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Apple contribution for OSX SSE and iOS NEON optimizations unit tests, thanks to Jordan Hubbard, Ian Ollmann and Hristo Hristov.

Browse Source 
For OSX:
cd build
./premake_osx xcode4
for iOS:
cd build
./ios_build.sh
./ios_run.sh

Also integrated the branches/StackAllocation to make it easier to multi-thread collision detection in the near future. It avoids changing the btCollisionObject while performing collision detection.

As this is a large patch, some stuff might be temporarily broken, I'll keep an eye out on issues.
This commit is contained in:
erwin.coumans
2012-06-07 00:56:30 +00:00
parent 777b92a2ad
commit 73b217fb07
323 changed files with 30730 additions and 13635 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
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@@ -23,6 +23,7 @@ struct btBroadphaseProxy;
class btDispatcher;
class btManifoldResult;
class btCollisionObject;
struct btCollisionObjectWrapper;
struct btDispatcherInfo;
class btPersistentManifold;
@@ -69,7 +70,7 @@ public:
virtual ~btCollisionAlgorithm() {};
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;

19
src/BulletCollision/BroadphaseCollision/btDbvt.h
View File

@@ -57,7 +57,7 @@ subject to the following restrictions:
// Specific methods implementation
//SSE gives errors on a MSVC 7.1
#if defined (BT_USE_SSE) && defined (_WIN32)
#if defined (BT_USE_SSE) //&& defined (_WIN32)
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE
@@ -160,6 +160,10 @@ struct btDbvtAabbMm
btDbvtAabbMm& r);
DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE btVector3& tMins() { return(mi); }
DBVT_INLINE btVector3& tMaxs() { return(mx); }
private:
DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
private:
@@ -320,7 +324,7 @@ struct btDbvt
DBVT_PREFIX
void collideTV( const btDbvtNode* root,
const btDbvtVolume& volume,
DBVT_IPOLICY);
DBVT_IPOLICY) const;
///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
DBVT_PREFIX
@@ -519,7 +523,11 @@ DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
#if DBVT_INT0_IMPL == DBVT_IMPL_SSE
const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
#if defined (_WIN32)
const __int32* pu((const __int32*)&rt);
#else
const int* pu((const int*)&rt);
#endif
return((pu[0]|pu[1]|pu[2])==0);
#else
return( (a.mi.x()<=b.mx.x())&&
@@ -568,7 +576,12 @@ DBVT_INLINE int Select( const btDbvtAabbMm& o,
const btDbvtAabbMm& b)
{
#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE
#if defined (_WIN32)
static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
#else
static ATTRIBUTE_ALIGNED16(const unsigned int) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/};
#endif
///@todo: the intrinsic version is 11% slower
#if DBVT_USE_INTRINSIC_SSE
@@ -908,7 +921,7 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
DBVT_PREFIX
inline void btDbvt::collideTV( const btDbvtNode* root,
const btDbvtVolume& vol,
DBVT_IPOLICY)
DBVT_IPOLICY) const
{
DBVT_CHECKTYPE
if(root)

10
src/BulletCollision/BroadphaseCollision/btDispatcher.h
View File

@@ -22,7 +22,7 @@ struct btBroadphaseProxy;
class btRigidBody;
class btCollisionObject;
class btOverlappingPairCache;
struct btCollisionObjectWrapper;
class btPersistentManifold;
class btStackAlloc;
@@ -76,17 +76,17 @@ class btDispatcher
public:
virtual ~btDispatcher() ;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0;
virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0;
virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
virtual void releaseManifold(btPersistentManifold* manifold)=0;
virtual void clearManifold(btPersistentManifold* manifold)=0;
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0;

4
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
View File

@@ -78,8 +78,10 @@ ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
int getTriangleIndex() const
{
btAssert(isLeafNode());
unsigned int x=0;
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
// Get only the lower bits where the triangle index is stored
return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
return (m_escapeIndexOrTriangleIndex&~(y));
}
int getPartId() const
{

1
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
View File

@@ -158,7 +158,6 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
depth = -(radius-distance);
} else
{
btScalar distance = 0.f;
resultNormal = normal;
point = contactPoint;
depth = -radius;

2
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
View File

@@ -24,7 +24,7 @@ btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisio
//m_colObj1(0)
{
}
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1)
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* )
:btCollisionAlgorithm(ci)
//,
//m_colObj0(0),

2
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
View File

@@ -28,7 +28,7 @@ public:
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btActivatingCollisionAlgorithm();

44
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
View File

@@ -22,17 +22,18 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#define USE_PERSISTENT_CONTACTS 1
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btActivatingCollisionAlgorithm(ci,obj0,obj1),
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -52,19 +53,18 @@ btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
//#include <stdio.h>
void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
resultOut->setPersistentManifold(m_manifoldPtr);
b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
@@ -151,15 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
for (int i = 0; i < count2; ++i)
{
btScalar dot = b2Dot(vertices2[i], normal1);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
if( count2 > 0 )
index = (int) normal1.minDot( vertices2, count2, minDot);
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -181,16 +174,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
btScalar maxDot = -BT_LARGE_FLOAT;
for (int i = 0; i < count1; ++i)
{
btScalar dot = b2Dot(normals1[i], dLocal1);
if (dot > maxDot)
{
maxDot = dot;
edge = i;
}
}
btScalar maxDot;
if( count1 > 0 )
edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
// Get the separation for the edge normal.
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);

8
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
View File

@@ -33,11 +33,11 @@ public:
btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btBox2dBox2dCollisionAlgorithm();
@@ -52,11 +52,11 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
}
};

23
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
View File

@@ -18,17 +18,17 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btBoxBoxDetector.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#define USE_PERSISTENT_CONTACTS 1
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btActivatingCollisionAlgorithm(ci,obj0,obj1),
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -42,15 +42,14 @@ btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
}
}
void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
@@ -62,8 +61,8 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
btBoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);

8
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
View File

@@ -33,11 +33,11 @@ public:
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btBoxBoxCollisionAlgorithm();
@@ -52,11 +52,11 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
}
};

2
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
View File

@@ -24,7 +24,7 @@ subject to the following restrictions:
#include <float.h>
#include <string.h>
btBoxBoxDetector::btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2)
btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2)
: m_box1(box1),
m_box2(box2)
{

6
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
View File

@@ -28,12 +28,12 @@ class btBoxShape;
/// re-distributed under the Zlib license with permission from Russell L. Smith
struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
{
btBoxShape* m_box1;
btBoxShape* m_box2;
const btBoxShape* m_box1;
const btBoxShape* m_box2;
public:
btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2);
virtual ~btBoxBoxDetector() {};

8
src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
class btCollisionAlgorithm;
class btCollisionObject;
struct btCollisionObjectWrapper;
struct btCollisionAlgorithmConstructionInfo;
///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
@@ -33,11 +33,11 @@ struct btCollisionAlgorithmCreateFunc
}
virtual ~btCollisionAlgorithmCreateFunc(){};
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
return 0;
}
};

24
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View File

@@ -25,6 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btPoolAllocator.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
int gNumManifold = 0;
@@ -67,15 +68,13 @@ btCollisionDispatcher::~btCollisionDispatcher()
{
}
btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1)
{
gNumManifold++;
//btAssert(gNumManifold < 65535);
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
@@ -143,14 +142,14 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold)
{
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = this;
ci.m_manifold = sharedManifold;
btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
btCollisionAlgorithm* algo = m_doubleDispatch[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0Wrap,body1Wrap);
return algo;
}
@@ -158,7 +157,7 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)
{
//here you can do filtering
bool hasResponse =
@@ -169,7 +168,7 @@ bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
return hasResponse;
}
bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1)
{
btAssert(body0);
btAssert(body1);
@@ -259,20 +258,25 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair,
if (dispatcher.needsCollision(colObj0,colObj1))
{
btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)

9
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
View File

@@ -108,19 +108,18 @@ public:
virtual ~btCollisionDispatcher();
virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
virtual void releaseManifold(btPersistentManifold* manifold);
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0);
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;

8
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -46,18 +46,18 @@ btCollisionObject::~btCollisionObject()
{
}
void btCollisionObject::setActivationState(int newState)
void btCollisionObject::setActivationState(int newState) const
{
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
m_activationState1 = newState;
}
void btCollisionObject::forceActivationState(int newState)
void btCollisionObject::forceActivationState(int newState) const
{
m_activationState1 = newState;
}
void btCollisionObject::activate(bool forceActivation)
void btCollisionObject::activate(bool forceActivation) const
{
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
@@ -85,7 +85,6 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
dataOut->m_islandTag1 = m_islandTag1;
dataOut->m_companionId = m_companionId;
dataOut->m_activationState1 = m_activationState1;
dataOut->m_activationState1 = m_activationState1;
dataOut->m_deactivationTime = m_deactivationTime;
dataOut->m_friction = m_friction;
dataOut->m_restitution = m_restitution;
@@ -100,7 +99,6 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
dataOut->m_hitFraction = m_hitFraction;
dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_checkCollideWith = m_checkCollideWith;
return btCollisionObjectDataName;

31
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -80,8 +80,8 @@ protected:
int m_islandTag1;
int m_companionId;
int m_activationState1;
btScalar m_deactivationTime;
mutable int m_activationState1;
mutable btScalar m_deactivationTime;
btScalar m_friction;
btScalar m_restitution;
@@ -105,7 +105,7 @@ protected:
/// If some object should have elaborate collision filtering by sub-classes
int m_checkCollideWith;
virtual bool checkCollideWithOverride(btCollisionObject* /* co */)
virtual bool checkCollideWithOverride(const btCollisionObject* /* co */) const
{
return true;
}
@@ -207,22 +207,9 @@ public:
return m_collisionShape;
}
SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const
{
return m_rootCollisionShape;
}
SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape()
{
return m_rootCollisionShape;
}
///Avoid using this internal API call
///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
void internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
{
m_collisionShape = collisionShape;
}
///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
@@ -239,7 +226,7 @@ public:
SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;}
void setActivationState(int newState);
void setActivationState(int newState) const;
void setDeactivationTime(btScalar time)
{
@@ -250,9 +237,9 @@ public:
return m_deactivationTime;
}
void forceActivationState(int newState);
void forceActivationState(int newState) const;
void activate(bool forceActivation = false);
void activate(bool forceActivation = false) const;
SIMD_FORCE_INLINE bool isActive() const
{
@@ -433,7 +420,7 @@ public:
}
inline bool checkCollideWith(btCollisionObject* co)
inline bool checkCollideWith(const btCollisionObject* co) const
{
if (m_checkCollideWith)
return checkCollideWithOverride(co);

40
src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h Normal file
View File

@@ -0,0 +1,40 @@
#ifndef BT_COLLISION_OBJECT_WRAPPER_H
#define BT_COLLISION_OBJECT_WRAPPER_H
///btCollisionObjectWrapperis an internal data structure.
///Most users can ignore this and use btCollisionObject and btCollisionShape instead
class btCollisionShape;
class btCollisionObject;
class btTransform;
#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition
#define BT_DECLARE_STACK_ONLY_OBJECT \
private: \
void* operator new(size_t size); \
void operator delete(void*);
struct btCollisionObjectWrapper;
struct btCollisionObjectWrapper
{
BT_DECLARE_STACK_ONLY_OBJECT
private:
btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed.
btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
public:
const btCollisionObjectWrapper* m_parent;
const btCollisionShape* m_shape;
const btCollisionObject* m_collisionObject;
const btTransform& m_worldTransform;
btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform)
{}
SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
};
#endif //BT_COLLISION_OBJECT_WRAPPER_H

