283
|
+
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
|
284
|
+
const btTransform & trans0,
|
285
|
+
const btTransform & trans1,
|
286
|
+
btGImpactShapeInterface * shape0,
|
287
|
+
btGImpactShapeInterface * shape1,btPairSet & pairset)
|
288
|
+
{
|
289
|
+
if(shape0->hasBoxSet() && shape1->hasBoxSet())
|
290
|
+
{
|
291
|
+
btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset);
|
292
|
+
}
|
293
|
+
else
|
294
|
+
{
|
295
|
+
btAABB boxshape0;
|
296
|
+
btAABB boxshape1;
|
297
|
+
int i = shape0->getNumChildShapes();
|
298
|
+
|
299
|
+
while(i--)
|
300
|
+
{
|
301
|
+
shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
|
302
|
+
|
303
|
+
int j = shape1->getNumChildShapes();
|
304
|
+
while(j--)
|
305
|
+
{
|
306
|
+
shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max);
|
307
|
+
|
308
|
+
if(boxshape1.has_collision(boxshape0))
|
309
|
+
{
|
310
|
+
pairset.push_pair(i,j);
|
311
|
+
}
|
312
|
+
}
|
313
|
+
}
|
314
|
+
}
|
315
|
+
|
316
|
+
|
317
|
+
}
|
318
|
+
|
319
|
+
|
320
|
+
void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
|
321
|
+
const btTransform & trans0,
|
322
|
+
const btTransform & trans1,
|
323
|
+
btGImpactShapeInterface * shape0,
|
324
|
+
btCollisionShape * shape1,
|
325
|
+
btAlignedObjectArray<int> & collided_primitives)
|
326
|
+
{
|
327
|
+
|
328
|
+
btAABB boxshape;
|
329
|
+
|
330
|
+
|
331
|
+
if(shape0->hasBoxSet())
|
332
|
+
{
|
333
|
+
btTransform trans1to0 = trans0.inverse();
|
334
|
+
trans1to0 *= trans1;
|
335
|
+
|
336
|
+
shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max);
|
337
|
+
|
338
|
+
shape0->getBoxSet()->boxQuery(boxshape, collided_primitives);
|
339
|
+
}
|
340
|
+
else
|
341
|
+
{
|
342
|
+
shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max);
|
343
|
+
|
344
|
+
btAABB boxshape0;
|
345
|
+
int i = shape0->getNumChildShapes();
|
346
|
+
|
347
|
+
while(i--)
|
348
|
+
{
|
349
|
+
shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
|
350
|
+
|
351
|
+
if(boxshape.has_collision(boxshape0))
|
352
|
+
{
|
353
|
+
collided_primitives.push_back(i);
|
354
|
+
}
|
355
|
+
}
|
356
|
+
|
357
|
+
}
|
358
|
+
|
359
|
+
}
|
360
|
+
|
361
|
+
|
362
|
+
void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0,
|
363
|
+
btCollisionObject * body1,
|
364
|
+
btGImpactMeshShapePart * shape0,
|
365
|
+
btGImpactMeshShapePart * shape1,
|
366
|
+
const int * pairs, int pair_count)
|
367
|
+
{
|
368
|
+
btTriangleShapeEx tri0;
|
369
|
+
btTriangleShapeEx tri1;
|
370
|
+
|
371
|
+
shape0->lockChildShapes();
|
372
|
+
shape1->lockChildShapes();
|
373
|
+
|
374
|
+
const int * pair_pointer = pairs;
|
375
|
+
|
376
|
+
while(pair_count--)
|
377
|
+
{
|
378
|
+
|
379
|
+
m_triface0 = *(pair_pointer);
|
380
|
+
m_triface1 = *(pair_pointer+1);
|
381
|
+
pair_pointer+=2;
|
382
|
+
|
383
|
+
|
384
|
+
|
385
|
+
shape0->getBulletTriangle(m_triface0,tri0);
|
386
|
+
shape1->getBulletTriangle(m_triface1,tri1);
|
387
|
+
|
388
|
+
|
389
|
+
//collide two convex shapes
|
390
|
+
if(tri0.overlap_test_conservative(tri1))
