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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp | 866 |
1 files changed, 0 insertions, 866 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp deleted file mode 100644 index 73e3db1010..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp +++ /dev/null @@ -1,866 +0,0 @@ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ -/* -Author: Francisco Leon Najera -Concave-Concave Collision - -*/ - -#include "BulletCollision/CollisionDispatch/btManifoldResult.h" -#include "LinearMath/btIDebugDraw.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/CollisionShapes/btBoxShape.h" -#include "btGImpactCollisionAlgorithm.h" -#include "btContactProcessing.h" -#include "LinearMath/btQuickprof.h" - -//! Class for accessing the plane equation -class btPlaneShape : public btStaticPlaneShape -{ -public: - btPlaneShape(const btVector3& v, float f) - : btStaticPlaneShape(v, f) - { - } - - void get_plane_equation(btVector4& equation) - { - equation[0] = m_planeNormal[0]; - equation[1] = m_planeNormal[1]; - equation[2] = m_planeNormal[2]; - equation[3] = m_planeConstant; - } - - void get_plane_equation_transformed(const btTransform& trans, btVector4& equation) const - { - const btVector3 normal = trans.getBasis() * m_planeNormal; - equation[0] = normal[0]; - equation[1] = normal[1]; - equation[2] = normal[2]; - equation[3] = normal.dot(trans * (m_planeConstant * m_planeNormal)); - } -}; - -////////////////////////////////////////////////////////////////////////////////////////////// -#ifdef TRI_COLLISION_PROFILING - -btClock g_triangle_clock; - -float g_accum_triangle_collision_time = 0; -int g_count_triangle_collision = 0; - -void bt_begin_gim02_tri_time() -{ - g_triangle_clock.reset(); -} - -void bt_end_gim02_tri_time() -{ - g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds(); - g_count_triangle_collision++; -} -#endif //TRI_COLLISION_PROFILING -//! Retrieving shapes shapes -/*! -Declared here due of insuficent space on Pool allocators -*/ -//!@{ -class GIM_ShapeRetriever -{ -public: - const btGImpactShapeInterface* m_gim_shape; - btTriangleShapeEx m_trishape; - btTetrahedronShapeEx m_tetrashape; - -public: - class ChildShapeRetriever - { - public: - GIM_ShapeRetriever* m_parent; - virtual const btCollisionShape* getChildShape(int index) - { - return m_parent->m_gim_shape->getChildShape(index); - } - virtual ~ChildShapeRetriever() {} - }; - - class TriangleShapeRetriever : public ChildShapeRetriever - { - public: - virtual btCollisionShape* getChildShape(int index) - { - m_parent->m_gim_shape->getBulletTriangle(index, m_parent->m_trishape); - return &m_parent->m_trishape; - } - virtual ~TriangleShapeRetriever() {} - }; - - class TetraShapeRetriever : public ChildShapeRetriever - { - public: - virtual btCollisionShape* getChildShape(int index) - { - m_parent->m_gim_shape->getBulletTetrahedron(index, m_parent->m_tetrashape); - return &m_parent->m_tetrashape; - } - }; - -public: - ChildShapeRetriever m_child_retriever; - TriangleShapeRetriever m_tri_retriever; - TetraShapeRetriever m_tetra_retriever; - ChildShapeRetriever* m_current_retriever; - - GIM_ShapeRetriever(const btGImpactShapeInterface* gim_shape) - { - m_gim_shape = gim_shape; - //select retriever - if (m_gim_shape->needsRetrieveTriangles()) - { - m_current_retriever = &m_tri_retriever; - } - else if (m_gim_shape->needsRetrieveTetrahedrons()) - { - m_current_retriever = &m_tetra_retriever; - } - else - { - m_current_retriever = &m_child_retriever; - } - - m_current_retriever->m_parent = this; - } - - const btCollisionShape* getChildShape(int index) - { - return m_current_retriever->getChildShape(index); - } -}; - -//!