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Add support for childshape index for btCompoundShape during ContactAddedCallback,

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see example in Bullet/Demos/ConvexDecompositionDemo
Removed some warnings
This commit is contained in:
erwin.coumans
2009-08-11 00:30:41 +00:00
parent f352cca5cf
commit d67aa861f2
40 changed files with 235 additions and 113 deletions
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2
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
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@@ -267,7 +267,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
{
const btScalar fudge_factor = btScalar(1.05);
btVector3 p,pp,normalC;
btVector3 p,pp,normalC(0.f,0.f,0.f);
const btScalar *normalR = 0;
btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;

9
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -142,6 +142,15 @@ public:
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj)
{
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
m_resultOut->setShapeIdentifiersB(-1,index);
}
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{

4
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -124,8 +124,8 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();

25
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -47,6 +47,12 @@ btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* b
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
#ifdef DEBUG_PART_INDEX
,m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
@@ -88,10 +94,19 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//BP mod, store contact triangles.
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
newPt.m_index0 = m_index1;
newPt.m_index1 = m_index0;
} else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
}
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
@@ -112,7 +127,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
}
}

31
src/BulletCollision/CollisionDispatch/btManifoldResult.h
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@@ -28,6 +28,7 @@ class btManifoldPoint;
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
//#define DEBUG_PART_INDEX 1
///btManifoldResult is a helper class to manage contact results.
@@ -50,6 +51,13 @@ class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
public:
btManifoldResult()
#ifdef DEBUG_PART_INDEX
:
m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
{
}
@@ -71,12 +79,16 @@ public:
return m_manifoldPtr;
}
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
m_partId0=partId0;
m_partId1=partId1;
m_index0=index0;
m_index1=index1;
m_partId0=partId0;
m_index0=index0;
}
virtual void setShapeIdentifiersB( int partId1,int index1)
{
m_partId1=partId1;
m_index1=index1;
}
@@ -99,7 +111,16 @@ public:
}
}
const btCollisionObject* getBody0Internal() const
{
return m_body0;
}
const btCollisionObject* getBody1Internal() const
{
return m_body1;
}
};
#endif //MANIFOLD_RESULT_H

4
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -340,7 +340,7 @@ btScalar btConvexShape::getMarginNonVirtual () const
btAssert (0);
return btScalar(0.0f);
}
#ifndef __SPU__
void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
switch (m_shapeType)
@@ -425,3 +425,5 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
// should never reach here
btAssert (0);
}
#endif //__SPU__

6
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -24,9 +24,10 @@ btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
int i;
btVector3 supVec(0,0,0);
#ifndef __SPU__
int i;
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
@@ -54,8 +55,9 @@ btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin(const b
}
}
return supVec;
#endif //__SPU__
return supVec;
}

7
src/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
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@@ -45,12 +45,13 @@ ATTRIBUTE_ALIGNED16( struct) btIndexedMesh
btIndexedMesh()
{
:m_indexType(PHY_INTEGER),
#ifdef BT_USE_DOUBLE_PRECISION
m_vertexType = PHY_DOUBLE;
m_vertexType(PHY_DOUBLE)
#else // BT_USE_DOUBLE_PRECISION
m_vertexType = PHY_FLOAT;
m_vertexType(PHY_FLOAT)
#endif // BT_USE_DOUBLE_PRECISION
{
}
}
;

2
src/BulletCollision/Gimpact/btGImpactBvh.h
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@@ -231,6 +231,8 @@ class btPrimitiveManagerBase
{
public:
virtual ~btPrimitiveManagerBase() {}
//! determines if this manager consist on only triangles, which special case will be optimized
virtual bool is_trimesh() const = 0;
virtual int get_primitive_count() const = 0;