130
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -34,6 +34,7 @@ subject to the following restrictions:
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
@@ -260,16 +261,25 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
}
void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform);
btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
}
void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
const btCollisionObjectWrapper* collisionObjectWrap,
RayResultCallback& resultCallback)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
const btConvexShape* castShape = &pointShape;
const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
if (collisionShape->isConvex())
{
@@ -302,7 +312,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
collisionObject,
collisionObjectWrap->getCollisionObject(),
0,
castResult.m_normal,
castResult.m_fraction
@@ -330,13 +340,13 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
@@ -367,7 +377,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
@@ -385,13 +395,13 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
@@ -423,7 +433,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
@@ -468,14 +478,14 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
struct RayTester : btDbvt::ICollide
{
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
const btCompoundShape* m_compoundShape;
const btTransform& m_colObjWorldTransform;
const btTransform& m_rayFromTrans;
const btTransform& m_rayToTrans;
RayResultCallback& m_resultCallback;
RayTester(btCollisionObject* collisionObject,
RayTester(const btCollisionObject* collisionObject,
const btCompoundShape* compoundShape,
const btTransform& colObjWorldTransform,
const btTransform& rayFromTrans,
@@ -497,22 +507,19 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
const btTransform& childTrans = m_compoundShape->getChildTransform(i);
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans);
// replace collision shape so that callback can determine the triangle
btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();
m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
LocalInfoAdder2 my_cb(i, &m_resultCallback);
rayTestSingle(
rayTestSingleInternal(
m_rayFromTrans,
m_rayToTrans,
m_collisionObject,
childCollisionShape,
childWorldTrans,
&tmpOb,
my_cb);
// restore
m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
}
void Process(const btDbvtNode* leaf)
@@ -526,7 +533,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
RayTester rayCB(
collisionObject,
collisionObjectWrap->getCollisionObject(),
compoundShape,
colObjWorldTransform,
rayFromTrans,
@@ -558,6 +565,17 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform);
btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
}
void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
const btCollisionObjectWrapper* colObjWrap,
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
if (collisionShape->isConvex())
{
//BT_PROFILE("convexSweepConvex");
@@ -587,7 +605,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
collisionObject,
colObjWrap->getCollisionObject(),
0,
castResult.m_normal,
castResult.m_hitPoint,
@@ -617,11 +635,11 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
@@ -655,7 +673,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
@@ -682,7 +700,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
collisionObject,
colObjWrap->getCollisionObject(),
0,
castResult.m_normal,
castResult.m_hitPoint,
@@ -709,11 +727,11 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
@@ -746,7 +764,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
@@ -773,9 +791,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
// replace collision shape so that callback can determine the triangle
btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();
collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);
struct LocalInfoAdder : public ConvexResultCallback {
ConvexResultCallback* m_userCallback;
int m_i;
@@ -805,14 +821,11 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
LocalInfoAdder my_cb(i, &resultCallback);
btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans);
objectQuerySingle(castShape, convexFromTrans,convexToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
my_cb, allowedPenetration);
// restore
collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);
objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
&tmpObj,my_cb, allowedPenetration);
}
}
}
@@ -993,13 +1006,13 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
/* Compute AABB that encompasses angular movement */
{
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
btVector3 zeroLinVel;
zeroLinVel.setValue(0,0,0);
btTransform R;
R.setIdentity ();
R.setRotation (convexFromTrans.getRotation());
castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
}
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
@@ -1044,26 +1057,26 @@ struct btBridgedManifoldResult : public btManifoldResult
btCollisionWorld::ContactResultCallback& m_resultCallback;
btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )
:btManifoldResult(obj0,obj1),
btBridgedManifoldResult( const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap,btCollisionWorld::ContactResultCallback& resultCallback )
:btManifoldResult(obj0Wrap,obj1Wrap),
m_resultCallback(resultCallback)
{
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA;
btVector3 localB;
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -1086,9 +1099,9 @@ struct btBridgedManifoldResult : public btManifoldResult
}
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
m_resultCallback.addSingleResult(newPt,obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
}
@@ -1120,12 +1133,16 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
//only perform raycast if filterMask matches
if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);
btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform());
btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform());
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
if (algorithm)
{
btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);
btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback);
//discrete collision detection query
algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);
algorithm->processCollision(&ob0,&ob1, m_world->getDispatchInfo(),&contactPointResult);
algorithm->~btCollisionAlgorithm();
m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
@@ -1152,12 +1169,15 @@ void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
///it reports one or more contact points (including the one with deepest penetration)
void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
{
btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);
btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform());
btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform());
btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
if (algorithm)
{
btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);
btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback);
//discrete collision detection query
algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);
algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult);
algorithm->~btCollisionAlgorithm();
getDispatcher()->freeCollisionAlgorithm(algorithm);

24
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -173,7 +173,7 @@ public:
struct LocalRayResult
{
LocalRayResult(btCollisionObject* collisionObject,
LocalRayResult(const btCollisionObject* collisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
btScalar hitFraction)
@@ -184,7 +184,7 @@ public:
{
}
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btScalar m_hitFraction;
@@ -195,7 +195,7 @@ public:
struct RayResultCallback
{
btScalar m_closestHitFraction;
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
@@ -272,7 +272,7 @@ public:
{
}
btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
btAlignedObjectArray<const btCollisionObject*> m_collisionObjects;
btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_rayToWorld;
@@ -306,7 +306,7 @@ public:
struct LocalConvexResult
{
LocalConvexResult(btCollisionObject* hitCollisionObject,
LocalConvexResult(const btCollisionObject* hitCollisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
const btVector3& hitPointLocal,
@@ -320,7 +320,7 @@ public:
{
}
btCollisionObject* m_hitCollisionObject;
const btCollisionObject* m_hitCollisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btVector3 m_hitPointLocal;
@@ -376,7 +376,7 @@ public:
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
const btCollisionObject* m_hitCollisionObject;
virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
@@ -421,7 +421,7 @@ public:
return collides;
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0;
};
@@ -457,6 +457,10 @@ public:
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback);
static void rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
const btCollisionObjectWrapper* collisionObjectWrap,
RayResultCallback& resultCallback);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
@@ -464,6 +468,10 @@ public:
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
static void objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
const btCollisionObjectWrapper* colObjWrap,
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
btCollisionObjectArray& getCollisionObjectArray()

140
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View File

@@ -20,30 +20,32 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btAabbUtil2.h"
#include "btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0,body1),
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
m_sharedManifold(ci.m_manifold)
{
m_ownsManifold = false;
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btAssert (colObj->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
btAssert (colObjWrap->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
m_compoundShapeRevision = compoundShape->getUpdateRevision();
preallocateChildAlgorithms(body0,body1);
preallocateChildAlgorithms(body0Wrap,body1Wrap);
}
void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
btAssert (colObj->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btAssert (colObjWrap->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
int numChildren = compoundShape->getNumChildShapes();
int i;
@@ -56,11 +58,11 @@ void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject*
m_childCollisionAlgorithms[i] = 0;
} else
{
btCollisionShape* tmpShape = colObj->getCollisionShape();
btCollisionShape* childShape = compoundShape->getChildShape(i);
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
colObj->internalSetTemporaryCollisionShape( tmpShape );
const btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform());//wrong child trans, but unused (hopefully)
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold);
}
}
}
@@ -92,19 +94,16 @@ struct btCompoundLeafCallback : btDbvt::ICollide
public:
btCollisionObject* m_compoundColObj;
btCollisionObject* m_otherObj;
const btCollisionObjectWrapper* m_compoundColObjWrap;
const btCollisionObjectWrapper* m_otherObjWrap;
btDispatcher* m_dispatcher;
const btDispatcherInfo& m_dispatchInfo;
btManifoldResult* m_resultOut;
btCollisionAlgorithm** m_childCollisionAlgorithms;
btPersistentManifold* m_sharedManifold;
btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
:m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
:m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithms(childCollisionAlgorithms),
m_sharedManifold(sharedManifold)
{
@@ -112,70 +111,81 @@ public:
}
void ProcessChildShape(btCollisionShape* childShape,int index)
void ProcessChildShape(const btCollisionShape* childShape,int index)
{
btAssert(index>=0);
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btAssert(index<compoundShape->getNumChildShapes());
//backup
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
m_compoundColObj->setWorldTransform( newChildWorldTrans);
m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap,m_otherObjWrap,m_sharedManifold);
const btCollisionObjectWrapper* tmpWrap = 0;
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj)
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&compoundWrap);
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&compoundWrap);
m_resultOut->setShapeIdentifiersB(-1,index);
}
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
m_childCollisionAlgorithms[index]->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
}
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
} else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
//revert back transform
m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
m_compoundColObj->setWorldTransform( orgTrans );
m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
}
void Process(const btDbvtNode* leaf)
{
int index = leaf->dataAsInt;
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
btCollisionShape* childShape = compoundShape->getChildShape(index);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
const btCollisionShape* childShape = compoundShape->getChildShape(index);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
}
@@ -189,15 +199,13 @@ public:
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btAssert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
btAssert (colObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
@@ -206,13 +214,13 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
///clear and update all
removeChildAlgorithms();
preallocateChildAlgorithms(body0,body1);
preallocateChildAlgorithms(body0Wrap,body1Wrap);
}
btDbvt* tree = compoundShape->getDynamicAabbTree();
const btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
@@ -244,8 +252,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btVector3 localAabbMin,localAabbMax;
btTransform otherInCompoundSpace;
otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform();
otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds
@@ -267,7 +275,7 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
btCollisionShape* childShape = 0;
const btCollisionShape* childShape = 0;
btTransform orgTrans;
btTransform orgInterpolationTrans;
btTransform newChildWorldTrans;
@@ -279,14 +287,14 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
{
childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
orgTrans = colObj->getWorldTransform();
orgInterpolationTrans = colObj->getInterpolationWorldTransform();
orgTrans = colObjWrap->getWorldTransform();
orgInterpolationTrans = colObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
@@ -301,7 +309,8 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
@@ -324,8 +333,7 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
btScalar frac;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
orgTrans = colObj->getWorldTransform();
@@ -334,15 +342,15 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
//btCollisionShape* tmpShape = colObj->getCollisionShape();
//colObj->internalSetTemporaryCollisionShape( childShape );
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->internalSetTemporaryCollisionShape( tmpShape);
//colObj->internalSetTemporaryCollisionShape( tmpShape);
colObj->setWorldTransform( orgTrans);
}
return hitFraction;

14
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View File

@@ -41,15 +41,15 @@ class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
void removeChildAlgorithms();
void preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
public:
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btCompoundCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -65,19 +65,19 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};

22
src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
View File

@@ -43,7 +43,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
@@ -57,8 +57,8 @@ btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
@@ -67,8 +67,8 @@ m_lowLevelOfDetail(false),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
}
@@ -96,13 +96,13 @@ extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -111,8 +111,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
@@ -133,8 +133,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);

8
src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
View File

@@ -45,12 +45,12 @@ class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
public:
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
virtual ~btConvex2dConvex2dAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -82,10 +82,10 @@ public:
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
};

79
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@@ -25,11 +25,12 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0,body1),
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
{
}
@@ -46,17 +47,17 @@ void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&
}
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
m_convexBody = isSwapped? body1:body0;
m_triBody = isSwapped? body0:body1;
m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap;
m_triBodyWrap = isSwapped? body0Wrap:body1Wrap;
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject());
clearCache();
}
@@ -88,7 +89,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
#if 0
@@ -103,46 +104,63 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
}
#endif
if (m_convexBody->getCollisionShape()->isConvex())
if (m_convexBodyWrap->getCollisionShape()->isConvex())
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform());//correct transform?
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
const btCollisionObjectWrapper* tmpWrap = 0;
if (m_resultOut->getBody0Internal() == m_triBody)
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
}
else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
}
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
} else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->internalSetTemporaryCollisionShape( tmpShape);
}
}
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
{
m_convexBodyWrap = convexBodyWrap;
m_triBodyWrap = triBodyWrap;
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
m_resultOut = resultOut;
//recalc aabbs
btTransform convexInTriangleSpace;
convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
btScalar extraMargin = collisionMarginTriangle;
@@ -159,35 +177,34 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
}
void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
if (triBody->getCollisionShape()->isConcave())
if (triBodyWrap->getCollisionShape()->isConcave())
{
btCollisionObject* triOb = triBody;
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
if (convexBody->getCollisionShape()->isConvex())
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,resultOut);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
m_btConvexTriangleCallback.clearWrapperData();
}

25
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
View File

@@ -28,8 +28,8 @@ class btDispatcher;
///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
class btConvexTriangleCallback : public btTriangleCallback
{
btCollisionObject* m_convexBody;
btCollisionObject* m_triBody;
const btCollisionObjectWrapper* m_convexBodyWrap;
const btCollisionObjectWrapper* m_triBodyWrap;
btVector3 m_aabbMin;
btVector3 m_aabbMax ;
@@ -45,10 +45,15 @@ int m_triangleCount;
btPersistentManifold* m_manifoldPtr;
btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
void clearWrapperData()
{
m_convexBodyWrap = 0;
m_triBodyWrap = 0;
}
virtual ~btConvexTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
@@ -81,11 +86,11 @@ class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
public:
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btConvexConcaveCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -95,19 +100,19 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};

52
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -52,7 +52,7 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
///////////
@@ -191,8 +191,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
@@ -205,8 +205,8 @@ m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngu
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
}
@@ -289,13 +289,13 @@ extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -304,8 +304,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
@@ -321,7 +321,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
body0->getWorldTransform(),body1->getWorldTransform(),threshold);
body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
if (dist<threshold)
{
@@ -374,8 +374,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
@@ -429,8 +429,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace);
} else
{
@@ -460,8 +460,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(), minDist-threshold, threshold, *resultOut);
}
if (m_ownManifold)
@@ -478,9 +478,9 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btVertexArray vertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[2]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
@@ -496,8 +496,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
polyhedronB->initializePolyhedralFeatures();
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0->getWorldTransform(),
body1->getWorldTransform(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
@@ -525,7 +525,7 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
if (foundSepAxis)
{
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
body0Wrap->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
}
@@ -599,15 +599,15 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
input.m_transformB = body1Wrap->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif

9
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
View File

@@ -59,12 +59,11 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
public:
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
virtual ~btConvexConvexAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -96,10 +95,10 @@ public:
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
};

51
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
View File

@@ -19,10 +19,11 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
@@ -30,12 +31,12 @@ m_isSwapped(isSwapped),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
btCollisionObject* convexObj = m_isSwapped? col1 : col0;
btCollisionObject* planeObj = m_isSwapped? col0 : col1;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -50,25 +51,25 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
}
}
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = convexObj->getWorldTransform();
btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
//now perturbe the convex-world transform
convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
@@ -76,53 +77,53 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
@@ -148,7 +149,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
{
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(planeNormal,iterationAngle);
collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
}
}

12
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
View File

@@ -36,13 +36,13 @@ class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
public:
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
virtual ~btConvexPlaneCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -65,15 +65,15 @@ public:
{
}
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
} else
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
}
};