@} - -#ifdef TRI_COLLISION_PROFILING - -//! Gets the average time in miliseconds of tree collisions -float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime() -{ - return btGImpactBoxSet::getAverageTreeCollisionTime(); -} - -//! Gets the average time in miliseconds of triangle collisions -float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime() -{ - if (g_count_triangle_collision == 0) return 0; - - float avgtime = g_accum_triangle_collision_time; - avgtime /= (float)g_count_triangle_collision; - - g_accum_triangle_collision_time = 0; - g_count_triangle_collision = 0; - - return avgtime; -} - -#endif //TRI_COLLISION_PROFILING - -btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) - : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap) -{ - m_manifoldPtr = NULL; - m_convex_algorithm = NULL; -} - -btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm() -{ - clearCache(); -} - -void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btVector3& point, - const btVector3& normal, - btScalar distance) -{ - m_resultOut->setShapeIdentifiersA(m_part0, m_triface0); - m_resultOut->setShapeIdentifiersB(m_part1, m_triface1); - checkManifold(body0Wrap, body1Wrap); - m_resultOut->addContactPoint(normal, point, distance); -} - -void btGImpactCollisionAlgorithm::shape_vs_shape_collision( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btCollisionShape* shape0, - const btCollisionShape* shape1) -{ - { - btCollisionAlgorithm* algor = newAlgorithm(body0Wrap, body1Wrap); - // post : checkManifold is called - - m_resultOut->setShapeIdentifiersA(m_part0, m_triface0); - m_resultOut->setShapeIdentifiersB(m_part1, m_triface1); - - algor->processCollision(body0Wrap, body1Wrap, *m_dispatchInfo, m_resultOut); - - algor->~btCollisionAlgorithm(); - m_dispatcher->freeCollisionAlgorithm(algor); - } -} - -void btGImpactCollisionAlgorithm::convex_vs_convex_collision( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btCollisionShape* shape0, - const btCollisionShape* shape1) -{ - m_resultOut->setShapeIdentifiersA(m_part0, m_triface0); - m_resultOut->setShapeIdentifiersB(m_part1, m_triface1); - - btCollisionObjectWrapper ob0(body0Wrap, shape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0); - btCollisionObjectWrapper ob1(body1Wrap, shape1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), m_part1, m_triface1); - checkConvexAlgorithm(&ob0, &ob1); - m_convex_algorithm->processCollision(&ob0, &ob1, *m_dispatchInfo, m_resultOut); -} - -void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( - const btTransform& trans0, - const btTransform& trans1, - const btGImpactShapeInterface* shape0, - const btGImpactShapeInterface* shape1, btPairSet& pairset) -{ - if (shape0->hasBoxSet() && shape1->hasBoxSet()) - { - btGImpactBoxSet::find_collision(shape0->getBoxSet(), trans0, shape1->getBoxSet(), trans1, pairset); - } - else - { - btAABB boxshape0; - btAABB boxshape1; - int i = shape0->getNumChildShapes(); - - while (i--) - { - shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max); - - int j = shape1->getNumChildShapes(); - while (j--) - { - shape1->getChildAabb(i, trans1, boxshape1.m_min, boxshape1.m_max); - - if (boxshape1.has_collision(boxshape0)) - { - pairset.push_pair(i, j); - } - } - } - } -} - -void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( - const btTransform& trans0, - const btTransform& trans1, - const btGImpactShapeInterface* shape0, - const btCollisionShape* shape1, - btAlignedObjectArray<int>& collided_primitives) -{ - btAABB boxshape; - - if (shape0->hasBoxSet()) - { - btTransform trans1to0 = trans0.inverse(); - trans1to0 *= trans1; - - shape1->getAabb(trans1to0, boxshape.m_min, boxshape.m_max); - - shape0->getBoxSet()->boxQuery(boxshape, collided_primitives); - } - else - { - shape1->getAabb(trans1, boxshape.m_min, boxshape.m_max); - - btAABB boxshape0; - int i = shape0->getNumChildShapes(); - - while (i--) - { - shape0->getChildAabb(i, trans0, boxshape0.m_min, boxshape0.m_max); - - if (boxshape.has_collision(boxshape0)) - { - collided_primitives.push_back(i); - } - } - } -} - -void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart* shape0, - const btGImpactMeshShapePart* shape1, - const int* pairs, int pair_count) -{ - btTriangleShapeEx tri0; - btTriangleShapeEx tri1; - - shape0->lockChildShapes(); - shape1->lockChildShapes(); - - const int* pair_pointer = pairs; - - while (pair_count--) - { - m_triface0 = *(pair_pointer); - m_triface1 = *(pair_pointer + 1); - pair_pointer += 2; - - shape0->getBulletTriangle(m_triface0, tri0); - shape1->getBulletTriangle(m_triface1, tri1); - - //collide two convex shapes - if (tri0.overlap_test_conservative(tri1)) - { - convex_vs_convex_collision(body0Wrap, body1Wrap, &tri0, &tri1); - } - } - - shape0->unlockChildShapes(); - shape1->unlockChildShapes(); -} - -void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart* shape0, - const btGImpactMeshShapePart* shape1, - const int* pairs, int pair_count) -{ - btTransform orgtrans0 = body0Wrap->getWorldTransform(); - btTransform orgtrans1 = body1Wrap->getWorldTransform(); - - btPrimitiveTriangle ptri0; - btPrimitiveTriangle ptri1; - GIM_TRIANGLE_CONTACT contact_data; - - shape0->lockChildShapes(); - shape1->lockChildShapes(); - - const int* pair_pointer = pairs; - - while (pair_count--) - { - m_triface0 = *(pair_pointer); - m_triface1 = *(pair_pointer + 1); - pair_pointer += 2; - - shape0->getPrimitiveTriangle(m_triface0, ptri0); - shape1->getPrimitiveTriangle(m_triface1, ptri1); - -#ifdef TRI_COLLISION_PROFILING - bt_begin_gim02_tri_time(); -#endif - - ptri0.applyTransform(orgtrans0); - ptri1.applyTransform(orgtrans1); - - //build planes - ptri0.buildTriPlane(); - ptri1.buildTriPlane(); - // test conservative - - if (ptri0.overlap_test_conservative(ptri1)) - { - if (ptri0.find_triangle_collision_clip_method(ptri1, contact_data)) - { - int j = contact_data.m_point_count; - while (j--) - { - addContactPoint(body0Wrap, body1Wrap, - contact_data.m_points[j], - contact_data.m_separating_normal, - -contact_data.m_penetration_depth); - } - } - } - -#ifdef TRI_COLLISION_PROFILING - bt_end_gim02_tri_time(); -#endif - } - - shape0->unlockChildShapes(); - shape1->unlockChildShapes(); -} - -void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btGImpactShapeInterface* shape1) -{ - if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE) - { - const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0); - m_part0 = meshshape0->getMeshPartCount(); - - while (m_part0--) - { - gimpact_vs_gimpact(body0Wrap, body1Wrap, meshshape0->getMeshPart(m_part0), shape1); - } - - return; - } - - if (shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE) - { - const btGImpactMeshShape* meshshape1 = static_cast<const btGImpactMeshShape*>(shape1); - m_part1 = meshshape1->getMeshPartCount(); - - while (m_part1--) - { - gimpact_vs_gimpact(body0Wrap, body1Wrap, shape0, meshshape1->getMeshPart(m_part1)); - } - - return; - } - - btTransform orgtrans0 = body0Wrap->getWorldTransform(); - btTransform orgtrans1 = body1Wrap->getWorldTransform(); - - btPairSet pairset; - - gimpact_vs_gimpact_find_pairs(orgtrans0, orgtrans1, shape0, shape1, pairset); - - if (pairset.size() == 0) return; - - if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && - shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART) - { - const