11
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
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@@ -102,6 +102,7 @@ public:
{
return m_parent->m_gim_shape->getChildShape(index);
}
virtual ~ChildShapeRetriever() {}
};
class TriangleShapeRetriever:public ChildShapeRetriever
@@ -113,6 +114,7 @@ public:
m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape);
return &m_parent->m_trishape;
}
virtual ~TriangleShapeRetriever() {}
};
class TetraShapeRetriever:public ChildShapeRetriever
@@ -213,7 +215,8 @@ void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
const btVector3 & normal,
btScalar distance)
{
m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
checkManifold(body0,body1);
m_resultOut->addContactPoint(normal,point,distance);
}
@@ -236,7 +239,8 @@ void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
// post : checkManifold is called
m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
@@ -262,7 +266,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
body1->internalSetTemporaryCollisionShape(shape1);
m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
checkConvexAlgorithm(body0,body1);
m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);

2
src/BulletCollision/Gimpact/btGImpactShape.h
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@@ -302,6 +302,7 @@ public:
class CompoundPrimitiveManager:public btPrimitiveManagerBase
{
public:
virtual ~CompoundPrimitiveManager() {}
btGImpactCompoundShape * m_compoundShape;
@@ -582,6 +583,7 @@ public:
}
virtual ~TrimeshPrimitiveManager() {}
void lock()
{

5
src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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@@ -33,8 +33,9 @@ struct btDiscreteCollisionDetectorInterface
virtual ~Result(){}
///setShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)=0;
///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
virtual void setShapeIdentifiersA(int partId0,int index0)=0;
virtual void setShapeIdentifiersB(int partId1,int index1)=0;
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
};

14
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
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@@ -297,6 +297,9 @@ namespace gjkepa2_impl
{
case eStatus::Valid: m_distance=m_ray.length();break;
case eStatus::Inside: m_distance=0;break;
default:
{
}
}
return(m_status);
}
@@ -415,8 +418,8 @@ namespace gjkepa2_impl
if(l>GJK_SIMPLEX3_EPS)
{
btScalar mindist=-1;
btScalar subw[2];
U subm;
btScalar subw[2]={0.f,0.f};
U subm(0);
for(U i=0;i<3;++i)
{
if(btDot(*vt[i],btCross(dl[i],n))>0)
@@ -462,8 +465,8 @@ namespace gjkepa2_impl
if(ng&&(btFabs(vl)>GJK_SIMPLEX4_EPS))
{
btScalar mindist=-1;
btScalar subw[3];
U subm;
btScalar subw[3]={0.f,0.f,0.f};
U subm(0);
for(U i=0;i<3;++i)
{
const U j=imd3[i];
@@ -892,6 +895,9 @@ bool btGjkEpaSolver2::Penetration( const btConvexShape* shape0,
case GJK::eStatus::Failed:
results.status=sResults::GJK_Failed;
break;
default:
{
}
}
return(false);
}

4
src/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
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@@ -55,7 +55,7 @@ static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
const btVector3& guess,
sResults& results,
bool usemargins=true);
#ifndef __SPU__
static btScalar SignedDistance( const btVector3& position,
btScalar margin,
const btConvexShape* shape,
@@ -66,6 +66,8 @@ static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs
const btConvexShape* shape1,const btTransform& wtrs1,
const btVector3& guess,
sResults& results);
#endif //__SPU__
};
#endif

2
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
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@@ -32,7 +32,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
(void)v;
(void)simplexSolver;
const btScalar radialmargin(btScalar(0.));
// const btScalar radialmargin(btScalar(0.));
btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
btGjkEpaSolver2::sResults results;

5
src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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@@ -91,10 +91,13 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
btScalar m_depth;
bool m_hasResult;
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
}
virtual void setShapeIdentifiersB(int partId1,int index1)
{
(void)partId1;
(void)index1;
}

7
src/BulletCollision/NarrowPhaseCollision/btPointCollector.h
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@@ -35,13 +35,16 @@ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
{
}
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
virtual void setShapeIdentifiersA(int partId0,int index0)
{
(void)partId0;
(void)index0;
}
virtual void setShapeIdentifiersB(int partId1,int index1)
{
(void)partId1;
(void)index1;
//??
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)