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Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:

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- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
- continuous collision detection, time of impact
Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
This commit is contained in:
ejcoumans
2006-12-04 15:42:03 +00:00
parent 2f557b2a4d
commit b6d1b4c94e
8 changed files with 142 additions and 90 deletions
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82
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -45,6 +45,8 @@ m_emptyCreateFunc(0)
{
int i;
setNearCallback(defaultNearCallback);
m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc;
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
{
@@ -61,6 +63,8 @@ btCollisionDispatcher::btCollisionDispatcher ():
m_count(0)
{
int i;
setNearCallback(defaultNearCallback);
//default CreationFunctions, filling the m_doubleDispatch table
m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc;
@@ -275,50 +279,20 @@ class btCollisionPairCallback : public btOverlapCallback
{
btDispatcherInfo& m_dispatchInfo;
btCollisionDispatcher* m_dispatcher;
int m_dispatcherId;
public:
btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher,int dispatcherId)
btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher)
:m_dispatchInfo(dispatchInfo),
m_dispatcher(dispatcher),
m_dispatcherId(dispatcherId)
m_dispatcher(dispatcher)
{
}
virtual bool processOverlap(btBroadphasePair& pair)
{
btCollisionObject* body0 = (btCollisionObject*)pair.m_pProxy0->m_clientObject;
btCollisionObject* body1 = (btCollisionObject*)pair.m_pProxy1->m_clientObject;
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
if (!m_dispatcher->needsCollision(body0,body1))
return false;
//dispatcher will keep algorithms persistent in the collision pair
if (!pair.m_algorithms[m_dispatcherId])
{
pair.m_algorithms[m_dispatcherId] = m_dispatcher->findAlgorithm(
body0,
body1);
}
if (pair.m_algorithms[m_dispatcherId])
{
btManifoldResult* resultOut = m_dispatcher->internalGetNewManifoldResult(body0,body1);
if (m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
pair.m_algorithms[m_dispatcherId]->processCollision(body0,body1,m_dispatchInfo,resultOut);
} else
{
float toi = pair.m_algorithms[m_dispatcherId]->calculateTimeOfImpact(body0,body1,m_dispatchInfo,resultOut);
if (m_dispatchInfo.m_timeOfImpact > toi)
m_dispatchInfo.m_timeOfImpact = toi;
}
m_dispatcher->internalReleaseManifoldResult(resultOut);
}
return false;
}
};
@@ -327,9 +301,7 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
{
//m_blockedForChanges = true;
int dispatcherId = getUniqueId();
btCollisionPairCallback collisionCallback(dispatchInfo,this,dispatcherId);
btCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback);
@@ -338,3 +310,39 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
}
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher.needsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
float toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}