btGImpactMeshShapePart* shapepart0 = static_cast<const btGImpactMeshShapePart*>(shape0); - const btGImpactMeshShapePart* shapepart1 = static_cast<const btGImpactMeshShapePart*>(shape1); -//specialized function -#ifdef BULLET_TRIANGLE_COLLISION - collide_gjk_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size()); -#else - collide_sat_triangles(body0Wrap, body1Wrap, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size()); -#endif - - return; - } - - //general function - - shape0->lockChildShapes(); - shape1->lockChildShapes(); - - GIM_ShapeRetriever retriever0(shape0); - GIM_ShapeRetriever retriever1(shape1); - - bool child_has_transform0 = shape0->childrenHasTransform(); - bool child_has_transform1 = shape1->childrenHasTransform(); - - int i = pairset.size(); - while (i--) - { - GIM_PAIR* pair = &pairset[i]; - m_triface0 = pair->m_index1; - m_triface1 = pair->m_index2; - const btCollisionShape* colshape0 = retriever0.getChildShape(m_triface0); - const btCollisionShape* colshape1 = retriever1.getChildShape(m_triface1); - - btTransform tr0 = body0Wrap->getWorldTransform(); - btTransform tr1 = body1Wrap->getWorldTransform(); - - if (child_has_transform0) - { - tr0 = orgtrans0 * shape0->getChildTransform(m_triface0); - } - - if (child_has_transform1) - { - tr1 = orgtrans1 * shape1->getChildTransform(m_triface1); - } - - btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), tr0, m_part0, m_triface0); - btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), tr1, m_part1, m_triface1); - - //collide two convex shapes - convex_vs_convex_collision(&ob0, &ob1, colshape0, colshape1); - } - - shape0->unlockChildShapes(); - shape1->unlockChildShapes(); -} - -void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btCollisionShape* shape1, bool swapped) -{ - if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE) - { - const btGImpactMeshShape* meshshape0 = static_cast<const btGImpactMeshShape*>(shape0); - int& part = swapped ? m_part1 : m_part0; - part = meshshape0->getMeshPartCount(); - - while (part--) - { - gimpact_vs_shape(body0Wrap, - body1Wrap, - meshshape0->getMeshPart(part), - shape1, swapped); - } - - return; - } - -#ifdef GIMPACT_VS_PLANE_COLLISION - if (shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && - shape1->getShapeType() == STATIC_PLANE_PROXYTYPE) - { - const btGImpactMeshShapePart* shapepart = static_cast<const btGImpactMeshShapePart*>(shape0); - const btStaticPlaneShape* planeshape = static_cast<const btStaticPlaneShape*>(shape1); - gimpacttrimeshpart_vs_plane_collision(body0Wrap, body1Wrap, shapepart, planeshape, swapped); - return; - } - -#endif - - if (shape1->isCompound()) - { - const btCompoundShape* compoundshape = static_cast<const btCompoundShape*>(shape1); - gimpact_vs_compoundshape(body0Wrap, body1Wrap, shape0, compoundshape, swapped); - return; - } - else if (shape1->isConcave()) - { - const btConcaveShape* concaveshape = static_cast<const btConcaveShape*>(shape1); - gimpact_vs_concave(body0Wrap, body1Wrap, shape0, concaveshape, swapped); - return; - } - - btTransform orgtrans0 = body0Wrap->getWorldTransform(); - - btTransform orgtrans1 = body1Wrap->getWorldTransform(); - - btAlignedObjectArray<int> collided_results; - - gimpact_vs_shape_find_pairs(orgtrans0, orgtrans1, shape0, shape1, collided_results); - - if (collided_results.size() == 0) return; - - shape0->lockChildShapes(); - - GIM_ShapeRetriever retriever0(shape0); - - bool child_has_transform0 = shape0->childrenHasTransform(); - - int i = collided_results.size(); - - while (i--) - { - int child_index = collided_results[i]; - if (swapped) - m_triface1 = child_index; - else - m_triface0 = child_index; - - const btCollisionShape* colshape0 = retriever0.getChildShape(child_index); - - btTransform tr0 = body0Wrap->getWorldTransform(); - - if (child_has_transform0) - { - tr0 = orgtrans0 * shape0->getChildTransform(child_index); - } - - btCollisionObjectWrapper ob0(body0Wrap, colshape0, body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform(), m_part0, m_triface0); - const btCollisionObjectWrapper* prevObj; - - if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject()) - { - prevObj = m_resultOut->getBody0Wrap(); - m_resultOut->setBody0Wrap(&ob0); - } - else - { - prevObj = m_resultOut->getBody1Wrap(); - m_resultOut->setBody1Wrap(&ob0); - } - - //collide two shapes - if (swapped) - { - shape_vs_shape_collision(body1Wrap, &ob0, shape1, colshape0); - } - else - { - shape_vs_shape_collision(&ob0, body1Wrap, colshape0, shape1); - } - - if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob0.getCollisionObject()) - { - m_resultOut->setBody0Wrap(prevObj); - } - else - { - m_resultOut->setBody1Wrap(prevObj); - } - } - - shape0->unlockChildShapes(); -} - -void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btCompoundShape* shape1, bool swapped) -{ - btTransform orgtrans1 = body1Wrap->getWorldTransform(); - - int i = shape1->getNumChildShapes(); - while (i--) - { - const btCollisionShape* colshape1 = shape1->getChildShape(i); - btTransform childtrans1 = orgtrans1 * shape1->getChildTransform(i); - - btCollisionObjectWrapper ob1(body1Wrap, colshape1, body1Wrap->getCollisionObject(), childtrans1, -1, i); - - const btCollisionObjectWrapper* tmp = 0; - if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject()) - { - tmp = m_resultOut->getBody0Wrap(); - m_resultOut->setBody0Wrap(&ob1); - } - else - { - tmp = m_resultOut->getBody1Wrap(); - m_resultOut->setBody1Wrap(&ob1); - } - //collide child shape - gimpact_vs_shape(body0Wrap, &ob1, - shape0, colshape1, swapped); - - if (m_resultOut->getBody0Wrap()->getCollisionObject() == ob1.getCollisionObject()) - { - m_resultOut->setBody0Wrap(tmp); - } - else - { - m_resultOut->setBody1Wrap(tmp); - } - } -} - -void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart* shape0, - const btStaticPlaneShape* shape1, bool swapped) -{ - btTransform orgtrans0 = body0Wrap->getWorldTransform(); - btTransform orgtrans1 = body1Wrap->getWorldTransform(); - - const btPlaneShape* planeshape = static_cast<const btPlaneShape*>(shape1); - btVector4 plane; - planeshape->get_plane_equation_transformed(orgtrans1, plane); - - //test box against plane - - btAABB tribox; - shape0->getAabb(orgtrans0, tribox.m_min, tribox.m_max); - tribox.increment_margin(planeshape->getMargin()); - - if (tribox.plane_classify(plane) != BT_CONST_COLLIDE_PLANE) return; - - shape0->lockChildShapes(); - - btScalar margin = shape0->getMargin() + planeshape->getMargin(); - - btVector3 vertex; - int vi = shape0->getVertexCount(); - while (vi--) - { - shape0->getVertex(vi, vertex); - vertex = orgtrans0(vertex); - - btScalar distance = vertex.dot(plane) - plane[3] - margin; - - if (distance < 0.0) //add contact - { - if (swapped) - { - addContactPoint(body1Wrap, body0Wrap, - vertex, - -plane, - distance); - } - else - { - addContactPoint(body0Wrap, body1Wrap, - vertex, - plane, - distance); - } - } - } - - shape0->unlockChildShapes(); -} - -class btGImpactTriangleCallback : public btTriangleCallback -{ -public: - btGImpactCollisionAlgorithm* algorithm; - const btCollisionObjectWrapper* body0Wrap; - const btCollisionObjectWrapper* body1Wrap; - const btGImpactShapeInterface* gimpactshape0; - bool swapped; - btScalar margin; - - virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) - { - btTriangleShapeEx