2
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
View File

@@ -22,7 +22,7 @@ btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& c
{
}
void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
void btEmptyAlgorithm::processCollision (const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ,const btDispatcherInfo& ,btManifoldResult* )
{
}

2
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
View File

@@ -30,7 +30,7 @@ public:
btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

38
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
View File

@@ -6,7 +6,7 @@
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#define DEBUG_INTERNAL_EDGE
@@ -450,18 +450,18 @@ bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const b
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags)
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = 0;
if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
else
trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
@@ -476,7 +476,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape());
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
btVector3 v0,v1,v2;
tri_shape->getVertex(0,v0);
tri_shape->getVertex(1,v1);
@@ -505,7 +505,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
int numConcaveEdgeHits = 0;
int numConvexEdgeHits = 0;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
// Get closest edge
@@ -613,12 +613,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal. (what about cp.m_distance1?)
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
@@ -694,19 +694,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
else
{
numConvexEdgeHits++;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
@@ -779,19 +779,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
// printf("hitting convex edge\n");
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal;
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
@@ -820,7 +820,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
{
tri_normal *= -1;
}
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
} else
{
btVector3 newNormal = tri_normal *frontFacing;
@@ -831,12 +831,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject*
return;
}
//modify the normal to be the triangle normal (or backfacing normal)
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
}
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}

3
src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
View File

@@ -12,6 +12,7 @@
class btBvhTriangleMeshShape;
class btCollisionObject;
struct btCollisionObjectWrapper;
class btManifoldPoint;
class btIDebugDraw;
@@ -31,7 +32,7 @@ void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangle
///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
///If this info map is missing, or the triangle is not store in this map, nothing will be done
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* trimeshColObj0,const btCollisionObject* otherColObj1, int partId0, int index0, int normalAdjustFlags = 0);
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap,const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap

34
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
View File

@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
@@ -43,10 +43,10 @@ inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,cons
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
m_body0Wrap(body0Wrap),
m_body1Wrap(body1Wrap)
#ifdef DEBUG_PART_INDEX
,m_partId0(-1),
m_partId1(-1),
@@ -54,8 +54,6 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
m_index1(-1)
#endif //DEBUG_PART_INDEX
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
}
@@ -68,7 +66,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
// if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
@@ -77,12 +75,12 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@@ -91,8 +89,8 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
//BP mod, store contact triangles.
if (isSwapped)
@@ -122,13 +120,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
{
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
}
}

45
src/BulletCollision/CollisionDispatch/btManifoldResult.h
View File

@@ -18,14 +18,18 @@ subject to the following restrictions:
#define BT_MANIFOLD_RESULT_H
class btCollisionObject;
struct btCollisionObjectWrapper;
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btManifoldPoint;
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
//#define DEBUG_PART_INDEX 1
@@ -38,12 +42,8 @@ protected:
btPersistentManifold* m_manifoldPtr;
//we need this for compounds
btTransform m_rootTransA;
btTransform m_rootTransB;
btCollisionObject* m_body0;
btCollisionObject* m_body1;
const btCollisionObjectWrapper* m_body0Wrap;
const btCollisionObjectWrapper* m_body1Wrap;
int m_partId0;
int m_partId1;
int m_index0;
@@ -63,7 +63,7 @@ public:
{
}
btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btManifoldResult() {};
@@ -102,25 +102,44 @@ public:
if (!m_manifoldPtr->getNumContacts())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
if (isSwapped)
{
m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
} else
{
m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
}
}
const btCollisionObjectWrapper* getBody0Wrap() const
{
return m_body0Wrap;
}
const btCollisionObjectWrapper* getBody1Wrap() const
{
return m_body1Wrap;
}
void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
{
m_body0Wrap = obj0Wrap;
}
void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
{
m_body1Wrap = obj1Wrap;
}
const btCollisionObject* getBody0Internal() const
{
return m_body0;
return m_body0Wrap->getCollisionObject();
}
const btCollisionObject* getBody1Internal() const
{
return m_body1;
return m_body1Wrap->getCollisionObject();
}
};

4
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -319,8 +319,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
///@todo: check sleeping conditions!
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||

37
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
View File

@@ -18,20 +18,21 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#include <stdio.h>
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btActivatingCollisionAlgorithm(ci,col0,col1),
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
btCollisionObject* boxObj = m_isSwapped? col0 : col1;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -48,25 +49,25 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
btScalar dist = getSphereDistance(boxObjWrap,pOnBox,pOnSphere,sphereCenter,radius);
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -102,19 +103,19 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
{
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObj->getWorldTransform();
const btTransform& m44T = boxObjWrap->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
@@ -194,7 +195,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
//////////////////////////////////////////////////
// Deep penetration case
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
fPenetration = getSpherePenetration( boxObjWrap,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
@@ -205,7 +206,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* box
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( const btCollisionObjectWrapper* boxObjWrap,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
@@ -227,7 +228,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject*
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObj->getWorldTransform();
const btTransform& m44T = boxObjWrap->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);

14
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
View File

@@ -34,11 +34,11 @@ class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
public:
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
virtual ~btSphereBoxCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -50,21 +50,21 @@ public:
}
}
btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
btScalar getSphereDistance( const btCollisionObjectWrapper* boxObjWrap,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
btScalar getSpherePenetration( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
} else
{
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
}
}
};

17
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
View File

@@ -17,15 +17,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
: btActivatingCollisionAlgorithm(ci,col0,col1),
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -39,7 +40,7 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
}
}
void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
@@ -48,10 +49,10 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
resultOut->setPersistentManifold(m_manifoldPtr);
btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin();
btVector3 diff = col0Wrap->getWorldTransform().getOrigin()- col1Wrap->getWorldTransform().getOrigin();
btScalar len = diff.length();
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
@@ -80,7 +81,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done

8
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
View File

@@ -32,12 +32,12 @@ class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
btPersistentManifold* m_manifoldPtr;
public:
btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap);
btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -53,10 +53,10 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
return new(mem) btSphereSphereCollisionAlgorithm(0,ci,col0Wrap,col1Wrap);
}
};

22
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
View File

@@ -19,17 +19,17 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "SphereTriangleDetector.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
: btActivatingCollisionAlgorithm(ci,col0,col1),
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf),
m_swapped(swapped)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@@ -43,16 +43,16 @@ btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
}
}
void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_swapped? col1 : col0;
btCollisionObject* triObj = m_swapped? col0 : col1;
const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape();
btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape();
btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
@@ -60,8 +60,8 @@ void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* co
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds
input.m_transformA = sphereObj->getWorldTransform();
input.m_transformB = triObj->getWorldTransform();
input.m_transformA = sphereObjWrap->getWorldTransform();
input.m_transformB = triObjWrap->getWorldTransform();
bool swapResults = m_swapped;

8
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
View File

@@ -32,12 +32,12 @@ class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
bool m_swapped;
public:
btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped);
btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -54,12 +54,12 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_swapped);
}
};

4
src/BulletCollision/CollisionShapes/btBox2dShape.h
View File

@@ -23,7 +23,7 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
class btBox2dShape: public btPolyhedralConvexShape
ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
{
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
@@ -34,6 +34,8 @@ class btBox2dShape: public btPolyhedralConvexShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();

4
src/BulletCollision/CollisionShapes/btBoxShape.h
View File

@@ -23,7 +23,7 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
class btBoxShape: public btPolyhedralConvexShape
ATTRIBUTE_ALIGNED16(class) btBoxShape: public btPolyhedralConvexShape
{
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
@@ -31,6 +31,8 @@ class btBoxShape: public btPolyhedralConvexShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();

9
src/BulletCollision/CollisionShapes/btCapsuleShape.h
View File

@@ -23,7 +23,7 @@ subject to the following restrictions:
///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
class btCapsuleShape : public btConvexInternalShape
ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
{
protected:
int m_upAxis;
@@ -33,6 +33,9 @@ protected:
btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
@@ -62,8 +65,8 @@ public:
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
}

4
src/BulletCollision/CollisionShapes/btCollisionShape.h
View File

@@ -24,7 +24,7 @@ class btSerializer;
///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
class btCollisionShape
ATTRIBUTE_ALIGNED16(class) btCollisionShape
{
protected:
int m_shapeType;
@@ -32,6 +32,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCollisionShape() : m_shapeType (INVALID_SHAPE_PROXYTYPE), m_userPointer(0)
{
}

4
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@@ -182,9 +182,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center-extent;
aabbMax = center+extent;

4
src/BulletCollision/CollisionShapes/btConcaveShape.h
View File

@@ -33,12 +33,14 @@ typedef enum PHY_ScalarType {
///The btConcaveShape class provides an interface for non-moving (static) concave shapes.
///It has been implemented by the btStaticPlaneShape, btBvhTriangleMeshShape and btHeightfieldTerrainShape.
class btConcaveShape : public btCollisionShape
ATTRIBUTE_ALIGNED16(class) btConcaveShape : public btCollisionShape
{
protected:
btScalar m_collisionMargin;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConcaveShape();
virtual ~btConcaveShape();

4
src/BulletCollision/CollisionShapes/btConeShape.h
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
class btConeShape : public btConvexInternalShape
ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape
{
@@ -32,6 +32,8 @@ class btConeShape : public btConvexInternalShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConeShape (btScalar radius,btScalar height);
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;

4
src/BulletCollision/CollisionShapes/btConvex2dShape.h
View File

@@ -21,12 +21,14 @@ subject to the following restrictions:
///The btConvex2dShape allows to use arbitrary convex shapes as 2d convex shapes, with the Z component assumed to be 0.
///For 2d boxes, the btBox2dShape is recommended.
class btConvex2dShape : public btConvexShape
ATTRIBUTE_ALIGNED16(class) btConvex2dShape : public btConvexShape
{
btConvexShape* m_childConvexShape;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvex2dShape( btConvexShape* convexChildShape);
virtual ~btConvex2dShape();

49
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
View File

@@ -55,20 +55,17 @@ void btConvexHullShape::addPoint(const btVector3& point)
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
for (int i=0;i<m_unscaledPoints.size();i++)
{
btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
// Here we take advantage of dot(a, b*c) = dot(a*b, c). Note: This is true mathematically, but not numerically.
if( 0 < m_unscaledPoints.size() )
{
btVector3 scaled = vec * m_localScaling;
int index = (int) scaled.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), maxDot); // FIXME: may violate encapsulation of m_unscaledPoints
return m_unscaledPoints[index] * m_localScaling;
}
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
return supVec;
}
void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
@@ -81,23 +78,19 @@ void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_unscaledPoints.size();i++)
{
btVector3 vtx = getScaledPoint(i);
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
supportVerticesOut[j][3] = newDot;
}
}
}
for (int j=0;j<numVectors;j++)
{
btVector3 vec = vectors[j] * m_localScaling; // dot(a*b,c) = dot(a,b*c)
if( 0 < m_unscaledPoints.size() )
{
int i = (int) vec.maxDot( &m_unscaledPoints[0], m_unscaledPoints.size(), newDot);
supportVerticesOut[j] = getScaledPoint(i);
supportVerticesOut[j][3] = newDot;
}
else
supportVerticesOut[j][3] = -BT_LARGE_FLOAT;
}

4
src/BulletCollision/CollisionShapes/btConvexInternalShape.h
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
///Note that when creating small shapes (derived from btConvexInternalShape),
///you need to make sure to set a smaller collision margin, using the 'setMargin' API
///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
class btConvexInternalShape : public btConvexShape
ATTRIBUTE_ALIGNED16(class) btConvexInternalShape : public btConvexShape
{
protected:
@@ -44,7 +44,7 @@ class btConvexInternalShape : public btConvexShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btConvexInternalShape()
{

62
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
View File

@@ -28,7 +28,7 @@ void btConvexPointCloudShape::setLocalScaling(const btVector3& scaling)
btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
btScalar maxDot = btScalar(-BT_LARGE_FLOAT);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
@@ -40,51 +40,33 @@ btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin(const b
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
if( m_numPoints > 0 )
{
// Here we take advantage of dot(a*b, c) = dot( a, b*c) to do less work. Note this transformation is true mathematically, not numerically.
btVector3 scaled = vec * m_localScaling;
int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot); //FIXME: may violate encapsulation of m_unscaledPoints
return getScaledPoint(index);
}
for (int i=0;i<m_numPoints;i++)
{
btVector3 vtx = getScaledPoint(i);
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
btScalar newDot;
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-BT_LARGE_FLOAT);
}
}
for (int i=0;i<m_numPoints;i++)
{
btVector3 vtx = getScaledPoint(i);
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
supportVerticesOut[j][3] = newDot;
}
}
}
for( int j = 0; j < numVectors; j++ )
{
const btVector3& vec = vectors[j] * m_localScaling; // dot( a*c, b) = dot(a, b*c)
btScalar maxDot;
int index = (int) vec.maxDot( &m_unscaledPoints[0], m_numPoints, maxDot);
supportVerticesOut[j][3] = btScalar(-BT_LARGE_FLOAT);
if( 0 <= index )
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = getScaledPoint(index);
supportVerticesOut[j][3] = maxDot;
}
}
}

