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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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45
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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@@ -20,17 +20,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
//#include <stdio.h>
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
m_sphereColObj = static_cast<btCollisionObject*>(proxy0->m_clientObject);
m_boxColObj = static_cast<btCollisionObject*>(proxy1->m_clientObject);
if (!m_manifoldPtr && m_dispatcher->needsCollision(*proxy0,*proxy1))
if (!m_manifoldPtr && m_dispatcher->needsCollision(col0,col1))
{
m_manifoldPtr = m_dispatcher->getNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_ownManifold = true;
}
}
@@ -47,55 +46,59 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
void btSphereBoxCollisionAlgorithm::processCollision (btBroadphaseProxy*,btBroadphaseProxy*,const btDispatcherInfo& dispatchInfo)
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btSphereShape* sphere0 = (btSphereShape*)m_sphereColObj ->m_collisionShape;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
btSphereShape* sphere0 = (btSphereShape*)sphereObj ->m_collisionShape;
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = m_sphereColObj->m_worldTransform.getOrigin();
btVector3 sphereCenter = sphereObj->m_worldTransform.getOrigin();
btScalar radius = sphere0->getRadius();
float dist = getSphereDistance(pOnBox,pOnSphere,sphereCenter,radius);
float dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
if (dist < SIMD_EPSILON)
{
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
btManifoldResult* resultOut = m_dispatcher->getNewManifoldResult(m_sphereColObj,m_boxColObj,m_manifoldPtr);
resultOut->setPersistentManifold(m_manifoldPtr);
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
m_dispatcher->releaseManifoldResult(resultOut);
}
}
float btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
float btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance( btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
{
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)m_boxColObj->m_collisionShape;
btBoxShape* boxShape= (btBoxShape*)boxObj->m_collisionShape;
bounds[0] = -boxShape->getHalfExtents();
bounds[1] = boxShape->getHalfExtents();
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = m_boxColObj->m_worldTransform;
const btTransform& m44T = boxObj->m_worldTransform;
btVector3 boundsVec[2];
btScalar fPenetration;
@@ -175,7 +178,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance( btVector3& pointOnBox
//////////////////////////////////////////////////
// Deep penetration case
fPenetration = getSpherePenetration( pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
@@ -186,7 +189,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSphereDistance( btVector3& pointOnBox
return 1.0f;
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
@@ -204,7 +207,7 @@ btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3& pointOn
n[4].setValue( 0.0f, 1.0f, 0.0f );
n[5].setValue( 0.0f, 0.0f, 1.0f );
const btTransform& m44T = m_boxColObj->m_worldTransform;
const btTransform& m44T = boxObj->m_worldTransform;
// convert point in local space
prel = m44T.invXform( sphereCenter);