|
391
|
+
{
|
392
|
+
convex_vs_convex_collision(body0,body1,&tri0,&tri1);
|
393
|
+
}
|
394
|
+
|
395
|
+
}
|
396
|
+
|
397
|
+
shape0->unlockChildShapes();
|
398
|
+
shape1->unlockChildShapes();
|
399
|
+
}
|
400
|
+
|
401
|
+
void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0,
|
402
|
+
btCollisionObject * body1,
|
403
|
+
btGImpactMeshShapePart * shape0,
|
404
|
+
btGImpactMeshShapePart * shape1,
|
405
|
+
const int * pairs, int pair_count)
|
406
|
+
{
|
407
|
+
btTransform orgtrans0 = body0->getWorldTransform();
|
408
|
+
btTransform orgtrans1 = body1->getWorldTransform();
|
409
|
+
|
410
|
+
btPrimitiveTriangle ptri0;
|
411
|
+
btPrimitiveTriangle ptri1;
|
412
|
+
GIM_TRIANGLE_CONTACT contact_data;
|
413
|
+
|
414
|
+
shape0->lockChildShapes();
|
415
|
+
shape1->lockChildShapes();
|
416
|
+
|
417
|
+
const int * pair_pointer = pairs;
|
418
|
+
|
419
|
+
while(pair_count--)
|
420
|
+
{
|
421
|
+
|
422
|
+
m_triface0 = *(pair_pointer);
|
423
|
+
m_triface1 = *(pair_pointer+1);
|
424
|
+
pair_pointer+=2;
|
425
|
+
|
426
|
+
|
427
|
+
shape0->getPrimitiveTriangle(m_triface0,ptri0);
|
428
|
+
shape1->getPrimitiveTriangle(m_triface1,ptri1);
|
429
|
+
|
430
|
+
#ifdef TRI_COLLISION_PROFILING
|
431
|
+
bt_begin_gim02_tri_time();
|
432
|
+
#endif
|
433
|
+
|
434
|
+
ptri0.applyTransform(orgtrans0);
|
435
|
+
ptri1.applyTransform(orgtrans1);
|
436
|
+
|
437
|
+
|
438
|
+
//build planes
|
439
|
+
ptri0.buildTriPlane();
|
440
|
+
ptri1.buildTriPlane();
|
441
|
+
// test conservative
|
442
|
+
|
443
|
+
|
444
|
+
|
445
|
+
if(ptri0.overlap_test_conservative(ptri1))
|
446
|
+
{
|
447
|
+
if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data))
|
448
|
+
{
|
449
|
+
|
450
|
+
int j = contact_data.m_point_count;
|
451
|
+
while(j--)
|
452
|
+
{
|
453
|
+
|
454
|
+
addContactPoint(body0, body1,
|
455
|
+
contact_data.m_points[j],
|
456
|
+
contact_data.m_separating_normal,
|
457
|
+
-contact_data.m_penetration_depth);
|
458
|
+
}
|
459
|
+
}
|
460
|
+
}
|
461
|
+
|
462
|
+
#ifdef TRI_COLLISION_PROFILING
|
463
|
+
bt_end_gim02_tri_time();
|
464
|
+
#endif
|
465
|
+
|
466
|
+
}
|
467
|
+
|
468
|
+
shape0->unlockChildShapes();
|
469
|
+
shape1->unlockChildShapes();
|
470
|
+
|
471
|
+
}
|
472
|
+
|
473
|
+
|
474
|
+
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
|
475
|
+
btCollisionObject * body0,
|
476
|
+
btCollisionObject * body1,
|
477
|
+
btGImpactShapeInterface * shape0,
|
478
|
+
btGImpactShapeInterface * shape1)
|
479
|
+
{
|
480
|
+
|
481
|
+
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
|
482
|
+
{
|
483
|
+
btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
|
484
|
+
m_part0 = meshshape0->getMeshPartCount();
|
485
|
+
|
486
|
+
while(m_part0--)
|
487
|
+
{
|
488
|
+
gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
|
489
|
+
}
|
490
|
+
|
491
|
+
return;
|
492
|
+
}
|
493
|
+
|
494
|
+
if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
|
495
|
+
{
|
496
|
+
btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
|
497
|
+
m_part1 = meshshape1->getMeshPartCount();
