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Fix errors in ccd against compound objects

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This commit is contained in:
Ryan Huffman
2015-11-17 13:50:51 -08:00
committed by Andrew Meadows
parent 25ee137390
commit b135699325
1 changed files with 22 additions and 11 deletions
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31
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -826,15 +826,10 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
public: public:
void Process(const btDbvtNode* leaf) void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
{ {
// 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; btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
//btTransform childWorldTrans = childTrans;
struct LocalInfoAdder : public ConvexResultCallback { struct LocalInfoAdder : public ConvexResultCallback {
ConvexResultCallback* m_userCallback; ConvexResultCallback* m_userCallback;
@@ -870,6 +865,18 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans,
&tmpObj, my_cb, m_allowedPenetration); &tmpObj, my_cb, m_allowedPenetration);
} }
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);
ProcessChild(index, childTrans, childCollisionShape);
}
}; };
BT_PROFILE("convexSweepCompound"); BT_PROFILE("convexSweepCompound");
@@ -878,23 +885,27 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
btVector3 fromLocalAabbMin, fromLocalAabbMax; btVector3 fromLocalAabbMin, fromLocalAabbMax;
btVector3 toLocalAabbMin, toLocalAabbMax; btVector3 toLocalAabbMin, toLocalAabbMax;
castShape->getAabb(convexFromTrans, fromLocalAabbMin, fromLocalAabbMax); castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
castShape->getAabb(convexToTrans, toLocalAabbMin, toLocalAabbMax); castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
fromLocalAabbMin.setMin(toLocalAabbMin); fromLocalAabbMin.setMin(toLocalAabbMin);
fromLocalAabbMax.setMax(toLocalAabbMax); fromLocalAabbMax.setMax(toLocalAabbMax);
const btDbvt* tree = compoundShape->getDynamicAabbTree(); const btDbvt* tree = compoundShape->getDynamicAabbTree();
if (tree) {
btCompoundLeafCallback callback { colObjWrap, castShape, convexFromTrans, convexToTrans, btCompoundLeafCallback callback { colObjWrap, castShape, convexFromTrans, convexToTrans,
allowedPenetration, compoundShape, colObjWorldTransform, resultCallback }; allowedPenetration, compoundShape, colObjWorldTransform, resultCallback };
if (tree) {
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax); const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
tree->collideTV(tree->m_root, bounds, callback); tree->collideTV(tree->m_root, bounds, callback);
} else { } else {
int i; int i;
for (i=0;i<compoundShape->getNumChildShapes();i++) for (i=0;i<compoundShape->getNumChildShapes();i++)
{ {
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childTrans = compoundShape->getChildTransform(i);
callback.ProcessChild(i, childTrans, childCollisionShape);
} }
} }
} }