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another large series of changes, related to the refactoring.

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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
This commit is contained in:
ejcoumans
2006-10-06 05:22:13 +00:00
parent 97b287a6bc
commit bf847b839a
54 changed files with 1852 additions and 1946 deletions
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42
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -18,31 +18,24 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
:m_dispatcher(ci.m_dispatcher),
m_compoundProxy(*proxy0),
m_otherProxy(*proxy1)
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:m_isSwapped(isSwapped)
{
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_compoundProxy.m_clientObject);
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->m_collisionShape->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
int numChildren = compoundShape->getNumChildShapes();
m_childProxies.resize( numChildren );
int i;
for (i=0;i<numChildren;i++)
{
m_childProxies[i] = btBroadphaseProxy(*proxy0);
}
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_childProxies[i].m_clientObject);
btCollisionShape* orgShape = colObj->m_collisionShape;
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(m_childProxies[i],m_otherProxy);
m_childCollisionAlgorithms[i] = ci.m_dispatcher->findAlgorithm(colObj,otherObj);
colObj->m_collisionShape =orgShape;
}
}
@@ -58,11 +51,12 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
}
}
void btCompoundCollisionAlgorithm::processCollision (btBroadphaseProxy* ,btBroadphaseProxy* ,const btDispatcherInfo& dispatchInfo)
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_compoundProxy.m_clientObject);
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->m_collisionShape->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
@@ -72,14 +66,12 @@ void btCompoundCollisionAlgorithm::processCollision (btBroadphaseProxy* ,btBroad
//then use each overlapping node AABB against Tree0
//and vise versa.
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_childProxies[i].m_clientObject);
//backup
btTransform orgTrans = colObj->m_worldTransform;
@@ -88,18 +80,21 @@ void btCompoundCollisionAlgorithm::processCollision (btBroadphaseProxy* ,btBroad
btTransform childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
//the contactpoint is still projected back using the original inverted worldtrans
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i]->processCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
//revert back
colObj->m_collisionShape =orgShape;
colObj->m_worldTransform = orgTrans;
}
}
float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_compoundProxy.m_clientObject);
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->m_collisionShape->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape);
@@ -119,7 +114,6 @@ float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* pro
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionObject* colObj = static_cast<btCollisionObject*>(m_childProxies[i].m_clientObject);
//backup
btTransform orgTrans = colObj->m_worldTransform;
@@ -130,7 +124,7 @@ float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* pro
colObj->m_worldTransform = newChildWorldTrans;
colObj->m_collisionShape = childShape;
float frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(&m_childProxies[i],&m_otherProxy,dispatchInfo);
float frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;