diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp | 105 |
1 files changed, 85 insertions, 20 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 39ff7934d9..d8cbe96142 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -27,6 +27,7 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h" btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), @@ -152,7 +153,7 @@ partId, int triangleIndex) { m_resultOut->setBody1Wrap(tmpWrap); } - + colAlgo->~btCollisionAlgorithm(); @@ -163,7 +164,7 @@ partId, int triangleIndex) -void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) +void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) { m_convexBodyWrap = convexBodyWrap; m_triBodyWrap = triBodyWrap; @@ -177,14 +178,14 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform(); const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape()); //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape); - convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); - btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold; - - btVector3 extra(extraMargin,extraMargin,extraMargin); + convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax); + btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold; + + btVector3 extra(extraMargin, extraMargin, extraMargin); m_aabbMax += extra; m_aabbMin -= extra; - + } void btConvexConcaveCollisionAlgorithm::clearCache() @@ -193,35 +194,99 @@ void btConvexConcaveCollisionAlgorithm::clearCache() } -void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) { BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision"); - + const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap; const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap; if (triBodyWrap->getCollisionShape()->isConcave()) { + if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE) + { + btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape(); + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape(); + btAlignedObjectArray<btVector3> queryVertices; + + if (convex->isPolyhedral()) + { + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < poly->getNumVertices(); v++) + { + btVector3 vtx; + poly->getVertex(v, vtx); + queryVertices.push_back(vtx); + } + } + btScalar maxDist = SIMD_EPSILON; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + queryVertices.push_back(btVector3(0, 0, 0)); + btSphereShape* sphere = (btSphereShape*)convex; + maxDist = sphere->getRadius() + SIMD_EPSILON; + + } + if (queryVertices.size()) + { + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + //m_btConvexTriangleCallback.m_manifoldPtr->clearManifold(); + + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < queryVertices.size(); v++) + { + const btVector3& vtx = queryVertices[v]; + btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform()*vtx; + btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace); + + btVector3 normalLocal; + btScalar dist; + if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal)) + { + if (dist <= maxDist) + { + normalLocal.safeNormalize(); + btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + btSphereShape* sphere = (btSphereShape*)convex; + dist -= sphere->getRadius(); + vtxWorldSpace -= sphere->getRadius()*normal; + + } + resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist); + } + } + } + resultOut->refreshContactPoints(); + } - - const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape()); - - if (convexBodyWrap->getCollisionShape()->isConvex()) + } + } else { - btScalar collisionMarginTriangle = concaveShape->getMargin(); + const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape()); + + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btScalar collisionMarginTriangle = concaveShape->getMargin(); - resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); - m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); - m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); + m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); - concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); + concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); - resultOut->refreshContactPoints(); + resultOut->refreshContactPoints(); - m_btConvexTriangleCallback.clearWrapperData(); + m_btConvexTriangleCallback.clearWrapperData(); + } } } |