|
498
|
+
|
499
|
+
while(m_part1--)
|
500
|
+
{
|
501
|
+
|
502
|
+
gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
|
503
|
+
|
504
|
+
}
|
505
|
+
|
506
|
+
return;
|
507
|
+
}
|
508
|
+
|
509
|
+
|
510
|
+
btTransform orgtrans0 = body0->getWorldTransform();
|
511
|
+
btTransform orgtrans1 = body1->getWorldTransform();
|
512
|
+
|
513
|
+
btPairSet pairset;
|
514
|
+
|
515
|
+
gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset);
|
516
|
+
|
517
|
+
if(pairset.size()== 0) return;
|
518
|
+
|
519
|
+
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
|
520
|
+
shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
|
521
|
+
{
|
522
|
+
btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
|
523
|
+
btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
|
524
|
+
//specialized function
|
525
|
+
#ifdef BULLET_TRIANGLE_COLLISION
|
526
|
+
collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
|
527
|
+
#else
|
528
|
+
collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
|
529
|
+
#endif
|
530
|
+
|
531
|
+
return;
|
532
|
+
}
|
533
|
+
|
534
|
+
//general function
|
535
|
+
|
536
|
+
shape0->lockChildShapes();
|
537
|
+
shape1->lockChildShapes();
|
538
|
+
|
539
|
+
GIM_ShapeRetriever retriever0(shape0);
|
540
|
+
GIM_ShapeRetriever retriever1(shape1);
|
541
|
+
|
542
|
+
bool child_has_transform0 = shape0->childrenHasTransform();
|
543
|
+
bool child_has_transform1 = shape1->childrenHasTransform();
|
544
|
+
|
545
|
+
int i = pairset.size();
|
546
|
+
while(i--)
|
547
|
+
{
|
548
|
+
GIM_PAIR * pair = &pairset[i];
|
549
|
+
m_triface0 = pair->m_index1;
|
550
|
+
m_triface1 = pair->m_index2;
|
551
|
+
btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
|
552
|
+
btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
|
553
|
+
|
554
|
+
if(child_has_transform0)
|
555
|
+
{
|
556
|
+
body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
|
557
|
+
}
|
558
|
+
|
559
|
+
if(child_has_transform1)
|
560
|
+
{
|
561
|
+
body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
|
562
|
+
}
|
563
|
+
|
564
|
+
//collide two convex shapes
|
565
|
+
convex_vs_convex_collision(body0,body1,colshape0,colshape1);
|
566
|
+
|
567
|
+
|
568
|
+
if(child_has_transform0)
|
569
|
+
{
|
570
|
+
body0->setWorldTransform(orgtrans0);
|
571
|
+
}
|
572
|
+
|
573
|
+
if(child_has_transform1)
|
574
|
+
{
|
575
|
+
body1->setWorldTransform(orgtrans1);
|
576
|
+
}
|
577
|
+
|
578
|
+
}
|
579
|
+
|
580
|
+
shape0->unlockChildShapes();
|
581
|
+
shape1->unlockChildShapes();
|
582
|
+
}
|
583
|
+
|
584
|
+
void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
|
585
|
+
btCollisionObject * body1,
|
586
|
+
btGImpactShapeInterface * shape0,
|
587
|
+
btCollisionShape * shape1,bool swapped)
|
588
|
+
{
|
589
|
+
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
|
590
|
+
{
|
591
|
+
btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
|
592
|
+
int& part = swapped ? m_part1 : m_part0;
|
593
|
+
part = meshshape0->getMeshPartCount();
|
594
|
+
|
595
|
+
