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refactoring of TriangleMeshShape, introduced ConcaveShape, which allows for StaticPlaneShape and future landscape/heightfield shape

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This commit is contained in:
ejcoumans
2006-07-03 22:41:19 +00:00
parent e190b3cb79
commit 62593f8b99
14 changed files with 277 additions and 61 deletions
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17
Bullet/CollisionDispatch/ConvexConcaveCollisionAlgorithm.cpp
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@@ -19,11 +19,10 @@ subject to the following restrictions:
#include "CollisionShapes/MultiSphereShape.h"
#include "ConvexConvexAlgorithm.h"
#include "BroadphaseCollision/BroadphaseProxy.h"
#include "CollisionShapes/TriangleShape.h"
#include "CollisionShapes/ConcaveShape.h"
#include "CollisionDispatch/ManifoldResult.h"
#include "NarrowPhaseCollision/RaycastCallback.h"
#include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleShape.h"
ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
@@ -142,7 +141,7 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
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)
if (triBody->m_collisionShape->IsConcave())
{
if (!m_dispatcher->NeedsCollision(m_convex,m_concave))
@@ -151,11 +150,11 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
CollisionObject* triOb = static_cast<CollisionObject*>(m_concave.m_clientObject);
TriangleMeshShape* triangleMesh = static_cast<TriangleMeshShape*>( triOb->m_collisionShape);
ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->m_collisionShape);
if (convexBody->m_collisionShape->IsConvex())
{
float collisionMarginTriangle = triangleMesh->GetMargin();
float collisionMarginTriangle = concaveShape->GetMargin();
m_ConvexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
@@ -165,7 +164,7 @@ void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,Broadp
m_ConvexTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
triangleMesh->ProcessAllTriangles( &m_ConvexTriangleCallback,m_ConvexTriangleCallback.GetAabbMin(),m_ConvexTriangleCallback.GetAabbMax());
concaveShape->ProcessAllTriangles( &m_ConvexTriangleCallback,m_ConvexTriangleCallback.GetAabbMin(),m_ConvexTriangleCallback.GetAabbMax());
}
@@ -210,12 +209,12 @@ float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,B
SimdVector3 aabbMin (-1e30f,-1e30f,-1e30f);
SimdVector3 aabbMax (SIMD_INFINITY,SIMD_INFINITY,SIMD_INFINITY);
if (triBody->m_collisionShape->GetShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
if (triBody->m_collisionShape->IsConcave())
{
CollisionObject* concavebody = (CollisionObject* )m_concave.m_clientObject;
TriangleMeshShape* triangleMesh = (TriangleMeshShape*) concavebody->m_collisionShape;
ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->m_collisionShape;
if (triangleMesh)
{