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Add early rejection tests during CCD against compound objects

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This commit is contained in:
Ryan Huffman
2015-11-16 14:38:14 -08:00
committed by Andrew Meadows
parent 6c67426b6d
commit af442778a6
1 changed files with 97 additions and 39 deletions
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80
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -793,14 +793,46 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
///@todo : use AABB tree or other BVH acceleration structure!
if (collisionShape->isCompound())
{
BT_PROFILE("convexSweepCompound");
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->getNumChildShapes();i++)
struct btCompoundLeafCallback : btDbvt::ICollide
{
btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childWorldTrans = colObjWorldTransform * childTrans;
btCompoundLeafCallback(
const btConvexShape* castShape,
const btTransform& convexFromTrans,
const btTransform& convexToTrans,
btScalar allowedPenetration,
const btCompoundShape* compoundShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback)
:
m_castShape(castShape),
m_convexFromTrans(convexFromTrans),
m_convexToTrans(convexToTrans),
m_allowedPenetration(allowedPenetration),
m_compoundShape(compoundShape),
m_colObjWorldTransform(colObjWorldTransform),
m_resultCallback(resultCallback) {
}
const btConvexShape* m_castShape;
const btTransform& m_convexFromTrans;
const btTransform& m_convexToTrans;
btScalar m_allowedPenetration;
const btCompoundShape* m_compoundShape;
const btTransform& m_colObjWorldTransform;
ConvexResultCallback& m_resultCallback;
const btCollisionObjectWrapper* m_colObjWrap;
public:
void Process(const btDbvtNode* leaf)
{
// Processing leaf node
int index = leaf->dataAsInt;
//const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btTransform childTrans = m_compoundShape->getChildTransform(index);
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
struct LocalInfoAdder : public ConvexResultCallback {
ConvexResultCallback* m_userCallback;
@@ -829,13 +861,39 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
}
};
LocalInfoAdder my_cb(i, &resultCallback);
LocalInfoAdder my_cb(index, &m_resultCallback);
btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i);
btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
&tmpObj,my_cb, allowedPenetration);
objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans,
&tmpObj, my_cb, m_allowedPenetration);
}
};
BT_PROFILE("convexSweepCompound");
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
btVector3 fromLocalAabbMin, fromLocalAabbMax;
btVector3 toLocalAabbMin, toLocalAabbMax;
castShape->getAabb(convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
castShape->getAabb(convexToTrans, toLocalAabbMin, toLocalAabbMax);
fromLocalAabbMin.setMin(toLocalAabbMin);
fromLocalAabbMax.setMax(toLocalAabbMax);
const btDbvt* tree = compoundShape->getDynamicAabbTree();
if (tree) {
btCompoundLeafCallback callback { castShape, convexFromTrans, convexToTrans,
allowedPenetration, compoundShape, colObjWorldTransform, resultCallback };
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
tree->collideTV(tree->m_root, bounds, callback);
} else {
int i;
for (i=0;i<compoundShape->getNumChildShapes();i++)
{
}
}
}
}