while(part--)
|
596
|
+
{
|
597
|
+
|
598
|
+
gimpact_vs_shape(body0,
|
599
|
+
body1,
|
600
|
+
meshshape0->getMeshPart(part),
|
601
|
+
shape1,swapped);
|
602
|
+
|
603
|
+
}
|
604
|
+
|
605
|
+
return;
|
606
|
+
}
|
607
|
+
|
608
|
+
#ifdef GIMPACT_VS_PLANE_COLLISION
|
609
|
+
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
|
610
|
+
shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
|
611
|
+
{
|
612
|
+
btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0);
|
613
|
+
btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1);
|
614
|
+
gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped);
|
615
|
+
return;
|
616
|
+
}
|
617
|
+
|
618
|
+
#endif
|
619
|
+
|
620
|
+
|
621
|
+
|
622
|
+
if(shape1->isCompound())
|
623
|
+
{
|
624
|
+
btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1);
|
625
|
+
gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped);
|
626
|
+
return;
|
627
|
+
}
|
628
|
+
else if(shape1->isConcave())
|
629
|
+
{
|
630
|
+
btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1);
|
631
|
+
gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped);
|
632
|
+
return;
|
633
|
+
}
|
634
|
+
|
635
|
+
|
636
|
+
btTransform orgtrans0 = body0->getWorldTransform();
|
637
|
+
|
638
|
+
btTransform orgtrans1 = body1->getWorldTransform();
|
639
|
+
|
640
|
+
btAlignedObjectArray<int> collided_results;
|
641
|
+
|
642
|
+
gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results);
|
643
|
+
|
644
|
+
if(collided_results.size() == 0) return;
|
645
|
+
|
646
|
+
|
647
|
+
shape0->lockChildShapes();
|
648
|
+
|
649
|
+
GIM_ShapeRetriever retriever0(shape0);
|
650
|
+
|
651
|
+
|
652
|
+
bool child_has_transform0 = shape0->childrenHasTransform();
|
653
|
+
|
654
|
+
|
655
|
+
int i = collided_results.size();
|
656
|
+
|
657
|
+
while(i--)
|
658
|
+
{
|
659
|
+
int child_index = collided_results[i];
|
660
|
+
if(swapped)
|
661
|
+
m_triface1 = child_index;
|
662
|
+
else
|
663
|
+
m_triface0 = child_index;
|
664
|
+
|
665
|
+
btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
|
666
|
+
|
667
|
+
if(child_has_transform0)
|
668
|
+
{
|
669
|
+
body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index));
|
670
|
+
}
|
671
|
+
|
672
|
+
//collide two shapes
|
673
|
+
if(swapped)
|
674
|
+
{
|
675
|
+
shape_vs_shape_collision(body1,body0,shape1,colshape0);
|
676
|
+
}
|
677
|
+
else
|
678
|
+
{
|
679
|
+
shape_vs_shape_collision(body0,body1,colshape0,shape1);
|
680
|
+
}
|
681
|
+
|
682
|
+
//restore transforms
|
683
|
+
if(child_has_transform0)
|
684
|
+
{
|
685
|
+
body0->setWorldTransform(orgtrans0);
|
686
|
+
}
|
687
|
+
|
688
|
+
}
|
689
|
+
|
690
|
+
shape0->unlockChildShapes();
|
691
|
+
|
692
|
+
}
|
693
|
+
|
694
|
+
void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0,
|
695
|
+
btCollisionObject * body1,
|
696
|
+
btGImpactShapeInterface * shape0,
|
697
|
+
btCompoundShape * shape1,bool swapped)
|
698
|
+
{
|
699
|
+
btTransform orgtrans1 = body1->getWorldTransform();
|
700
|
+
|
701
|
+
int i = shape1->getNumChildShapes();
|
702
