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Allow multiple meshes to be used in the TriangleIndexVertexArray (this name is bad, is should be 'MeshArray'.

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Renamed some 'box' into 'convex' in ConvexConcaveCollisionAlgorithm (it is generic for all convex objects, not for boxes).
This commit is contained in:
ejcoumans
2006-06-25 14:50:38 +00:00
parent 206c56f2ca
commit 09aeefe029
4 changed files with 100 additions and 60 deletions
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51
Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
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@@ -17,7 +17,6 @@ subject to the following restrictions:
#include "ConvexConcaveCollisionAlgorithm.h"
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionShapes/MultiSphereShape.h"
#include "CollisionShapes/BoxShape.h"
#include "ConvexConvexAlgorithm.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "CollisionShapes/TriangleShape.h"
@@ -28,7 +27,7 @@ subject to the following restrictions:
ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
m_boxTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
m_ConvexTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
{
}
@@ -39,8 +38,8 @@ ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm()
BoxTriangleCallback::BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
m_boxProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
ConvexTriangleCallback::ConvexTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
m_convexProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
@@ -52,7 +51,7 @@ BoxTriangleCallback::BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy
ClearCache();
}
BoxTriangleCallback::~BoxTriangleCallback()
ConvexTriangleCallback::~ConvexTriangleCallback()
{
ClearCache();
m_dispatcher->ReleaseManifold( m_manifoldPtr );
@@ -60,14 +59,14 @@ BoxTriangleCallback::~BoxTriangleCallback()
}
void BoxTriangleCallback::ClearCache()
void ConvexTriangleCallback::ClearCache()
{
m_dispatcher->ClearManifold(m_manifoldPtr);
};
void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
{
//just for debugging purposes
@@ -81,7 +80,7 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int
CollisionObject* colObj = static_cast<CollisionObject*>(m_boxProxy->m_clientObject);
CollisionObject* colObj = static_cast<CollisionObject*>(m_convexProxy->m_clientObject);
if (colObj->m_collisionShape->IsConvex())
{
@@ -93,8 +92,8 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int
CollisionShape* tmpShape = ob->m_collisionShape;
ob->m_collisionShape = &tm;
ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_boxProxy,&m_triangleProxy);
cvxcvxalgo.ProcessCollision(m_boxProxy,&m_triangleProxy,*m_dispatchInfoPtr);
ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexProxy,&m_triangleProxy);
cvxcvxalgo.ProcessCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
ob->m_collisionShape = tmpShape;
}
@@ -105,22 +104,22 @@ void BoxTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int
void BoxTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
void ConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
//recalc aabbs
CollisionObject* boxBody = (CollisionObject* )m_boxProxy->m_clientObject;
CollisionObject* convexBody = (CollisionObject* )m_convexProxy->m_clientObject;
CollisionObject* triBody = (CollisionObject* )m_triangleProxy.m_clientObject;
SimdTransform boxInTriangleSpace;
boxInTriangleSpace = triBody->m_worldTransform.inverse() * boxBody->m_worldTransform;
SimdTransform convexInTriangleSpace;
convexInTriangleSpace = triBody->m_worldTransform.inverse() * convexBody->m_worldTransform;
CollisionShape* boxshape = static_cast<CollisionShape*>(boxBody->m_collisionShape);
CollisionShape* convexShape = static_cast<CollisionShape*>(convexBody->m_collisionShape);
//CollisionShape* triangleShape = static_cast<CollisionShape*>(triBody->m_collisionShape);
boxshape->GetAabb(boxInTriangleSpace,m_aabbMin,m_aabbMax);
convexShape->GetAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
float extraMargin = collisionMarginTriangle;//CONVEX_DISTANCE_MARGIN;//+0.1f;
@@ -133,14 +132,14 @@ void BoxTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,c
void ConvexConcaveCollisionAlgorithm::ClearCache()
{
m_boxTriangleCallback.ClearCache();
m_ConvexTriangleCallback.ClearCache();
}
void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
{
CollisionObject* boxBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
CollisionObject* convexBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
if (triBody->m_collisionShape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
@@ -154,17 +153,19 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
CollisionObject* triOb = static_cast<CollisionObject*>(m_concave.m_clientObject);
TriangleMeshShape* triangleMesh = static_cast<TriangleMeshShape*>( triOb->m_collisionShape);
if (boxBody->m_collisionShape->IsConvex())
if (convexBody->m_collisionShape->IsConvex())
{
float collisionMarginTriangle = triangleMesh->GetMargin();
m_boxTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
#ifdef USE_BOX_TRIANGLE
m_dispatcher->ClearManifold(m_boxTriangleCallback.m_manifoldPtr);
#endif
m_boxTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
m_ConvexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
triangleMesh->ProcessAllTriangles( &m_boxTriangleCallback,m_boxTriangleCallback.GetAabbMin(),m_boxTriangleCallback.GetAabbMax());
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->ClearManifold(m_ConvexTriangleCallback.m_manifoldPtr);
m_ConvexTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
triangleMesh->ProcessAllTriangles( &m_ConvexTriangleCallback,m_ConvexTriangleCallback.GetAabbMin(),m_ConvexTriangleCallback.GetAabbMax());
}