592
src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
View File

@@ -1,296 +1,296 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btConvexPolyhedron.h"
#include "LinearMath/btHashMap.h"
btConvexPolyhedron::btConvexPolyhedron()
{
}
btConvexPolyhedron::~btConvexPolyhedron()
{
}
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
struct btInternalVertexPair
{
btInternalVertexPair(short int v0,short int v1)
:m_v0(v0),
m_v1(v1)
{
if (m_v1>m_v0)
btSwap(m_v0,m_v1);
}
short int m_v0;
short int m_v1;
int getHash() const
{
return m_v0+(m_v1<<16);
}
bool equals(const btInternalVertexPair& other) const
{
return m_v0==other.m_v0 && m_v1==other.m_v1;
}
};
struct btInternalEdge
{
btInternalEdge()
:m_face0(-1),
m_face1(-1)
{
}
short int m_face0;
short int m_face1;
};
//
#ifdef TEST_INTERNAL_OBJECTS
bool btConvexPolyhedron::testContainment() const
{
for(int p=0;p<8;p++)
{
btVector3 LocalPt;
if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
if(d>0.0f)
return false;
}
}
return true;
}
#endif
void btConvexPolyhedron::initialize()
{
btHashMap<btInternalVertexPair,btInternalEdge> edges;
btScalar TotalArea = 0.0f;
m_localCenter.setValue(0, 0, 0);
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices;
for(int j=0;j<NbTris;j++)
{
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
edge.normalize();
bool found = false;
for (int p=0;p<m_uniqueEdges.size();p++)
{
if (IsAlmostZero(m_uniqueEdges[p]-edge) ||
IsAlmostZero(m_uniqueEdges[p]+edge))
{
found = true;
break;
}
}
if (!found)
{
m_uniqueEdges.push_back(edge);
}
if (edptr)
{
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1<0);
edptr->m_face1 = i;
} else
{
btInternalEdge ed;
ed.m_face0 = i;
edges.insert(vp,ed);
}
}
}
#ifdef USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
m_faces[i].m_connectedFaces.resize(numVertices);
for(int j=0;j<numVertices;j++)
{
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btAssert(edptr);
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1>=0);
int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
m_faces[i].m_connectedFaces[j] = connectedFace;
}
}
#endif//USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices-2;
const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
for(int j=1;j<=NbTris;j++)
{
int k = (j+1)%numVertices;
const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btVector3 Center = (p0+p1+p2)/3.0f;
m_localCenter += Area * Center;
TotalArea += Area;
}
}
m_localCenter /= TotalArea;
#ifdef TEST_INTERNAL_OBJECTS
if(1)
{
m_radius = FLT_MAX;
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
if(dist<m_radius)
m_radius = dist;
}
btScalar MinX = FLT_MAX;
btScalar MinY = FLT_MAX;
btScalar MinZ = FLT_MAX;
btScalar MaxX = -FLT_MAX;
btScalar MaxY = -FLT_MAX;
btScalar MaxZ = -FLT_MAX;
for(int i=0; i<m_vertices.size(); i++)
{
const btVector3& pt = m_vertices[i];
if(pt.x()<MinX) MinX = pt.x();
if(pt.x()>MaxX) MaxX = pt.x();
if(pt.y()<MinY) MinY = pt.y();
if(pt.y()>MaxY) MaxY = pt.y();
if(pt.z()<MinZ) MinZ = pt.z();
if(pt.z()>MaxZ) MaxZ = pt.z();
}
mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
// const btScalar r = m_radius / sqrtf(2.0f);
const btScalar r = m_radius / sqrtf(3.0f);
const int LargestExtent = mE.maxAxis();
const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
bool FoundBox = false;
for(int j=0;j<1024;j++)
{
if(testContainment())
{
FoundBox = true;
break;
}
m_extents[LargestExtent] -= Step;
}
if(!FoundBox)
{
m_extents[0] = m_extents[1] = m_extents[2] = r;
}
else
{
// Refine the box
const btScalar Step = (m_radius - r)/1024.0f;
const int e0 = (1<<LargestExtent) & 3;
const int e1 = (1<<e0) & 3;
for(int j=0;j<1024;j++)
{
const btScalar Saved0 = m_extents[e0];
const btScalar Saved1 = m_extents[e1];
m_extents[e0] += Step;
m_extents[e1] += Step;
if(!testContainment())
{
m_extents[e0] = Saved0;
m_extents[e1] = Saved1;
break;
}
}
}
}
#endif
}
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = m_vertices.size();
for(int i=0;i<numVerts;i++)
{
btVector3 pt = trans * m_vertices[i];
btScalar dp = pt.dot(dir);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
btScalar tmp = min;
min = max;
max = tmp;
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btConvexPolyhedron.h"
#include "LinearMath/btHashMap.h"
btConvexPolyhedron::btConvexPolyhedron()
{
}
btConvexPolyhedron::~btConvexPolyhedron()
{
}
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
struct btInternalVertexPair
{
btInternalVertexPair(short int v0,short int v1)
:m_v0(v0),
m_v1(v1)
{
if (m_v1>m_v0)
btSwap(m_v0,m_v1);
}
short int m_v0;
short int m_v1;
int getHash() const
{
return m_v0+(m_v1<<16);
}
bool equals(const btInternalVertexPair& other) const
{
return m_v0==other.m_v0 && m_v1==other.m_v1;
}
};
struct btInternalEdge
{
btInternalEdge()
:m_face0(-1),
m_face1(-1)
{
}
short int m_face0;
short int m_face1;
};
//
#ifdef TEST_INTERNAL_OBJECTS
bool btConvexPolyhedron::testContainment() const
{
for(int p=0;p<8;p++)
{
btVector3 LocalPt;
if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
if(d>0.0f)
return false;
}
}
return true;
}
#endif
void btConvexPolyhedron::initialize()
{
btHashMap<btInternalVertexPair,btInternalEdge> edges;
btScalar TotalArea = 0.0f;
m_localCenter.setValue(0, 0, 0);
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices;
for(int j=0;j<NbTris;j++)
{
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
edge.normalize();
bool found = false;
for (int p=0;p<m_uniqueEdges.size();p++)
{
if (IsAlmostZero(m_uniqueEdges[p]-edge) ||
IsAlmostZero(m_uniqueEdges[p]+edge))
{
found = true;
break;
}
}
if (!found)
{
m_uniqueEdges.push_back(edge);
}
if (edptr)
{
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1<0);
edptr->m_face1 = i;
} else
{
btInternalEdge ed;
ed.m_face0 = i;
edges.insert(vp,ed);
}
}
}
#ifdef USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
m_faces[i].m_connectedFaces.resize(numVertices);
for(int j=0;j<numVertices;j++)
{
int k = (j+1)%numVertices;
btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
btInternalEdge* edptr = edges.find(vp);
btAssert(edptr);
btAssert(edptr->m_face0>=0);
btAssert(edptr->m_face1>=0);
int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
m_faces[i].m_connectedFaces[j] = connectedFace;
}
}
#endif//USE_CONNECTED_FACES
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
int NbTris = numVertices-2;
const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
for(int j=1;j<=NbTris;j++)
{
int k = (j+1)%numVertices;
const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
btVector3 Center = (p0+p1+p2)/3.0f;
m_localCenter += Area * Center;
TotalArea += Area;
}
}
m_localCenter /= TotalArea;
#ifdef TEST_INTERNAL_OBJECTS
if(1)
{
m_radius = FLT_MAX;
for(int i=0;i<m_faces.size();i++)
{
const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
if(dist<m_radius)
m_radius = dist;
}
btScalar MinX = FLT_MAX;
btScalar MinY = FLT_MAX;
btScalar MinZ = FLT_MAX;
btScalar MaxX = -FLT_MAX;
btScalar MaxY = -FLT_MAX;
btScalar MaxZ = -FLT_MAX;
for(int i=0; i<m_vertices.size(); i++)
{
const btVector3& pt = m_vertices[i];
if(pt.x()<MinX) MinX = pt.x();
if(pt.x()>MaxX) MaxX = pt.x();
if(pt.y()<MinY) MinY = pt.y();
if(pt.y()>MaxY) MaxY = pt.y();
if(pt.z()<MinZ) MinZ = pt.z();
if(pt.z()>MaxZ) MaxZ = pt.z();
}
mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
// const btScalar r = m_radius / sqrtf(2.0f);
const btScalar r = m_radius / sqrtf(3.0f);
const int LargestExtent = mE.maxAxis();
const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
m_extents[0] = m_extents[1] = m_extents[2] = r;
m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
bool FoundBox = false;
for(int j=0;j<1024;j++)
{
if(testContainment())
{
FoundBox = true;
break;
}
m_extents[LargestExtent] -= Step;
}
if(!FoundBox)
{
m_extents[0] = m_extents[1] = m_extents[2] = r;
}
else
{
// Refine the box
const btScalar Step = (m_radius - r)/1024.0f;
const int e0 = (1<<LargestExtent) & 3;
const int e1 = (1<<e0) & 3;
for(int j=0;j<1024;j++)
{
const btScalar Saved0 = m_extents[e0];
const btScalar Saved1 = m_extents[e1];
m_extents[e0] += Step;
m_extents[e1] += Step;
if(!testContainment())
{
m_extents[e0] = Saved0;
m_extents[e1] = Saved1;
break;
}
}
}
}
#endif
}
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
{
min = FLT_MAX;
max = -FLT_MAX;
int numVerts = m_vertices.size();
for(int i=0;i<numVerts;i++)
{
btVector3 pt = trans * m_vertices[i];
btScalar dp = pt.dot(dir);
if(dp < min) min = dp;
if(dp > max) max = dp;
}
if(min>max)
{
btScalar tmp = min;
min = max;
max = tmp;
}
}

127
src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
View File

@@ -1,62 +1,65 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#ifndef _BT_POLYHEDRAL_FEATURES_H
#define _BT_POLYHEDRAL_FEATURES_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#define TEST_INTERNAL_OBJECTS 1
struct btFace
{
btAlignedObjectArray<int> m_indices;
// btAlignedObjectArray<int> m_connectedFaces;
btScalar m_plane[4];
};
class btConvexPolyhedron
{
public:
btConvexPolyhedron();
virtual ~btConvexPolyhedron();
btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<btFace> m_faces;
btAlignedObjectArray<btVector3> m_uniqueEdges;
btVector3 m_localCenter;
btVector3 m_extents;
btScalar m_radius;
btVector3 mC;
btVector3 mE;
void initialize();
bool testContainment() const;
void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
};
#endif //_BT_POLYHEDRAL_FEATURES_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#ifndef _BT_POLYHEDRAL_FEATURES_H
#define _BT_POLYHEDRAL_FEATURES_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"
#define TEST_INTERNAL_OBJECTS 1
struct btFace
{
btAlignedObjectArray<int> m_indices;
// btAlignedObjectArray<int> m_connectedFaces;
btScalar m_plane[4];
};
ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexPolyhedron();
virtual ~btConvexPolyhedron();
btAlignedObjectArray<btVector3> m_vertices;
btAlignedObjectArray<btFace> m_faces;
btAlignedObjectArray<btVector3> m_uniqueEdges;
btVector3 m_localCenter;
btVector3 m_extents;
btScalar m_radius;
btVector3 mC;
btVector3 mE;
void initialize();
bool testContainment() const;
void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
};
#endif //_BT_POLYHEDRAL_FEATURES_H

33
src/BulletCollision/CollisionShapes/btConvexShape.cpp
View File

@@ -109,19 +109,8 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
return supVec;
#else
btScalar newDot,maxDot = btScalar(-BT_LARGE_FLOAT);
int ptIndex = -1;
for (int i=0;i<numPoints;i++)
{
newDot = vec.dot(points[i]);
if (newDot > maxDot)
{
maxDot = newDot;
ptIndex = i;
}
}
btScalar maxDot;
long ptIndex = vec.maxDot( points, numPoints, maxDot);
btAssert(ptIndex >= 0);
btVector3 supVec = points[ptIndex] * localScaling;
return supVec;
@@ -141,16 +130,26 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btBoxShape* convexShape = (btBoxShape*)this;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
#if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
#if defined( BT_USE_SSE )
return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
#elif defined( BT_USE_NEON )
return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
#else
#error unknown vector arch
#endif
#else
return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
#endif
}
case TRIANGLE_SHAPE_PROXYTYPE:
{
btTriangleShape* triangleShape = (btTriangleShape*)this;
btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
btVector3* vertices = &triangleShape->m_vertices1[0];
btVector3 dots(dir.dot(vertices[0]), dir.dot(vertices[1]), dir.dot(vertices[2]));
btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
btVector3 sup = vertices[dots.maxAxis()];
return btVector3(sup.getX(),sup.getY(),sup.getZ());
}
@@ -383,8 +382,8 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
halfExtents += btVector3(margin,margin,margin);
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
break;
@@ -417,7 +416,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
}

4
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
View File

@@ -22,12 +22,14 @@ subject to the following restrictions:
/// The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.
/// A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.
class btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
ATTRIBUTE_ALIGNED16(class) btConvexTriangleMeshShape : public btPolyhedralConvexAabbCachingShape
{
class btStridingMeshInterface* m_stridingMesh;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface, bool calcAabb = true);
class btStridingMeshInterface* getMeshInterface()

8
src/BulletCollision/CollisionShapes/btCylinderShape.h
View File

@@ -21,7 +21,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
class btCylinderShape : public btConvexInternalShape
ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape
{
@@ -31,6 +31,8 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
@@ -128,6 +130,8 @@ public:
class btCylinderShapeX : public btCylinderShape
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCylinderShapeX (const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
@@ -149,6 +153,8 @@ public:
class btCylinderShapeZ : public btCylinderShape
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCylinderShapeZ (const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