|
+
while(i--)
|
703
|
+
{
|
704
|
+
|
705
|
+
btCollisionShape * colshape1 = shape1->getChildShape(i);
|
706
|
+
btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
|
707
|
+
|
708
|
+
body1->setWorldTransform(childtrans1);
|
709
|
+
|
710
|
+
//collide child shape
|
711
|
+
gimpact_vs_shape(body0, body1,
|
712
|
+
shape0,colshape1,swapped);
|
713
|
+
|
714
|
+
|
715
|
+
//restore transforms
|
716
|
+
body1->setWorldTransform(orgtrans1);
|
717
|
+
}
|
718
|
+
}
|
719
|
+
|
720
|
+
void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
|
721
|
+
btCollisionObject * body0,
|
722
|
+
btCollisionObject * body1,
|
723
|
+
btGImpactMeshShapePart * shape0,
|
724
|
+
btStaticPlaneShape * shape1,bool swapped)
|
725
|
+
{
|
726
|
+
|
727
|
+
|
728
|
+
btTransform orgtrans0 = body0->getWorldTransform();
|
729
|
+
btTransform orgtrans1 = body1->getWorldTransform();
|
730
|
+
|
731
|
+
btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1);
|
732
|
+
btVector4 plane;
|
733
|
+
planeshape->get_plane_equation_transformed(orgtrans1,plane);
|
734
|
+
|
735
|
+
//test box against plane
|
736
|
+
|
737
|
+
btAABB tribox;
|
738
|
+
shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max);
|
739
|
+
tribox.increment_margin(planeshape->getMargin());
|
740
|
+
|
741
|
+
if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return;
|
742
|
+
|
743
|
+
shape0->lockChildShapes();
|
744
|
+
|
745
|
+
btScalar margin = shape0->getMargin() + planeshape->getMargin();
|
746
|
+
|
747
|
+
btVector3 vertex;
|
748
|
+
int vi = shape0->getVertexCount();
|
749
|
+
while(vi--)
|
750
|
+
{
|
751
|
+
shape0->getVertex(vi,vertex);
|
752
|
+
vertex = orgtrans0(vertex);
|
753
|
+
|
754
|
+
btScalar distance = vertex.dot(plane) - plane[3] - margin;
|
755
|
+
|
756
|
+
if(distance<0.0)//add contact
|
757
|
+
{
|
758
|
+
if(swapped)
|
759
|
+
{
|
760
|
+
addContactPoint(body1, body0,
|
761
|
+
vertex,
|
762
|
+
-plane,
|
763
|
+
distance);
|
764
|
+
}
|
765
|
+
else
|
766
|
+
{
|
767
|
+
addContactPoint(body0, body1,
|
768
|
+
vertex,
|
769
|
+
plane,
|
770
|
+
distance);
|
771
|
+
}
|
772
|
+
}
|
773
|
+
}
|
774
|
+
|
775
|
+
shape0->unlockChildShapes();
|
776
|
+
}
|
777
|
+
|
778
|
+
|
779
|
+
|
780
|
+
|
781
|
+
class btGImpactTriangleCallback: public btTriangleCallback
|
782
|
+
{
|
783
|
+
public:
|
784
|
+
btGImpactCollisionAlgorithm * algorithm;
|
785
|
+
btCollisionObject * body0;
|
786
|
+
btCollisionObject * body1;
|
787
|
+
btGImpactShapeInterface * gimpactshape0;
|
788
|
+
bool swapped;
|
789
|
+
btScalar margin;
|
790
|
+
|
791
|
+
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
792
|
+
{
|
793
|
+
btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]);
|
794
|
+
tri1.setMargin(margin);
|
795
|
+
if(swapped)
|
796
|
+
{
|
797
|
+
algorithm->setPart0(partId);
|
798
|
+
algorithm->setFace0(triangleIndex);
|
799
|
+
}
|
800
|
+
else
|
801
|
+
{
|
802
|
+
algorithm->setPart1(partId);
|
803
|
+
algorithm->setFace1(triangleIndex);
|
804
|
+
}
|
805
|
+
algorithm->gimpact_vs_shape(
|
806
|
+
