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Preparation to add signed distance field collision detection.

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btMiniSDF is based on https://github.com/InteractiveComputerGraphics/Discregrid
This commit is contained in:
erwincoumans
2018-04-08 21:10:03 -07:00
parent 380e59be6a
commit 698836d54e
7 changed files with 858 additions and 14 deletions
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79
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -27,6 +27,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
@@ -202,26 +203,78 @@ void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjec
if (triBodyWrap->getCollisionShape()->isConcave())
{
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
if (convexBodyWrap->getCollisionShape()->isConvex())
if (triBodyWrap->getCollisionShape()->getShapeType()==SDF_SHAPE_PROXYTYPE)
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
if (convexBodyWrap->getCollisionShape()->isConvex())
{
btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
btAlignedObjectArray<btVector3> queryVertices;
if (convex->isPolyhedral())
{
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*) convex;
for (int v=0;v<poly->getNumVertices();v++)
{
btVector3 vtx;
poly->getVertex(v,vtx);
queryVertices.push_back(vtx);
}
}
if (convex->getShapeType()==SPHERE_SHAPE_PROXYTYPE)
{
queryVertices.push_back(btVector3(0,0,0));
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
}
if (queryVertices.size())
{
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
//m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*) convex;
for (int v=0;v<queryVertices.size();v++)
{
const btVector3& vtx = queryVertices[v];
btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform()*vtx;
btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
btVector3 normalLocal;
btScalar dist;
if (sdfShape->queryPoint(vtxInSdf,dist, normalLocal))
{
if (dist<=SIMD_EPSILON)
{
normalLocal.safeNormalize();
btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal;
resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist);
}
}
}
resultOut->refreshContactPoints();
}
}
} else
{
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
if (convexBodyWrap->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
resultOut->refreshContactPoints();
m_btConvexTriangleCallback.clearWrapperData();
m_btConvexTriangleCallback.clearWrapperData();
}
}
}