4
src/BulletCollision/CollisionShapes/btEmptyShape.h
View File

@@ -28,9 +28,11 @@ subject to the following restrictions:
/// The btEmptyShape is a collision shape without actual collision detection shape, so most users should ignore this class.
/// It can be replaced by another shape during runtime, but the inertia tensor should be recomputed.
class btEmptyShape : public btConcaveShape
ATTRIBUTE_ALIGNED16(class) btEmptyShape : public btConcaveShape
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btEmptyShape();
virtual ~btEmptyShape();

6
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -38,7 +38,7 @@ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int h
// legacy constructor: support only float or unsigned char,
// and min height is zero
PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
btScalar minHeight = 0.0;
btScalar minHeight = 0.0f;
// previously, height = uchar * maxHeight / 65535.
// So to preserve legacy behavior, heightScale = maxHeight / 65535
@@ -135,9 +135,7 @@ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;

5
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -68,7 +68,7 @@ subject to the following restrictions:
For usage and testing see the TerrainDemo.
*/
class btHeightfieldTerrainShape : public btConcaveShape
ATTRIBUTE_ALIGNED16(class) btHeightfieldTerrainShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
@@ -116,6 +116,9 @@ protected:
PHY_ScalarType heightDataType, bool flipQuadEdges);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
/// preferred constructor
/**
This constructor supports a range of heightfield

4
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
View File

@@ -20,7 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
class btMinkowskiSumShape : public btConvexInternalShape
ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape
{
btTransform m_transA;
@@ -30,6 +30,8 @@ class btMinkowskiSumShape : public btConvexInternalShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

59
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
View File

@@ -39,10 +39,11 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
}
#ifndef MIN
#define MIN( _a, _b) ((_a) < (_b) ? (_a) : (_b))
#endif
btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
int i;
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -66,18 +67,23 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for (i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);
if (newDot > maxDot)
for( int k = 0; k < numSpheres; k+= 128 )
{
btVector3 temp[128];
int inner_count = MIN( numSpheres - k, 128 );
for( long i = 0; i < inner_count; i++ )
{
temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
}
long i = vec.maxDot( temp, inner_count, newDot);
if( newDot > maxDot )
{
maxDot = newDot;
supVec = vtx;
supVec = temp[i];
}
}
}
return supVec;
@@ -98,18 +104,25 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
const btVector3* pos = &m_localPositionArray[0];
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for (int i=0;i<numSpheres;i++)
{
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
for( int k = 0; k < numSpheres; k+= 128 )
{
btVector3 temp[128];
int inner_count = MIN( numSpheres - k, 128 );
for( long i = 0; i < inner_count; i++ )
{
temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
}
long i = vec.maxDot( temp, inner_count, newDot);
if( newDot > maxDot )
{
maxDot = newDot;
supportVerticesOut[j] = temp[i];
}
}
}
}

4
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
View File

@@ -25,13 +25,15 @@ subject to the following restrictions:
///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
class btMultiSphereShape : public btConvexInternalAabbCachingShape
ATTRIBUTE_ALIGNED16(class) btMultiSphereShape : public btConvexInternalAabbCachingShape
{
btAlignedObjectArray<btVector3> m_localPositionArray;
btAlignedObjectArray<btScalar> m_radiArray;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btMultiSphereShape (const btVector3* positions,const btScalar* radi,int numSpheres);
///CollisionShape Interface

56
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
View File

@@ -45,7 +45,7 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
m_polyhedron = new (mem) btConvexPolyhedron;
btAlignedObjectArray<btVector3> orgVertices;
btAlignedObjectArray<btVector3> orgVertices;
for (int i=0;i<getNumVertices();i++)
{
@@ -107,9 +107,6 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
int numEdges = 0;
//compute face normals
btScalar maxCross2 = 0.f;
int chosenEdge = -1;
do
{
@@ -299,6 +296,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures()
return true;
}
#ifndef MIN
#define MIN(_a, _b) ((_a) < (_b) ? (_a) : (_b))
#endif
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
@@ -323,17 +323,19 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
btVector3 vtx;
btScalar newDot;
for (i=0;i<getNumVertices();i++)
{
getVertex(i,vtx);
newDot = vec.dot(vtx);
for( int k = 0; k < getNumVertices(); k += 128 )
{
btVector3 temp[128];
int inner_count = MIN(getNumVertices() - k, 128);
for( i = 0; i < inner_count; i++ )
getVertex(i,temp[i]);
i = (int) vec.maxDot( temp, inner_count, newDot);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
supVec = temp[i];
}
}
#endif //__SPU__
return supVec;
@@ -356,21 +358,23 @@ void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin(
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
for (i=0;i<getNumVertices();i++)
{
getVertex(i,vtx);
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
const btVector3& vec = vectors[j];
for( int k = 0; k < getNumVertices(); k += 128 )
{
btVector3 temp[128];
int inner_count = MIN(getNumVertices() - k, 128);
for( i = 0; i < inner_count; i++ )
getVertex(i,temp[i]);
i = (int) vec.maxDot( temp, inner_count, newDot);
if (newDot > supportVerticesOut[j][3])
{
supportVerticesOut[j] = temp[i];
supportVerticesOut[j][3] = newDot;
}
}
}
}
}
}
#endif //__SPU__
}

5
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
View File

@@ -22,7 +22,7 @@ class btConvexPolyhedron;
///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
class btPolyhedralConvexShape : public btConvexInternalShape
ATTRIBUTE_ALIGNED16(class) btPolyhedralConvexShape : public btConvexInternalShape
{
@@ -31,6 +31,9 @@ protected:
btConvexPolyhedron* m_polyhedron;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btPolyhedralConvexShape();

4
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
View File

@@ -98,9 +98,7 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;

2
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
View File

@@ -31,6 +31,8 @@ ATTRIBUTE_ALIGNED16(class) btScaledBvhTriangleMeshShape : public btConcaveShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btScaledBvhTriangleMeshShape(btBvhTriangleMeshShape* childShape,const btVector3& localScaling);

4
src/BulletCollision/CollisionShapes/btShapeHull.h
View File

@@ -25,7 +25,7 @@ subject to the following restrictions:
///The btShapeHull class takes a btConvexShape, builds a simplified convex hull using btConvexHull and provides triangle indices and vertices.
///It can be useful for to simplify a complex convex object and for visualization of a non-polyhedral convex object.
///It approximates the convex hull using the supporting vertex of 42 directions.
class btShapeHull
ATTRIBUTE_ALIGNED16(class) btShapeHull
{
protected:
@@ -37,6 +37,8 @@ protected:
static btVector3* getUnitSpherePoints();
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btShapeHull (const btConvexShape* shape);
~btShapeHull ();

2
src/BulletCollision/CollisionShapes/btStaticPlaneShape.h
View File

@@ -31,6 +31,8 @@ protected:
btVector3 m_localScaling;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btStaticPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual ~btStaticPlaneShape();

4
src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
View File

@@ -27,13 +27,15 @@ subject to the following restrictions:
/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
class btStridingMeshInterface
ATTRIBUTE_ALIGNED16(class ) btStridingMeshInterface
{
protected:
btVector3 m_scaling;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btStridingMeshInterface() :m_scaling(btScalar(1.),btScalar(1.),btScalar(1.))
{

4
src/BulletCollision/CollisionShapes/btTetrahedronShape.h
View File

@@ -22,7 +22,7 @@ subject to the following restrictions:
///The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.
class btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
ATTRIBUTE_ALIGNED16(class) btBU_Simplex1to4 : public btPolyhedralConvexAabbCachingShape
{
protected:
@@ -30,6 +30,8 @@ protected:
btVector3 m_vertices[4];
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btBU_Simplex1to4();
btBU_Simplex1to4(const btVector3& pt0);

6
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
View File

@@ -55,13 +55,9 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
btVector3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMin = center - extent;
aabbMax = center + extent;
}
void btTriangleMeshShape::recalcLocalAabb()

3
src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
View File

@@ -21,7 +21,7 @@ subject to the following restrictions:
///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
class btTriangleMeshShape : public btConcaveShape
ATTRIBUTE_ALIGNED16(class) btTriangleMeshShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
@@ -33,6 +33,7 @@ protected:
btTriangleMeshShape(btStridingMeshInterface* meshInterface);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btTriangleMeshShape();

6
src/BulletCollision/CollisionShapes/btTriangleShape.h
View File

@@ -25,6 +25,8 @@ ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_vertices1[3];
virtual int getNumVertices() const
@@ -66,7 +68,7 @@ public:
btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const
{
btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
return m_vertices1[dots.maxAxis()];
}
@@ -76,7 +78,7 @@ public:
for (int i=0;i<numVectors;i++)
{
const btVector3& dir = vectors[i];
btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
btVector3 dots = dir.dot3(m_vertices1[0], m_vertices1[1], m_vertices1[2]);
supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
}

4
src/BulletCollision/CollisionShapes/btUniformScalingShape.h
View File

@@ -21,7 +21,7 @@ subject to the following restrictions:
///The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.
///Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.
class btUniformScalingShape : public btConvexShape
ATTRIBUTE_ALIGNED16(class) btUniformScalingShape : public btConvexShape
{
btConvexShape* m_childConvexShape;
@@ -29,6 +29,8 @@ class btUniformScalingShape : public btConvexShape
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btUniformScalingShape( btConvexShape* convexChildShape, btScalar uniformScalingFactor);
virtual ~btUniformScalingShape();

18
src/BulletCollision/Gimpact/btBoxCollision.h
View File

@@ -218,9 +218,7 @@ public:
SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
{
return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
m_R1to0[1].dot(point) + m_T1to0.y(),
m_R1to0[2].dot(point) + m_T1to0.z());
return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0;
}
};
@@ -364,9 +362,9 @@ public:
// Compute new center
center = trans(center);
btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
extends.dot(trans.getBasis().getRow(1).absolute()),
extends.dot(trans.getBasis().getRow(2).absolute()));
btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
trans.getBasis().getRow(1).absolute(),
trans.getBasis().getRow(2).absolute());
m_min = center - textends;
m_max = center + textends;
@@ -381,10 +379,10 @@ public:
// Compute new center
center = trans.transform(center);
btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()),
extends.dot(trans.m_R1to0.getRow(1).absolute()),
extends.dot(trans.m_R1to0.getRow(2).absolute()));
btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(),
trans.m_R1to0.getRow(1).absolute(),
trans.m_R1to0.getRow(2).absolute());
m_min = center - textends;
m_max = center + textends;
}