body0,body1,gimpactshape0,&tri1,swapped);
|
807
|
+
}
|
808
|
+
};
|
809
|
+
|
810
|
+
|
811
|
+
|
812
|
+
|
813
|
+
void btGImpactCollisionAlgorithm::gimpact_vs_concave(
|
814
|
+
btCollisionObject * body0,
|
815
|
+
btCollisionObject * body1,
|
816
|
+
btGImpactShapeInterface * shape0,
|
817
|
+
btConcaveShape * shape1,bool swapped)
|
818
|
+
{
|
819
|
+
//create the callback
|
820
|
+
btGImpactTriangleCallback tricallback;
|
821
|
+
tricallback.algorithm = this;
|
822
|
+
tricallback.body0 = body0;
|
823
|
+
tricallback.body1 = body1;
|
824
|
+
tricallback.gimpactshape0 = shape0;
|
825
|
+
tricallback.swapped = swapped;
|
826
|
+
tricallback.margin = shape1->getMargin();
|
827
|
+
|
828
|
+
//getting the trimesh AABB
|
829
|
+
btTransform gimpactInConcaveSpace;
|
830
|
+
|
831
|
+
gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform();
|
832
|
+
|
833
|
+
btVector3 minAABB,maxAABB;
|
834
|
+
shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
|
835
|
+
|
836
|
+
shape1->processAllTriangles(&tricallback,minAABB,maxAABB);
|
837
|
+
|
838
|
+
}
|
839
|
+
|
840
|
+
|
841
|
+
|
842
|
+
void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
843
|
+
{
|
844
|
+
clearCache();
|
845
|
+
|
846
|
+
m_resultOut = resultOut;
|
847
|
+
m_dispatchInfo = &dispatchInfo;
|
848
|
+
btGImpactShapeInterface * gimpactshape0;
|
849
|
+
btGImpactShapeInterface * gimpactshape1;
|
850
|
+
|
851
|
+
if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
|
852
|
+
{
|
853
|
+
gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
|
854
|
+
|
855
|
+
if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
|
856
|
+
{
|
857
|
+
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
|
858
|
+
|
859
|
+
gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
|
860
|
+
}
|
861
|
+
else
|
862
|
+
{
|
863
|
+
gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
|
864
|
+
}
|
865
|
+
|
866
|
+
}
|
867
|
+
else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
|
868
|
+
{
|
869
|
+
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
|
870
|
+
|
871
|
+
gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
|
872
|
+
}
|
873
|
+
}
|
874
|
+
|
875
|
+
|
876
|
+
btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
877
|
+
{
|
878
|
+
return 1.f;
|
879
|
+
|
880
|
+
}
|
881
|
+
|
882
|
+
///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
|
883
|
+
|
884
|
+
|
885
|
+
|
886
|
+
//! Use this function for register the algorithm externally
|
887
|
+
void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher)
|
888
|
+
{
|
889
|
+
|
890
|
+
static btGImpactCollisionAlgorithm::CreateFunc s_gimpact_cf;
|
891
|
+
|
892
|
+
int i;
|
893
|
+
|
894
|
+
for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
|
895
|
+
{
|
896
|
+
dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&s_gimpact_cf);
|
897
|
+
}
|
898
|
+
|
899
|
+
for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
|
900
|
+
{
|
901
|
+
dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&s_gimpact_cf);
|
902
|
+
}
|
903
|
+
|
904
|
+
}
|