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Added a gCompoundChildShapePairCallback to filter (enable/disable) child shape collisions for a btCompoundShape.

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Thanks to Rich McDaniel for the patch.
See MyCompoundChildShapeCallback in Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp for usage.
This commit is contained in:
erwin.coumans@gmail.com
2013-04-02 02:01:43 +00:00
parent 1f4f8c7e05
commit e8c2475c95
4 changed files with 57 additions and 4 deletions
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11
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View File

@@ -11,6 +11,9 @@ subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
VERSION alterations
2013-Mar-21: Rich McDaniel - Added callback function to eliminate collisions based on shape testing
*/
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
@@ -22,6 +25,8 @@ subject to the following restrictions:
#include "btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btShapePairCallback gCompoundChildShapePairCallback = 0;
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
@@ -129,6 +134,12 @@ public:
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{

17
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View File

@@ -11,6 +11,10 @@ subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
VERSION alterations
2013-Mar-21: Rich McDaniel - Added accessor to child algorithms in btCompoundCollisionAlgorithm
2013-Mar-21: Rich McDaniel - Added callback function to eliminate collisions based on shape testing
*/
#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
@@ -28,6 +32,11 @@ class btDispatcher;
class btDispatcher;
class btCollisionObject;
/* 2013-Mar-21 - Rich McDaniel */
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundChildShapePairCallback;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
@@ -37,6 +46,7 @@ class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
void removeChildAlgorithms();
@@ -49,6 +59,12 @@ public:
virtual ~btCompoundCollisionAlgorithm();
btCollisionAlgorithm* getChildAlgorithm (int n) const
{
return m_childCollisionAlgorithms[n];
}
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -63,6 +79,7 @@ public:
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)