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added basic CCD calculations for Compounds and non-convex (convex-versus-concave).

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This commit is contained in:
ejcoumans
2006-08-11 04:10:37 +00:00
parent 369fabd300
commit d931aae32f
6 changed files with 205 additions and 39 deletions
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43
Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
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@@ -99,5 +99,46 @@ void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseP
float CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
{
return 1.f;
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
assert (colObj->m_collisionShape->IsCompound());
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
float hitFraction = 1.f;
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent CollisionShape with childShape, and recurse
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
//backup
SimdTransform orgTrans = colObj->m_worldTransform;
CollisionShape* orgShape = colObj->m_collisionShape;
SimdTransform childTrans = compoundShape->GetChildTransform(i);
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->m_worldTransform = newChildWorldTrans;
colObj->m_collisionShape = childShape;
float frac = m_childCollisionAlgorithms[i]->CalculateTimeOfImpact(&m_childProxies[i],&m_otherProxy,dispatchInfo);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->m_collisionShape =orgShape;
colObj->m_worldTransform = orgTrans;
}
return hitFraction;
}