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ejcoumans
323
Bullet/CollisionDispatch/CollisionWorld.cpp
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323
Bullet/CollisionDispatch/CollisionWorld.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "CollisionWorld.h"
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#include "CollisionDispatcher.h"
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#include "CollisionDispatch/CollisionObject.h"
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#include "CollisionShapes/CollisionShape.h"
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#include "CollisionShapes/SphereShape.h" //for raycasting
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#include "CollisionShapes/TriangleMeshShape.h" //for raycasting
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#include "NarrowPhaseCollision/RaycastCallback.h"
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#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
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#include "BroadphaseCollision/BroadphaseInterface.h"
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#include "AabbUtil2.h"
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#include <algorithm>
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CollisionWorld::~CollisionWorld()
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{
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//clean up remaining objects
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std::vector<CollisionObject*>::iterator i;
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int index = 0;
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for (i=m_collisionObjects.begin();
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!(i==m_collisionObjects.end()); i++)
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{
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CollisionObject* collisionObject= (*i);
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BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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GetBroadphase()->CleanProxyFromPairs(bp);
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GetBroadphase()->DestroyProxy(bp);
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}
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}
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}
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void CollisionWorld::UpdateActivationState()
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{
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m_dispatcher->InitUnionFind(m_collisionObjects.size());
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// put the index into m_controllers into m_tag
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{
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std::vector<CollisionObject*>::iterator i;
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int index = 0;
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for (i=m_collisionObjects.begin();
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!(i==m_collisionObjects.end()); i++)
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{
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CollisionObject* collisionObject= (*i);
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collisionObject->m_islandTag1 = index;
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collisionObject->m_hitFraction = 1.f;
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index++;
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}
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}
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// do the union find
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m_dispatcher->FindUnions();
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// put the islandId ('find' value) into m_tag
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{
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UnionFind& unionFind = m_dispatcher->GetUnionFind();
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std::vector<CollisionObject*>::iterator i;
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int index = 0;
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for (i=m_collisionObjects.begin();
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!(i==m_collisionObjects.end()); i++)
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{
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CollisionObject* collisionObject= (*i);
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if (collisionObject->mergesSimulationIslands())
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{
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collisionObject->m_islandTag1 = unionFind.find(index);
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} else
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{
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collisionObject->m_islandTag1 = -1;
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}
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index++;
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}
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}
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}
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void CollisionWorld::AddCollisionObject(CollisionObject* collisionObject)
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{
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m_collisionObjects.push_back(collisionObject);
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//calculate new AABB
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SimdTransform trans = collisionObject->m_worldTransform;
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SimdVector3 minAabb;
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SimdVector3 maxAabb;
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collisionObject->m_collisionShape->GetAabb(trans,minAabb,maxAabb);
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int type = collisionObject->m_collisionShape->GetShapeType();
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collisionObject->m_broadphaseHandle = GetBroadphase()->CreateProxy(
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minAabb,
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maxAabb,
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type,
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collisionObject
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);
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}
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void CollisionWorld::PerformDiscreteCollisionDetection()
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{
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DispatcherInfo dispatchInfo;
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dispatchInfo.m_timeStep = 0.f;
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dispatchInfo.m_stepCount = 0;
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//update aabb (of all moved objects)
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SimdVector3 aabbMin,aabbMax;
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for (size_t i=0;i<m_collisionObjects.size();i++)
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{
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m_collisionObjects[i]->m_collisionShape->GetAabb(m_collisionObjects[i]->m_worldTransform,aabbMin,aabbMax);
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m_broadphase->SetAabb(m_collisionObjects[i]->m_broadphaseHandle,aabbMin,aabbMax);
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}
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m_broadphase->DispatchAllCollisionPairs(*GetDispatcher(),dispatchInfo);
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}
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void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
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{
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//bool removeFromBroadphase = false;
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{
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BroadphaseProxy* bp = collisionObject->m_broadphaseHandle;
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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GetBroadphase()->CleanProxyFromPairs(bp);
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GetBroadphase()->DestroyProxy(bp);
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}
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}
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std::vector<CollisionObject*>::iterator i = std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);
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if (!(i == m_collisionObjects.end()))
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{
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std::swap(*i, m_collisionObjects.back());
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m_collisionObjects.pop_back();
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}
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}
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void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
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{
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SimdTransform rayFromTrans,rayToTrans;
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rayFromTrans.setIdentity();
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rayFromTrans.setOrigin(rayFromWorld);
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rayToTrans.setIdentity();
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rayToTrans.setOrigin(rayToWorld);
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//do culling based on aabb (rayFrom/rayTo)
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SimdVector3 rayAabbMin = rayFromWorld;
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SimdVector3 rayAabbMax = rayFromWorld;
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rayAabbMin.setMin(rayToWorld);
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rayAabbMax.setMax(rayToWorld);
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SphereShape pointShape(0.0f);
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/// brute force go over all objects. Once there is a broadphase, use that, or
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/// add a raycast against aabb first.
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std::vector<CollisionObject*>::iterator iter;
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for (iter=m_collisionObjects.begin();
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!(iter==m_collisionObjects.end()); iter++)
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{
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CollisionObject* collisionObject= (*iter);
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//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
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SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
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collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
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//check aabb overlap
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if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
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{
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if (collisionObject->m_collisionShape->IsConvex())
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{
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ConvexCast::CastResult castResult;
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castResult.m_fraction = 1.f;//??
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ConvexShape* convexShape = (ConvexShape*) collisionObject->m_collisionShape;
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VoronoiSimplexSolver simplexSolver;
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SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
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//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
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//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
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if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,collisionObject->m_worldTransform,collisionObject->m_worldTransform,castResult))
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{
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//add hit
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if (castResult.m_normal.length2() > 0.0001f)
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{
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castResult.m_normal.normalize();
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if (castResult.m_fraction < resultCallback.m_closestHitFraction)
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{
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CollisionWorld::LocalRayResult localRayResult
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(
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collisionObject,
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0,
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castResult.m_normal,
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castResult.m_fraction
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);
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resultCallback.AddSingleResult(localRayResult);
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}
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}
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}
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}
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else
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{
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if (collisionObject->m_collisionShape->IsConcave())
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{
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TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionObject->m_collisionShape;
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SimdTransform worldTocollisionObject = collisionObject->m_worldTransform.inverse();
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SimdVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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SimdVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public TriangleRaycastCallback
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{
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RayResultCallback* m_resultCallback;
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CollisionObject* m_collisionObject;
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TriangleMeshShape* m_triangleMesh;
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BridgeTriangleRaycastCallback( const SimdVector3& from,const SimdVector3& to,
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RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape* triangleMesh):
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TriangleRaycastCallback(from,to),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh)
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{
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}
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virtual float ReportHit(const SimdVector3& hitNormalLocal, float hitFraction, int partId, int triangleIndex )
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{
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CollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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CollisionWorld::LocalRayResult rayResult
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(m_collisionObject,
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&shapeInfo,
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hitNormalLocal,
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hitFraction);
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return m_resultCallback->AddSingleResult(rayResult);
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}
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};
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BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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SimdVector3 rayAabbMinLocal = rayFromLocal;
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rayAabbMinLocal.setMin(rayToLocal);
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SimdVector3 rayAabbMaxLocal = rayFromLocal;
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rayAabbMaxLocal.setMax(rayToLocal);
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triangleMesh->ProcessAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
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}
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}
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}
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}
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}
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