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Merge pull request #609 from AndrewMeadows/ccd-fix-4

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optimize CCD against btCompoundShapes with dynamicAabbTree
This commit is contained in:
erwincoumans
2016-04-30 11:22:36 -07:00
parent f646ea8f31 8d970e5c04
commit 5351b20f9d
1 changed files with 97 additions and 31 deletions
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128
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -790,23 +790,50 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
}
}
} else {
///@todo : use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
BT_PROFILE("convexSweepCompound");
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->getNumChildShapes();i++)
struct btCompoundLeafCallback : btDbvt::ICollide
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
struct LocalInfoAdder : public ConvexResultCallback {
ConvexResultCallback* m_userCallback;
btCompoundLeafCallback(
const btCollisionObjectWrapper* colObjWrap,
const btConvexShape* castShape,
const btTransform& convexFromTrans,
const btTransform& convexToTrans,
btScalar allowedPenetration,
const btCompoundShape* compoundShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback)
:
m_colObjWrap(colObjWrap),
m_castShape(castShape),
m_convexFromTrans(convexFromTrans),
m_convexToTrans(convexToTrans),
m_allowedPenetration(allowedPenetration),
m_compoundShape(compoundShape),
m_colObjWorldTransform(colObjWorldTransform),
m_resultCallback(resultCallback) {
}
const btCollisionObjectWrapper* m_colObjWrap;
const btConvexShape* m_castShape;
const btTransform& m_convexFromTrans;
const btTransform& m_convexToTrans;
btScalar m_allowedPenetration;
const btCompoundShape* m_compoundShape;
const btTransform& m_colObjWorldTransform;
ConvexResultCallback& m_resultCallback;
public:
void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
{
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
struct LocalInfoAdder : public ConvexResultCallback {
ConvexResultCallback* m_userCallback;
int m_i;
LocalInfoAdder (int i, ConvexResultCallback *user)
LocalInfoAdder(int i, ConvexResultCallback *user)
: m_userCallback(user), m_i(i)
{
m_closestHitFraction = m_userCallback->m_closestHitFraction;
@@ -815,27 +842,66 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
{
return m_userCallback->needsCollision(p);
}
virtual btScalar addSingleResult (btCollisionWorld::LocalConvexResult& r, bool b)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = -1;
shapeInfo.m_triangleIndex = m_i;
if (r.m_localShapeInfo == NULL)
r.m_localShapeInfo = &shapeInfo;
const btScalar result = m_userCallback->addSingleResult(r, b);
m_closestHitFraction = m_userCallback->m_closestHitFraction;
return result;
}
};
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = -1;
shapeInfo.m_triangleIndex = m_i;
if (r.m_localShapeInfo == NULL)
r.m_localShapeInfo = &shapeInfo;
const btScalar result = m_userCallback->addSingleResult(r, b);
m_closestHitFraction = m_userCallback->m_closestHitFraction;
return result;
LocalInfoAdder my_cb(i, &resultCallback);
btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i);
}
};
objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
&tmpObj,my_cb, allowedPenetration);
LocalInfoAdder my_cb(index, &m_resultCallback);
btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
}
void Process(const btDbvtNode* leaf)
{
// Processing leaf node
int index = leaf->dataAsInt;
btTransform childTrans = m_compoundShape->getChildTransform(index);
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
ProcessChild(index, childTrans, childCollisionShape);
}
};
BT_PROFILE("convexSweepCompound");
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
btVector3 fromLocalAabbMin, fromLocalAabbMax;
btVector3 toLocalAabbMin, toLocalAabbMax;
castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
fromLocalAabbMin.setMin(toLocalAabbMin);
fromLocalAabbMax.setMax(toLocalAabbMax);
btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
const btDbvt* tree = compoundShape->getDynamicAabbTree();
if (tree) {
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
tree->collideTV(tree->m_root, bounds, callback);
} else {
int i;
for (i=0;i<compoundShape->getNumChildShapes();i++)
{
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childTrans = compoundShape->getChildTransform(i);
callback.ProcessChild(i, childTrans, childCollisionShape);
}
}
}
}