288
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
View File

@@ -51,7 +51,7 @@ public:
}
void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation)
void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) const
{
equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
@@ -89,7 +89,7 @@ Declared here due of insuficent space on Pool allocators
class GIM_ShapeRetriever
{
public:
btGImpactShapeInterface * m_gim_shape;
const btGImpactShapeInterface * m_gim_shape;
btTriangleShapeEx m_trishape;
btTetrahedronShapeEx m_tetrashape;
@@ -98,7 +98,7 @@ public:
{
public:
GIM_ShapeRetriever * m_parent;
virtual btCollisionShape * getChildShape(int index)
virtual const btCollisionShape * getChildShape(int index)
{
return m_parent->m_gim_shape->getChildShape(index);
}
@@ -133,7 +133,7 @@ public:
TetraShapeRetriever m_tetra_retriever;
ChildShapeRetriever * m_current_retriever;
GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape)
GIM_ShapeRetriever(const btGImpactShapeInterface * gim_shape)
{
m_gim_shape = gim_shape;
//select retriever
@@ -153,7 +153,7 @@ public:
m_current_retriever->m_parent = this;
}
btCollisionShape * getChildShape(int index)
const btCollisionShape * getChildShape(int index)
{
return m_current_retriever->getChildShape(index);
}
@@ -193,8 +193,8 @@ float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
: btActivatingCollisionAlgorithm(ci,body0,body1)
btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap)
{
m_manifoldPtr = NULL;
m_convex_algorithm = NULL;
@@ -209,71 +209,60 @@ btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
btCollisionObject * body1,
void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btVector3 & point,
const btVector3 & normal,
btScalar distance)
{
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
checkManifold(body0,body1);
checkManifold(body0Wrap,body1Wrap);
m_resultOut->addContactPoint(normal,point,distance);
}
void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
btCollisionObject * body0,
btCollisionObject * body1,
btCollisionShape * shape0,
btCollisionShape * shape1)
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btCollisionShape * shape0,
const btCollisionShape * shape1)
{
btCollisionShape* tmpShape0 = body0->getCollisionShape();
btCollisionShape* tmpShape1 = body1->getCollisionShape();
body0->internalSetTemporaryCollisionShape(shape0);
body1->internalSetTemporaryCollisionShape(shape1);
{
btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
btCollisionAlgorithm* algor = newAlgorithm(&ob0,&ob1);
// post : checkManifold is called
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
algor->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
algor->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algor);
}
body0->internalSetTemporaryCollisionShape(tmpShape0);
body1->internalSetTemporaryCollisionShape(tmpShape1);
}
void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
btCollisionObject * body0,
btCollisionObject * body1,
btCollisionShape * shape0,
btCollisionShape * shape1)
const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btCollisionShape* shape0,
const btCollisionShape* shape1)
{
btCollisionShape* tmpShape0 = body0->getCollisionShape();
btCollisionShape* tmpShape1 = body1->getCollisionShape();
body0->internalSetTemporaryCollisionShape(shape0);
body1->internalSetTemporaryCollisionShape(shape1);
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
checkConvexAlgorithm(body0,body1);
m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
checkConvexAlgorithm(&ob0,&ob1);
m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
body0->internalSetTemporaryCollisionShape(tmpShape0);
body1->internalSetTemporaryCollisionShape(tmpShape1);
}
@@ -283,8 +272,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
const btTransform & trans0,
const btTransform & trans1,
btGImpactShapeInterface * shape0,
btGImpactShapeInterface * shape1,btPairSet & pairset)
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1,btPairSet & pairset)
{
if(shape0->hasBoxSet() && shape1->hasBoxSet())
{
@@ -320,8 +309,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
const btTransform & trans0,
const btTransform & trans1,
btGImpactShapeInterface * shape0,
btCollisionShape * shape1,
const btGImpactShapeInterface * shape0,
const btCollisionShape * shape1,
btAlignedObjectArray<int> & collided_primitives)
{
@@ -359,10 +348,10 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
}
void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactMeshShapePart * shape0,
btGImpactMeshShapePart * shape1,
void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactMeshShapePart * shape0,
const btGImpactMeshShapePart * shape1,
const int * pairs, int pair_count)
{
btTriangleShapeEx tri0;
@@ -389,7 +378,7 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body
//collide two convex shapes
if(tri0.overlap_test_conservative(tri1))
{
convex_vs_convex_collision(body0,body1,&tri0,&tri1);
convex_vs_convex_collision(body0Wrap,body1Wrap,&tri0,&tri1);
}
}
@@ -398,14 +387,14 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body
shape1->unlockChildShapes();
}
void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactMeshShapePart * shape0,
btGImpactMeshShapePart * shape1,
void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactMeshShapePart * shape0,
const btGImpactMeshShapePart * shape1,
const int * pairs, int pair_count)
{
btTransform orgtrans0 = body0->getWorldTransform();
btTransform orgtrans1 = body1->getWorldTransform();
btTransform orgtrans0 = body0Wrap->getWorldTransform();
btTransform orgtrans1 = body1Wrap->getWorldTransform();
btPrimitiveTriangle ptri0;
btPrimitiveTriangle ptri1;
@@ -451,7 +440,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
while(j--)
{
addContactPoint(body0, body1,
addContactPoint(body0Wrap, body1Wrap,
contact_data.m_points[j],
contact_data.m_separating_normal,
-contact_data.m_penetration_depth);
@@ -472,20 +461,20 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btGImpactShapeInterface * shape1)
const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1)
{
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
m_part0 = meshshape0->getMeshPartCount();
while(m_part0--)
{
gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
gimpact_vs_gimpact(body0Wrap,body1Wrap,meshshape0->getMeshPart(m_part0),shape1);
}
return;
@@ -493,13 +482,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
const btGImpactMeshShape * meshshape1 = static_cast<const btGImpactMeshShape *>(shape1);
m_part1 = meshshape1->getMeshPartCount();
while(m_part1--)
{
gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
gimpact_vs_gimpact(body0Wrap,body1Wrap,shape0,meshshape1->getMeshPart(m_part1));
}
@@ -507,8 +496,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
}
btTransform orgtrans0 = body0->getWorldTransform();
btTransform orgtrans1 = body1->getWorldTransform();
btTransform orgtrans0 = body0Wrap->getWorldTransform();
btTransform orgtrans1 = body1Wrap->getWorldTransform();
btPairSet pairset;
@@ -519,13 +508,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
{
btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
const btGImpactMeshShapePart * shapepart0 = static_cast<const btGImpactMeshShapePart * >(shape0);
const btGImpactMeshShapePart * shapepart1 = static_cast<const btGImpactMeshShapePart * >(shape1);
//specialized function
#ifdef BULLET_TRIANGLE_COLLISION
collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
collide_gjk_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
#else
collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
collide_sat_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
#endif
return;
@@ -548,55 +537,49 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
GIM_PAIR * pair = &pairset[i];
m_triface0 = pair->m_index1;
m_triface1 = pair->m_index2;
btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
btTransform tr0 = body0Wrap->getWorldTransform();
btTransform tr1 = body1Wrap->getWorldTransform();
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
tr0 = orgtrans0*shape0->getChildTransform(m_triface0);
}
if(child_has_transform1)
{
body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
tr1 = orgtrans1*shape1->getChildTransform(m_triface1);
}
btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1);
//collide two convex shapes
convex_vs_convex_collision(body0,body1,colshape0,colshape1);
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0);
}
if(child_has_transform1)
{
body1->setWorldTransform(orgtrans1);
}
convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1);
}
shape0->unlockChildShapes();
shape1->unlockChildShapes();
}
void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btCollisionShape * shape1,bool swapped)
void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btCollisionShape * shape1,bool swapped)
{
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0);
int& part = swapped ? m_part1 : m_part0;
part = meshshape0->getMeshPartCount();
while(part--)
{
gimpact_vs_shape(body0,
body1,
gimpact_vs_shape(body0Wrap,
body1Wrap,
meshshape0->getMeshPart(part),
shape1,swapped);
@@ -609,9 +592,9 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
{
btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0);
btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1);
gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped);
const btGImpactMeshShapePart * shapepart = static_cast<const btGImpactMeshShapePart *>(shape0);
const btStaticPlaneShape * planeshape = static_cast<const btStaticPlaneShape * >(shape1);
gimpacttrimeshpart_vs_plane_collision(body0Wrap,body1Wrap,shapepart,planeshape,swapped);
return;
}
@@ -621,21 +604,21 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
if(shape1->isCompound())
{
btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1);
gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped);
const btCompoundShape * compoundshape = static_cast<const btCompoundShape *>(shape1);
gimpact_vs_compoundshape(body0Wrap,body1Wrap,shape0,compoundshape,swapped);
return;
}
else if(shape1->isConcave())
{
btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1);
gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped);
const btConcaveShape * concaveshape = static_cast<const btConcaveShape *>(shape1);
gimpact_vs_concave(body0Wrap,body1Wrap,shape0,concaveshape,swapped);
return;
}
btTransform orgtrans0 = body0->getWorldTransform();
btTransform orgtrans0 = body0Wrap->getWorldTransform();
btTransform orgtrans1 = body1->getWorldTransform();
btTransform orgtrans1 = body1Wrap->getWorldTransform();
btAlignedObjectArray<int> collided_results;
@@ -662,27 +645,25 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
else
m_triface0 = child_index;
btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
const btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
btTransform tr0 = body0Wrap->getWorldTransform();
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index));
tr0 = orgtrans0*shape0->getChildTransform(child_index);
}
btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform());
//collide two shapes
if(swapped)
{
shape_vs_shape_collision(body1,body0,shape1,colshape0);
shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0);
}
else
{
shape_vs_shape_collision(body0,body1,colshape0,shape1);
}
//restore transforms
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0);
shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1);
}
}
@@ -691,44 +672,39 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
}
void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btCompoundShape * shape1,bool swapped)
void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactShapeInterface * shape0,
const btCompoundShape * shape1,bool swapped)
{
btTransform orgtrans1 = body1->getWorldTransform();
btTransform orgtrans1 = body1Wrap->getWorldTransform();
int i = shape1->getNumChildShapes();
while(i--)
{
btCollisionShape * colshape1 = shape1->getChildShape(i);
const btCollisionShape * colshape1 = shape1->getChildShape(i);
btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
body1->setWorldTransform(childtrans1);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1);
//collide child shape
gimpact_vs_shape(body0, body1,
gimpact_vs_shape(body0Wrap, &ob1,
shape0,colshape1,swapped);
//restore transforms
body1->setWorldTransform(orgtrans1);
}
}
void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactMeshShapePart * shape0,
btStaticPlaneShape * shape1,bool swapped)
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactMeshShapePart * shape0,
const btStaticPlaneShape * shape1,bool swapped)
{
btTransform orgtrans0 = body0->getWorldTransform();
btTransform orgtrans1 = body1->getWorldTransform();
btTransform orgtrans0 = body0Wrap->getWorldTransform();
btTransform orgtrans1 = body1Wrap->getWorldTransform();
btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1);
const btPlaneShape * planeshape = static_cast<const btPlaneShape *>(shape1);
btVector4 plane;
planeshape->get_plane_equation_transformed(orgtrans1,plane);
@@ -757,14 +733,14 @@ void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
{
if(swapped)
{
addContactPoint(body1, body0,
addContactPoint(body1Wrap, body0Wrap,
vertex,
-plane,
distance);
}
else
{
addContactPoint(body0, body1,
addContactPoint(body0Wrap, body1Wrap,
vertex,
plane,
distance);
@@ -782,9 +758,9 @@ class btGImpactTriangleCallback: public btTriangleCallback
{
public:
btGImpactCollisionAlgorithm * algorithm;
btCollisionObject * body0;
btCollisionObject * body1;
btGImpactShapeInterface * gimpactshape0;
const btCollisionObjectWrapper * body0Wrap;
const btCollisionObjectWrapper * body1Wrap;
const btGImpactShapeInterface * gimpactshape0;
bool swapped;
btScalar margin;
@@ -803,7 +779,7 @@ public:
algorithm->setFace1(triangleIndex);
}
algorithm->gimpact_vs_shape(
body0,body1,gimpactshape0,&tri1,swapped);
body0Wrap,body1Wrap,gimpactshape0,&tri1,swapped);
}
};
@@ -811,16 +787,16 @@ public:
void btGImpactCollisionAlgorithm::gimpact_vs_concave(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btConcaveShape * shape1,bool swapped)
const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btConcaveShape * shape1,bool swapped)
{
//create the callback
btGImpactTriangleCallback tricallback;
tricallback.algorithm = this;
tricallback.body0 = body0;
tricallback.body1 = body1;
tricallback.body0Wrap = body0Wrap;
tricallback.body1Wrap = body1Wrap;
tricallback.gimpactshape0 = shape0;
tricallback.swapped = swapped;
tricallback.margin = shape1->getMargin();
@@ -828,7 +804,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
//getting the trimesh AABB
btTransform gimpactInConcaveSpace;
gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform();
gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform();
btVector3 minAABB,maxAABB;
shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
@@ -839,36 +815,36 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave(
void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btGImpactCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
clearCache();
m_resultOut = resultOut;
m_dispatchInfo = &dispatchInfo;
btGImpactShapeInterface * gimpactshape0;
btGImpactShapeInterface * gimpactshape1;
const btGImpactShapeInterface * gimpactshape0;
const btGImpactShapeInterface * gimpactshape1;
if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
if (body0Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
gimpactshape0 = static_cast<const btGImpactShapeInterface *>(body0Wrap->getCollisionShape());
if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
if( body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
gimpact_vs_gimpact(body0Wrap,body1Wrap,gimpactshape0,gimpactshape1);
}
else
{
gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
gimpact_vs_shape(body0Wrap,body1Wrap,gimpactshape0,body1Wrap->getCollisionShape(),false);
}
}
else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
else if (body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape());
gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
gimpact_vs_shape(body1Wrap,body0Wrap,gimpactshape1,body0Wrap->getCollisionShape(),true);
}
}

110
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
View File

@@ -40,7 +40,7 @@ class btDispatcher;
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//! Collision Algorithm for GImpact Shapes
@@ -65,7 +65,7 @@ protected:
//! Creates a new contact point
SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1)
SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
{
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
return m_manifoldPtr;
@@ -106,38 +106,38 @@ protected:
// Call before process collision
SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1)
SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
if(getLastManifold() == 0)
{
newContactManifold(body0,body1);
newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
}
m_resultOut->setPersistentManifold(getLastManifold());
}
// Call before process collision
SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
checkManifold(body0,body1);
checkManifold(body0Wrap,body1Wrap);
btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
body0,body1,getLastManifold());
body0Wrap,body1Wrap,getLastManifold());
return convex_algorithm ;
}
// Call before process collision
SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
if(m_convex_algorithm) return;
m_convex_algorithm = newAlgorithm(body0,body1);
m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
}
void addContactPoint(btCollisionObject * body0,
btCollisionObject * body1,
void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btVector3 & point,
const btVector3 & normal,
btScalar distance);
@@ -145,62 +145,62 @@ protected:
//! Collision routines
//!@{
void collide_gjk_triangles(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactMeshShapePart * shape0,
btGImpactMeshShapePart * shape1,
void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactMeshShapePart * shape0,
const btGImpactMeshShapePart * shape1,
const int * pairs, int pair_count);
void collide_sat_triangles(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactMeshShapePart * shape0,
btGImpactMeshShapePart * shape1,
void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactMeshShapePart * shape0,
const btGImpactMeshShapePart * shape1,
const int * pairs, int pair_count);
void shape_vs_shape_collision(
btCollisionObject * body0,
btCollisionObject * body1,
btCollisionShape * shape0,
btCollisionShape * shape1);
const btCollisionObjectWrapper* body0,
const btCollisionObjectWrapper* body1,
const btCollisionShape * shape0,
const btCollisionShape * shape1);
void convex_vs_convex_collision(btCollisionObject * body0,
btCollisionObject * body1,
btCollisionShape * shape0,
btCollisionShape * shape1);
void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btCollisionShape* shape0,
const btCollisionShape* shape1);
void gimpact_vs_gimpact_find_pairs(
const btTransform & trans0,
const btTransform & trans1,
btGImpactShapeInterface * shape0,
btGImpactShapeInterface * shape1,btPairSet & pairset);
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1,btPairSet & pairset);
void gimpact_vs_shape_find_pairs(
const btTransform & trans0,
const btTransform & trans1,
btGImpactShapeInterface * shape0,
btCollisionShape * shape1,
const btGImpactShapeInterface * shape0,
const btCollisionShape * shape1,
btAlignedObjectArray<int> & collided_primitives);
void gimpacttrimeshpart_vs_plane_collision(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactMeshShapePart * shape0,
btStaticPlaneShape * shape1,bool swapped);
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactMeshShapePart * shape0,
const btStaticPlaneShape * shape1,bool swapped);
public:
btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btGImpactCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -213,10 +213,10 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1);
return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
}
};
@@ -236,26 +236,26 @@ public:
*/
void gimpact_vs_gimpact(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btGImpactShapeInterface * shape1);
void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1);
void gimpact_vs_shape(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btCollisionShape * shape1,bool swapped);
void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactShapeInterface * shape0,
const btCollisionShape * shape1,bool swapped);
void gimpact_vs_compoundshape(btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btCompoundShape * shape1,bool swapped);
void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btCompoundShape * shape1,bool swapped);
void gimpact_vs_concave(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btConcaveShape * shape1,bool swapped);
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btConcaveShape * shape1,bool swapped);

