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added initial support for per-triangle material properties in a non-convex mesh. needs testing.

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This commit is contained in:
ejcoumans
2006-08-10 08:18:05 +00:00
parent 3a27e8b1bf
commit 16781831dc
22 changed files with 206 additions and 55 deletions
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3
Bullet/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.h
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@@ -34,6 +34,9 @@ struct DiscreteCollisionDetectorInterface
void operator delete(void* ptr) {};
virtual ~Result(){}
///SetShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)=0;
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
};

8
Bullet/NarrowPhaseCollision/GjkPairDetector.cpp
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@@ -35,7 +35,11 @@ m_penetrationDepthSolver(penetrationDepthSolver),
m_simplexSolver(simplexSolver),
m_minkowskiA(objectA),
m_minkowskiB(objectB),
m_ignoreMargin(false)
m_ignoreMargin(false),
m_partId0(-1),
m_index0(-1),
m_partId1(-1),
m_index1(-1)
{
}
@@ -207,6 +211,8 @@ int curIter = 0;
if (isValid)
{
output.SetShapeIdentifiers(m_partId0,m_index0,m_partId1,m_index1);
output.AddContactPoint(
normalInB,
pointOnB,

8
Bullet/NarrowPhaseCollision/GjkPairDetector.h
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@@ -39,9 +39,17 @@ class GjkPairDetector : public DiscreteCollisionDetectorInterface
ConvexShape* m_minkowskiA;
ConvexShape* m_minkowskiB;
bool m_ignoreMargin;
public:
//experimental feature information, per triangle, per convex etc.
//'material combiner' / contact added callback
int m_partId0;
int m_index0;
int m_partId1;
int m_index1;
GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual ~GjkPairDetector() {};

4
Bullet/NarrowPhaseCollision/ManifoldPoint.h
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@@ -40,6 +40,8 @@ class ManifoldPoint
m_localPointB( pointB ),
m_normalWorldOnB( normal ),
m_distance1( distance ),
m_combinedFriction(0.f),
m_combinedRestitution(0.f),
m_userPersistentData(0),
m_lifeTime(0)
{
@@ -57,6 +59,8 @@ class ManifoldPoint
SimdVector3 m_normalWorldOnB;
float m_distance1;
float m_combinedFriction;
float m_combinedRestitution;
void* m_userPersistentData;

3
Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp
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@@ -32,6 +32,9 @@ struct MyResult : public DiscreteCollisionDetectorInterface::Result
float m_depth;
bool m_hasResult;
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
}
void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;

7
Bullet/NarrowPhaseCollision/PersistentManifold.cpp
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@@ -19,7 +19,8 @@ subject to the following restrictions:
#include <assert.h>
float gContactBreakingTreshold = 0.02f;
ContactDestroyedCallback gContactCallback = 0;
ContactDestroyedCallback gContactDestroyedCallback = 0;
PersistentManifold::PersistentManifold()
@@ -75,9 +76,9 @@ void PersistentManifold::ClearUserCache(ManifoldPoint& pt)
assert(occurance<=0);
#endif //DEBUG_PERSISTENCY
if (pt.m_userPersistentData && gContactCallback)
if (pt.m_userPersistentData && gContactDestroyedCallback)
{
(*gContactCallback)(pt.m_userPersistentData);
(*gContactDestroyedCallback)(pt.m_userPersistentData);
pt.m_userPersistentData = 0;
}

2
Bullet/NarrowPhaseCollision/PersistentManifold.h
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@@ -27,8 +27,8 @@ struct CollisionResult;
extern float gContactBreakingTreshold;
typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
extern ContactDestroyedCallback gContactDestroyedCallback;
extern ContactDestroyedCallback gContactCallback;

5
Bullet/NarrowPhaseCollision/PointCollector.h
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@@ -35,6 +35,11 @@ struct PointCollector : public DiscreteCollisionDetectorInterface::Result
{
}
virtual void SetShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
//??
}
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
if (depth< m_distance)