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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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28
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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@@ -28,12 +28,14 @@ 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
{
btBroadphaseProxy* m_convexProxy;
btBroadphaseProxy m_triangleProxy;
btCollisionObject* m_convexBody;
btCollisionObject* m_triBody;
btVector3 m_aabbMin;
btVector3 m_aabbMax ;
btManifoldResult* m_resultOut;
btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr;
float m_collisionMarginTriangle;
@@ -43,9 +45,9 @@ int m_triangleCount;
btPersistentManifold* m_manifoldPtr;
btConvexTriangleCallback(btDispatcher* dispatcher,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
void setTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo);
void setTimeStepAndCounters(float collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual ~btConvexTriangleCallback();
@@ -71,38 +73,36 @@ int m_triangleCount;
class btConvexConcaveCollisionAlgorithm : public btCollisionAlgorithm
{
btBroadphaseProxy m_convex;
btBroadphaseProxy m_concave;
bool m_isSwapped;
btConvexTriangleCallback m_btConvexTriangleCallback;
public:
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
virtual ~btConvexConcaveCollisionAlgorithm();
virtual void processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
float calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo);
float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void clearCache();
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btConvexConcaveCollisionAlgorithm(ci,proxy0,proxy1);
return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btConvexConcaveCollisionAlgorithm(ci,proxy1,proxy0);
return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
}
};