8
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
View File

@@ -384,7 +384,7 @@ bool btGImpactQuantizedBvh::rayQuery(
SIMD_FORCE_INLINE bool _quantized_node_collision(
btGImpactQuantizedBvh * boxset0, btGImpactQuantizedBvh * boxset1,
const btGImpactQuantizedBvh * boxset0, const btGImpactQuantizedBvh * boxset1,
const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
int node0 ,int node1, bool complete_primitive_tests)
{
@@ -402,7 +402,7 @@ SIMD_FORCE_INLINE bool _quantized_node_collision(
//stackless recursive collision routine
static void _find_quantized_collision_pairs_recursive(
btGImpactQuantizedBvh * boxset0, btGImpactQuantizedBvh * boxset1,
const btGImpactQuantizedBvh * boxset0, const btGImpactQuantizedBvh * boxset1,
btPairSet * collision_pairs,
const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
int node0, int node1, bool complete_primitive_tests)
@@ -501,8 +501,8 @@ static void _find_quantized_collision_pairs_recursive(
}
void btGImpactQuantizedBvh::find_collision(btGImpactQuantizedBvh * boxset0, const btTransform & trans0,
btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
void btGImpactQuantizedBvh::find_collision(const btGImpactQuantizedBvh * boxset0, const btTransform & trans0,
const btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
btPairSet & collision_pairs)
{

4
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
View File

@@ -363,8 +363,8 @@ public:
static float getAverageTreeCollisionTime();
#endif //TRI_COLLISION_PROFILING
static void find_collision(btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
btGImpactQuantizedBvh * boxset2, const btTransform & trans2,
static void find_collision(const btGImpactQuantizedBvh * boxset1, const btTransform & trans1,
const btGImpactQuantizedBvh * boxset2, const btTransform & trans2,
btPairSet & collision_pairs);
};

2
src/BulletCollision/Gimpact/btGImpactShape.h
View File

@@ -192,7 +192,7 @@ public:
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType() const = 0 ;
//! gets boxset
SIMD_FORCE_INLINE btGImpactBoxSet * getBoxSet()
SIMD_FORCE_INLINE const btGImpactBoxSet * getBoxSet() const
{
return &m_box_set;
}

6
src/BulletCollision/Gimpact/gim_array.h
View File

@@ -285,18 +285,16 @@ public:
m_data[index] = obj;
}
inline void resize(GUINT size, bool call_constructor = true)
inline void resize(GUINT size, bool call_constructor = true, const T& fillData=T())
{
if(size>m_size)
{
reserve(size);
if(call_constructor)
{
T obj;
while(m_size<size)
{
m_data[m_size] = obj;
m_data[m_size] = fillData;
m_size++;
}
}

12
src/BulletCollision/Gimpact/gim_box_collision.h
View File

@@ -186,9 +186,7 @@ public:
SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
{
return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
m_R1to0[1].dot(point) + m_T1to0.y(),
m_R1to0[2].dot(point) + m_T1to0.z());
return point.dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
}
};
@@ -332,10 +330,10 @@ public:
// Compute new center
center = trans(center);
btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
extends.dot(trans.getBasis().getRow(1).absolute()),
extends.dot(trans.getBasis().getRow(2).absolute()));
btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
trans.getBasis().getRow(1).absolute(),
trans.getBasis().getRow(2).absolute());
m_min = center - textends;
m_max = center + textends;
}

1
src/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
View File

@@ -62,7 +62,6 @@ void btContinuousConvexCollision::computeClosestPoints( const btTransform& trans
const btConvexShape* convexShape = m_convexA;
const btStaticPlaneShape* planeShape = m_planeShape;
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();

4
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
View File

@@ -63,12 +63,12 @@ public:
void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
void setMinkowskiA(btConvexShape* minkA)
void setMinkowskiA(const btConvexShape* minkA)
{
m_minkowskiA = minkA;
}
void setMinkowskiB(btConvexShape* minkB)
void setMinkowskiB(const btConvexShape* minkB)
{
m_minkowskiB = minkB;
}

2
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
View File

@@ -287,7 +287,7 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
{
//contact point processed callback
if (gContactProcessedCallback)
(*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
(*gContactProcessedCallback)(manifoldPoint,(void*)m_body0,(void*)m_body1);
}
}
}

17
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btManifoldPoint.h"
class btCollisionObject;
#include "LinearMath/btAlignedAllocator.h"
struct btCollisionResult;
@@ -57,9 +58,8 @@ ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
/// this two body pointers can point to the physics rigidbody class.
/// void* will allow any rigidbody class
void* m_body0;
void* m_body1;
const btCollisionObject* m_body0;
const btCollisionObject* m_body1;
int m_cachedPoints;
@@ -83,7 +83,7 @@ public:
btPersistentManifold();
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
m_body0(body0),m_body1(body1),m_cachedPoints(0),
m_contactBreakingThreshold(contactBreakingThreshold),
@@ -91,13 +91,10 @@ public:
{
}
SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
void setBodies(void* body0,void* body1)
void setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
{
m_body0 = body0;
m_body1 = body1;