tri1(triangle[0], triangle[1], triangle[2]); - tri1.setMargin(margin); - if (swapped) - { - algorithm->setPart0(partId); - algorithm->setFace0(triangleIndex); - } - else - { - algorithm->setPart1(partId); - algorithm->setFace1(triangleIndex); - } - - btCollisionObjectWrapper ob1Wrap(body1Wrap, &tri1, body1Wrap->getCollisionObject(), body1Wrap->getWorldTransform(), partId, triangleIndex); - const btCollisionObjectWrapper* tmp = 0; - - if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject()) - { - tmp = algorithm->internalGetResultOut()->getBody0Wrap(); - algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap); - } - else - { - tmp = algorithm->internalGetResultOut()->getBody1Wrap(); - algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap); - } - - algorithm->gimpact_vs_shape( - body0Wrap, &ob1Wrap, gimpactshape0, &tri1, swapped); - - if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject() == ob1Wrap.getCollisionObject()) - { - algorithm->internalGetResultOut()->setBody0Wrap(tmp); - } - else - { - algorithm->internalGetResultOut()->setBody1Wrap(tmp); - } - } -}; - -void btGImpactCollisionAlgorithm::gimpact_vs_concave( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btConcaveShape* shape1, bool swapped) -{ - //create the callback - btGImpactTriangleCallback tricallback; - tricallback.algorithm = this; - tricallback.body0Wrap = body0Wrap; - tricallback.body1Wrap = body1Wrap; - tricallback.gimpactshape0 = shape0; - tricallback.swapped = swapped; - tricallback.margin = shape1->getMargin(); - - //getting the trimesh AABB - btTransform gimpactInConcaveSpace; - - gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform(); - - btVector3 minAABB, maxAABB; - shape0->getAabb(gimpactInConcaveSpace, minAABB, maxAABB); - - shape1->processAllTriangles(&tricallback, minAABB, maxAABB); -} - -void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) -{ - clearCache(); - - m_resultOut = resultOut; - m_dispatchInfo = &dispatchInfo; - const btGImpactShapeInterface* gimpactshape0; - const btGImpactShapeInterface* gimpactshape1; - - if (body0Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) - { - gimpactshape0 = static_cast<const btGImpactShapeInterface*>(body0Wrap->getCollisionShape()); - - if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) - { - gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape()); - - gimpact_vs_gimpact(body0Wrap, body1Wrap, gimpactshape0, gimpactshape1); - } - else - { - gimpact_vs_shape(body0Wrap, body1Wrap, gimpactshape0, body1Wrap->getCollisionShape(), false); - } - } - else if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE) - { - gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape()); - - gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true); - } - - // Ensure that gContactProcessedCallback is called for concave shapes. - if (getLastManifold()) - { - m_resultOut->refreshContactPoints(); - } -} - -btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) -{ - return 1.f; -} - -///////////////////////////////////// REGISTERING ALGORITHM ////////////////////////////////////////////// - -//! Use this function for register the algorithm externally -void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher* dispatcher) -{ - static btGImpactCollisionAlgorithm::CreateFunc s_gimpact_cf; - - int i; - - for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++) - { - dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE, i, &s_gimpact_cf); - } - - for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++) - { - dispatcher->registerCollisionCreateFunc(i, GIMPACT_SHAPE_PROXYTYPE, &s_gimpact_cf); - } -} |