141 lines
5.8 KiB
C++
141 lines
5.8 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
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.
|
|
*/
|
|
|
|
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
|
|
|
|
|
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
|
|
:m_isSwapped(isSwapped)
|
|
{
|
|
btCollisionObject* colObj = m_isSwapped? body1 : body0;
|
|
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
|
|
assert (colObj->getCollisionShape()->isCompound());
|
|
|
|
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
|
|
int numChildren = compoundShape->getNumChildShapes();
|
|
int i;
|
|
|
|
m_childCollisionAlgorithms.resize(numChildren);
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
btCollisionShape* childShape = compoundShape->getChildShape(i);
|
|
btCollisionShape* orgShape = colObj->getCollisionShape();
|
|
colObj->setCollisionShape( childShape );
|
|
m_childCollisionAlgorithms[i] = ci.m_dispatcher->findAlgorithm(colObj,otherObj);
|
|
colObj->setCollisionShape( orgShape );
|
|
}
|
|
}
|
|
|
|
|
|
btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
|
|
{
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
delete m_childCollisionAlgorithms[i];
|
|
}
|
|
}
|
|
|
|
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
|
{
|
|
btCollisionObject* colObj = m_isSwapped? body1 : body0;
|
|
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
|
|
|
|
assert (colObj->getCollisionShape()->isCompound());
|
|
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
|
|
|
|
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
|
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
|
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
|
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
|
//then use each overlapping node AABB against Tree0
|
|
//and vise versa.
|
|
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
//temporarily exchange parent btCollisionShape with childShape, and recurse
|
|
btCollisionShape* childShape = compoundShape->getChildShape(i);
|
|
|
|
//backup
|
|
btTransform orgTrans = colObj->getWorldTransform();
|
|
btCollisionShape* orgShape = colObj->getCollisionShape();
|
|
|
|
const btTransform& childTrans = compoundShape->getChildTransform(i);
|
|
//btTransform newChildWorldTrans = orgTrans*childTrans ;
|
|
colObj->setWorldTransform( orgTrans*childTrans );
|
|
//the contactpoint is still projected back using the original inverted worldtrans
|
|
colObj->setCollisionShape( childShape );
|
|
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
|
|
//revert back
|
|
colObj->setCollisionShape( orgShape);
|
|
colObj->setWorldTransform( orgTrans );
|
|
}
|
|
}
|
|
|
|
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
|
{
|
|
|
|
btCollisionObject* colObj = m_isSwapped? body1 : body0;
|
|
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
|
|
|
|
assert (colObj->getCollisionShape()->isCompound());
|
|
|
|
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
|
|
|
|
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
|
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
|
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
|
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
|
//then use each overlapping node AABB against Tree0
|
|
//and vise versa.
|
|
|
|
btScalar hitFraction = btScalar(1.);
|
|
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
//temporarily exchange parent btCollisionShape with childShape, and recurse
|
|
btCollisionShape* childShape = compoundShape->getChildShape(i);
|
|
|
|
//backup
|
|
btTransform orgTrans = colObj->getWorldTransform();
|
|
btCollisionShape* orgShape = colObj->getCollisionShape();
|
|
|
|
const btTransform& childTrans = compoundShape->getChildTransform(i);
|
|
//btTransform newChildWorldTrans = orgTrans*childTrans ;
|
|
colObj->setWorldTransform( orgTrans*childTrans );
|
|
|
|
colObj->setCollisionShape( childShape );
|
|
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
|
|
if (frac<hitFraction)
|
|
{
|
|
hitFraction = frac;
|
|
}
|
|
//revert back
|
|
colObj->setCollisionShape( orgShape);
|
|
colObj->setWorldTransform( orgTrans);
|
|
}
|
|
return hitFraction;
|
|
|
|
}
|
|
|
|
|