878
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
View File

@@ -1,440 +1,438 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include <float.h> //for FLT_MAX
int gExpectedNbTests=0;
int gActualNbTests = 0;
bool gUseInternalObject = true;
// Clips a face to the back of a plane
void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
{
int ve;
btScalar ds, de;
int numVerts = pVtxIn.size();
if (numVerts < 2)
return;
btVector3 firstVertex=pVtxIn[pVtxIn.size()-1];
btVector3 endVertex = pVtxIn[0];
ds = planeNormalWS.dot(firstVertex)+planeEqWS;
for (ve = 0; ve < numVerts; ve++)
{
endVertex=pVtxIn[ve];
de = planeNormalWS.dot(endVertex)+planeEqWS;
if (ds<0)
{
if (de<0)
{
// Start < 0, end < 0, so output endVertex
ppVtxOut.push_back(endVertex);
}
else
{
// Start < 0, end >= 0, so output intersection
ppVtxOut.push_back( firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
}
}
else
{
if (de<0)
{
// Start >= 0, end < 0 so output intersection and end
ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
ppVtxOut.push_back(endVertex);
}
}
firstVertex = endVertex;
ds = de;
}
}
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
{
btScalar Min0,Max0;
btScalar Min1,Max1;
hullA.project(transA,sep_axis, Min0, Max0);
hullB.project(transB, sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
btScalar d0 = Max0 - Min1;
assert(d0>=0.0f);
btScalar d1 = Max1 - Min0;
assert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
}
static int gActualSATPairTests=0;
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
#ifdef TEST_INTERNAL_OBJECTS
inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
{
// This version is ~11.000 cycles (4%) faster overall in one of the tests.
// IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
// IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
// IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
}
void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
{
const btMatrix3x3& rot = tr.getBasis();
const btVector3& r0 = rot[0];
const btVector3& r1 = rot[1];
const btVector3& r2 = rot[2];
const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
out.setValue(x, y, z);
}
bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
{
const btScalar dp = delta_c.dot(axis);
btVector3 localAxis0;
InverseTransformPoint3x3(localAxis0, axis,trans0);
btVector3 localAxis1;
InverseTransformPoint3x3(localAxis1, axis,trans1);
btScalar p0[3];
BoxSupport(convex0.m_extents, localAxis0, p0);
btScalar p1[3];
BoxSupport(convex1.m_extents, localAxis1, p1);
const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
const btScalar MinMaxRadius = MaxRadius + MinRadius;
const btScalar d0 = MinMaxRadius + dp;
const btScalar d1 = MinMaxRadius - dp;
const btScalar depth = d0<d1 ? d0:d1;
if(depth>dmin)
return false;
return true;
}
#endif //TEST_INTERNAL_OBJECTS
bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
{
gActualSATPairTests++;
//#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
//#endif
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
// Test normals from hullA
for(int i=0;i<numFacesA;i++)
{
const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
if (DeltaC2.dot(faceANormalWS)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
return false;
if(d<dmin)
{
dmin = d;
sep = faceANormalWS;
}
}
int numFacesB = hullB.m_faces.size();
// Test normals from hullB
for(int i=0;i<numFacesB;i++)
{
const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
if (DeltaC2.dot(WorldNormal)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{
const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
{
const btVector3 edge1 = hullB.m_uniqueEdges[e1];
const btVector3 WorldEdge1 = transB.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
curEdgeEdge++;
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
if (DeltaC2.dot(Cross)<0)
continue;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar dist;
if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
return false;
if(dist<dmin)
{
dmin = dist;
sep = Cross;
}
}
}
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
sep = -sep;
return true;
}
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVertexArray worldVertsB2;
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
pVtxOut->reserve(pVtxIn->size());
int closestFaceA=-1;
{
btScalar dmin = FLT_MAX;
for(int face=0;face<hullA.m_faces.size();face++)
{
const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
btScalar d = faceANormalWS.dot(separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
}
}
}
if (closestFaceA<0)
return;
const btFace& polyA = hullA.m_faces[closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numContacts = pVtxIn->size();
int numVerticesA = polyA.m_indices.size();
for(int e0=0;e0<numVerticesA;e0++)
{
const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
const btVector3 edge0 = a - b;
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
btVector3 worldPlaneAnormal1 = transA.getBasis()* btVector3(polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);//.cross(WorldEdge0);
btVector3 worldA1 = transA*a;
btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
//int otherFace=0;
#ifdef BLA1
int otherFace = polyA.m_connectedFaces[e0];
btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
#else
btVector3 planeNormalWS = planeNormalWS1;
btScalar planeEqWS=planeEqWS1;
#endif
//clip face
clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
btSwap(pVtxIn,pVtxOut);
pVtxOut->resize(0);
}
//#define ONLY_REPORT_DEEPEST_POINT
btVector3 point;
// only keep points that are behind the witness face
{
btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btScalar localPlaneEq = polyA.m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
for (int i=0;i<pVtxIn->size();i++)
{
btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
if (depth <=minDist)
{
// printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
depth = minDist;
}
if (depth <=maxDist)
{
btVector3 point = pVtxIn->at(i);
#ifdef ONLY_REPORT_DEEPEST_POINT
curMaxDist = depth;
#else
#if 0
if (depth<-3)
{
printf("error in btPolyhedralContactClipping depth = %f\n", depth);
printf("likely wrong separatingNormal passed in\n");
}
#endif
resultOut.addContactPoint(separatingNormal,point,depth);
#endif
}
}
}
#ifdef ONLY_REPORT_DEEPEST_POINT
if (curMaxDist<maxDist)
{
resultOut.addContactPoint(separatingNormal,point,curMaxDist);
}
#endif //ONLY_REPORT_DEEPEST_POINT
}
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVector3 separatingNormal = separatingNormal1.normalized();
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
btScalar curMaxDist=maxDist;
int closestFaceB=-1;
btScalar dmax = -FLT_MAX;
{
for(int face=0;face<hullB.m_faces.size();face++)
{
const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
btScalar d = WorldNormal.dot(separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
btVertexArray worldVertsB1;
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
for(int e0=0;e0<numVertices;e0++)
{
const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
worldVertsB1.push_back(transB*b);
}
}
if (closestFaceB>=0)
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
///Separating axis rest based on work from Pierre Terdiman, see
///And contact clipping based on work from Simon Hobbs
#include "btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include <float.h> //for FLT_MAX
int gExpectedNbTests=0;
int gActualNbTests = 0;
bool gUseInternalObject = true;
// Clips a face to the back of a plane
void btPolyhedralContactClipping::clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS)
{
int ve;
btScalar ds, de;
int numVerts = pVtxIn.size();
if (numVerts < 2)
return;
btVector3 firstVertex=pVtxIn[pVtxIn.size()-1];
btVector3 endVertex = pVtxIn[0];
ds = planeNormalWS.dot(firstVertex)+planeEqWS;
for (ve = 0; ve < numVerts; ve++)
{
endVertex=pVtxIn[ve];
de = planeNormalWS.dot(endVertex)+planeEqWS;
if (ds<0)
{
if (de<0)
{
// Start < 0, end < 0, so output endVertex
ppVtxOut.push_back(endVertex);
}
else
{
// Start < 0, end >= 0, so output intersection
ppVtxOut.push_back( firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
}
}
else
{
if (de<0)
{
// Start >= 0, end < 0 so output intersection and end
ppVtxOut.push_back(firstVertex.lerp(endVertex,btScalar(ds * 1.f/(ds - de))));
ppVtxOut.push_back(endVertex);
}
}
firstVertex = endVertex;
ds = de;
}
}
static bool TestSepAxis(const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btVector3& sep_axis, btScalar& depth)
{
btScalar Min0,Max0;
btScalar Min1,Max1;
hullA.project(transA,sep_axis, Min0, Max0);
hullB.project(transB, sep_axis, Min1, Max1);
if(Max0<Min1 || Max1<Min0)
return false;
btScalar d0 = Max0 - Min1;
assert(d0>=0.0f);
btScalar d1 = Max1 - Min0;
assert(d1>=0.0f);
depth = d0<d1 ? d0:d1;
return true;
}
static int gActualSATPairTests=0;
inline bool IsAlmostZero(const btVector3& v)
{
if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
return true;
}
#ifdef TEST_INTERNAL_OBJECTS
inline void BoxSupport(const btScalar extents[3], const btScalar sv[3], btScalar p[3])
{
// This version is ~11.000 cycles (4%) faster overall in one of the tests.
// IR(p[0]) = IR(extents[0])|(IR(sv[0])&SIGN_BITMASK);
// IR(p[1]) = IR(extents[1])|(IR(sv[1])&SIGN_BITMASK);
// IR(p[2]) = IR(extents[2])|(IR(sv[2])&SIGN_BITMASK);
p[0] = sv[0] < 0.0f ? -extents[0] : extents[0];
p[1] = sv[1] < 0.0f ? -extents[1] : extents[1];
p[2] = sv[2] < 0.0f ? -extents[2] : extents[2];
}
void InverseTransformPoint3x3(btVector3& out, const btVector3& in, const btTransform& tr)
{
const btMatrix3x3& rot = tr.getBasis();
const btVector3& r0 = rot[0];
const btVector3& r1 = rot[1];
const btVector3& r2 = rot[2];
const btScalar x = r0.x()*in.x() + r1.x()*in.y() + r2.x()*in.z();
const btScalar y = r0.y()*in.x() + r1.y()*in.y() + r2.y()*in.z();
const btScalar z = r0.z()*in.x() + r1.z()*in.y() + r2.z()*in.z();
out.setValue(x, y, z);
}
bool TestInternalObjects( const btTransform& trans0, const btTransform& trans1, const btVector3& delta_c, const btVector3& axis, const btConvexPolyhedron& convex0, const btConvexPolyhedron& convex1, btScalar dmin)
{
const btScalar dp = delta_c.dot(axis);
btVector3 localAxis0;
InverseTransformPoint3x3(localAxis0, axis,trans0);
btVector3 localAxis1;
InverseTransformPoint3x3(localAxis1, axis,trans1);
btScalar p0[3];
BoxSupport(convex0.m_extents, localAxis0, p0);
btScalar p1[3];
BoxSupport(convex1.m_extents, localAxis1, p1);
const btScalar Radius0 = p0[0]*localAxis0.x() + p0[1]*localAxis0.y() + p0[2]*localAxis0.z();
const btScalar Radius1 = p1[0]*localAxis1.x() + p1[1]*localAxis1.y() + p1[2]*localAxis1.z();
const btScalar MinRadius = Radius0>convex0.m_radius ? Radius0 : convex0.m_radius;
const btScalar MaxRadius = Radius1>convex1.m_radius ? Radius1 : convex1.m_radius;
const btScalar MinMaxRadius = MaxRadius + MinRadius;
const btScalar d0 = MinMaxRadius + dp;
const btScalar d1 = MinMaxRadius - dp;
const btScalar depth = d0<d1 ? d0:d1;
if(depth>dmin)
return false;
return true;
}
#endif //TEST_INTERNAL_OBJECTS
bool btPolyhedralContactClipping::findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep)
{
gActualSATPairTests++;
//#ifdef TEST_INTERNAL_OBJECTS
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
//#endif
btScalar dmin = FLT_MAX;
int curPlaneTests=0;
int numFacesA = hullA.m_faces.size();
// Test normals from hullA
for(int i=0;i<numFacesA;i++)
{
const btVector3 Normal(hullA.m_faces[i].m_plane[0], hullA.m_faces[i].m_plane[1], hullA.m_faces[i].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
if (DeltaC2.dot(faceANormalWS)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB, DeltaC2, faceANormalWS, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis( hullA, hullB, transA,transB, faceANormalWS, d))
return false;
if(d<dmin)
{
dmin = d;
sep = faceANormalWS;
}
}
int numFacesB = hullB.m_faces.size();
// Test normals from hullB
for(int i=0;i<numFacesB;i++)
{
const btVector3 Normal(hullB.m_faces[i].m_plane[0], hullB.m_faces[i].m_plane[1], hullB.m_faces[i].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
if (DeltaC2.dot(WorldNormal)<0)
continue;
curPlaneTests++;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, WorldNormal, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar d;
if(!TestSepAxis(hullA, hullB,transA,transB, WorldNormal,d))
return false;
if(d<dmin)
{
dmin = d;
sep = WorldNormal;
}
}
btVector3 edgeAstart,edgeAend,edgeBstart,edgeBend;
int curEdgeEdge = 0;
// Test edges
for(int e0=0;e0<hullA.m_uniqueEdges.size();e0++)
{
const btVector3 edge0 = hullA.m_uniqueEdges[e0];
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
for(int e1=0;e1<hullB.m_uniqueEdges.size();e1++)
{
const btVector3 edge1 = hullB.m_uniqueEdges[e1];
const btVector3 WorldEdge1 = transB.getBasis() * edge1;
btVector3 Cross = WorldEdge0.cross(WorldEdge1);
curEdgeEdge++;
if(!IsAlmostZero(Cross))
{
Cross = Cross.normalize();
if (DeltaC2.dot(Cross)<0)
continue;
#ifdef TEST_INTERNAL_OBJECTS
gExpectedNbTests++;
if(gUseInternalObject && !TestInternalObjects(transA,transB,DeltaC2, Cross, hullA, hullB, dmin))
continue;
gActualNbTests++;
#endif
btScalar dist;
if(!TestSepAxis( hullA, hullB, transA,transB, Cross, dist))
return false;
if(dist<dmin)
{
dmin = dist;
sep = Cross;
}
}
}
}
const btVector3 deltaC = transB.getOrigin() - transA.getOrigin();
if((deltaC.dot(sep))>0.0f)
sep = -sep;
return true;
}
void btPolyhedralContactClipping::clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVertexArray worldVertsB2;
btVertexArray* pVtxIn = &worldVertsB1;
btVertexArray* pVtxOut = &worldVertsB2;
pVtxOut->reserve(pVtxIn->size());
int closestFaceA=-1;
{
btScalar dmin = FLT_MAX;
for(int face=0;face<hullA.m_faces.size();face++)
{
const btVector3 Normal(hullA.m_faces[face].m_plane[0], hullA.m_faces[face].m_plane[1], hullA.m_faces[face].m_plane[2]);
const btVector3 faceANormalWS = transA.getBasis() * Normal;
btScalar d = faceANormalWS.dot(separatingNormal);
if (d < dmin)
{
dmin = d;
closestFaceA = face;
}
}
}
if (closestFaceA<0)
return;
const btFace& polyA = hullA.m_faces[closestFaceA];
// clip polygon to back of planes of all faces of hull A that are adjacent to witness face
int numVerticesA = polyA.m_indices.size();
for(int e0=0;e0<numVerticesA;e0++)
{
const btVector3& a = hullA.m_vertices[polyA.m_indices[e0]];
const btVector3& b = hullA.m_vertices[polyA.m_indices[(e0+1)%numVerticesA]];
const btVector3 edge0 = a - b;
const btVector3 WorldEdge0 = transA.getBasis() * edge0;
btVector3 worldPlaneAnormal1 = transA.getBasis()* btVector3(polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btVector3 planeNormalWS1 = -WorldEdge0.cross(worldPlaneAnormal1);//.cross(WorldEdge0);
btVector3 worldA1 = transA*a;
btScalar planeEqWS1 = -worldA1.dot(planeNormalWS1);
//int otherFace=0;
#ifdef BLA1
int otherFace = polyA.m_connectedFaces[e0];
btVector3 localPlaneNormal (hullA.m_faces[otherFace].m_plane[0],hullA.m_faces[otherFace].m_plane[1],hullA.m_faces[otherFace].m_plane[2]);
btScalar localPlaneEq = hullA.m_faces[otherFace].m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
#else
btVector3 planeNormalWS = planeNormalWS1;
btScalar planeEqWS=planeEqWS1;
#endif
//clip face
clipFace(*pVtxIn, *pVtxOut,planeNormalWS,planeEqWS);
btSwap(pVtxIn,pVtxOut);
pVtxOut->resize(0);
}
//#define ONLY_REPORT_DEEPEST_POINT
btVector3 point;
// only keep points that are behind the witness face
{
btVector3 localPlaneNormal (polyA.m_plane[0],polyA.m_plane[1],polyA.m_plane[2]);
btScalar localPlaneEq = polyA.m_plane[3];
btVector3 planeNormalWS = transA.getBasis()*localPlaneNormal;
btScalar planeEqWS=localPlaneEq-planeNormalWS.dot(transA.getOrigin());
for (int i=0;i<pVtxIn->size();i++)
{
btScalar depth = planeNormalWS.dot(pVtxIn->at(i))+planeEqWS;
if (depth <=minDist)
{
// printf("clamped: depth=%f to minDist=%f\n",depth,minDist);
depth = minDist;
}
if (depth <=maxDist)
{
btVector3 point = pVtxIn->at(i);
#ifdef ONLY_REPORT_DEEPEST_POINT
curMaxDist = depth;
#else
#if 0
if (depth<-3)
{
printf("error in btPolyhedralContactClipping depth = %f\n", depth);
printf("likely wrong separatingNormal passed in\n");
}
#endif
resultOut.addContactPoint(separatingNormal,point,depth);
#endif
}
}
}
#ifdef ONLY_REPORT_DEEPEST_POINT
if (curMaxDist<maxDist)
{
resultOut.addContactPoint(separatingNormal,point,curMaxDist);
}
#endif //ONLY_REPORT_DEEPEST_POINT
}
void btPolyhedralContactClipping::clipHullAgainstHull(const btVector3& separatingNormal1, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut)
{
btVector3 separatingNormal = separatingNormal1.normalized();
const btVector3 c0 = transA * hullA.m_localCenter;
const btVector3 c1 = transB * hullB.m_localCenter;
const btVector3 DeltaC2 = c0 - c1;
int closestFaceB=-1;
btScalar dmax = -FLT_MAX;
{
for(int face=0;face<hullB.m_faces.size();face++)
{
const btVector3 Normal(hullB.m_faces[face].m_plane[0], hullB.m_faces[face].m_plane[1], hullB.m_faces[face].m_plane[2]);
const btVector3 WorldNormal = transB.getBasis() * Normal;
btScalar d = WorldNormal.dot(separatingNormal);
if (d > dmax)
{
dmax = d;
closestFaceB = face;
}
}
}
btVertexArray worldVertsB1;
{
const btFace& polyB = hullB.m_faces[closestFaceB];
const int numVertices = polyB.m_indices.size();
for(int e0=0;e0<numVertices;e0++)
{
const btVector3& b = hullB.m_vertices[polyB.m_indices[e0]];
worldVertsB1.push_back(transB*b);
}
}
if (closestFaceB>=0)
clipFaceAgainstHull(separatingNormal, hullA, transA,worldVertsB1, minDist, maxDist,resultOut);
}

92
src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
View File

@@ -1,46 +1,46 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "btDiscreteCollisionDetectorInterface.h"
class btConvexPolyhedron;
typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
///the clipFace method is used internally
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
};
#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Advanced Micro Devices, Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#ifndef BT_POLYHEDRAL_CONTACT_CLIPPING_H
#define BT_POLYHEDRAL_CONTACT_CLIPPING_H
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "btDiscreteCollisionDetectorInterface.h"
class btConvexPolyhedron;
typedef btAlignedObjectArray<btVector3> btVertexArray;
// Clips a face to the back of a plane
struct btPolyhedralContactClipping
{
static void clipHullAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result& resultOut);
static void clipFaceAgainstHull(const btVector3& separatingNormal, const btConvexPolyhedron& hullA, const btTransform& transA, btVertexArray& worldVertsB1, const btScalar minDist, btScalar maxDist,btDiscreteCollisionDetectorInterface::Result& resultOut);
static bool findSeparatingAxis( const btConvexPolyhedron& hullA, const btConvexPolyhedron& hullB, const btTransform& transA,const btTransform& transB, btVector3& sep);
///the clipFace method is used internally
static void clipFace(const btVertexArray& pVtxIn, btVertexArray& ppVtxOut, const btVector3& planeNormalWS,btScalar planeEqWS);
};
#endif // BT_POLYHEDRAL_CONTACT_CLIPPING_H

6
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
View File

@@ -92,13 +92,15 @@ struct btSubSimplexClosestResult
/// btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin.
/// Can be used with GJK, as an alternative to Johnson distance algorithm.
#ifdef NO_VIRTUAL_INTERFACE
class btVoronoiSimplexSolver
ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver
#else
class btVoronoiSimplexSolver : public btSimplexSolverInterface
ATTRIBUTE_ALIGNED16(class) btVoronoiSimplexSolver : public btSimplexSolverInterface
#endif
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_numVertices;
btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];