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some work on compound collision shapes (not finished yet)

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This commit is contained in:
ejcoumans
2006-07-24 05:22:56 +00:00
parent 60ce7413fe
commit fdaa3a7abc
8 changed files with 464 additions and 253 deletions
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12
Bullet/CollisionDispatch/CollisionDispatcher.cpp
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@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "CollisionDispatch/ConvexConvexAlgorithm.h"
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
#include "CollisionShapes/CollisionShape.h"
#include "CollisionDispatch/CollisionObject.h"
#include <algorithm>
@@ -122,6 +123,17 @@ CollisionAlgorithm* CollisionDispatcher::InternalFindAlgorithm(BroadphaseProxy&
return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
}
if (body0->m_collisionShape->IsCompound())
{
return new CompoundCollisionAlgorithm(ci,&proxy0,&proxy1);
} else
{
if (body1->m_collisionShape->IsCompound())
{
return new CompoundCollisionAlgorithm(ci,&proxy1,&proxy0);
}
}
//failed to find an algorithm
return new EmptyAlgorithm(ci);

127
Bullet/CollisionDispatch/CollisionWorld.cpp
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "CollisionShapes/SphereShape.h" //for raycasting
#include "CollisionShapes/TriangleMeshShape.h" //for raycasting
#include "NarrowPhaseCollision/RaycastCallback.h"
#include "CollisionShapes/CompoundShape.h"
#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
#include "BroadphaseCollision/BroadphaseInterface.h"
@@ -139,58 +140,27 @@ void CollisionWorld::RemoveCollisionObject(CollisionObject* collisionObject)
}
}
void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
void RayTestSingle(const SimdTransform& rayFromTrans,const SimdTransform& rayToTrans,
CollisionObject* collisionObject,
const CollisionShape* collisionShape,
const SimdTransform& colObjWorldTransform,
CollisionWorld::RayResultCallback& resultCallback)
{
SimdTransform rayFromTrans,rayToTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFromWorld);
rayToTrans.setIdentity();
rayToTrans.setOrigin(rayToWorld);
//do culling based on aabb (rayFrom/rayTo)
SimdVector3 rayAabbMin = rayFromWorld;
SimdVector3 rayAabbMax = rayFromWorld;
rayAabbMin.setMin(rayToWorld);
rayAabbMax.setMax(rayToWorld);
SphereShape pointShape(0.0f);
/// brute force go over all objects. Once there is a broadphase, use that, or
/// add a raycast against aabb first.
std::vector<CollisionObject*>::iterator iter;
for (iter=m_collisionObjects.begin();
!(iter==m_collisionObjects.end()); iter++)
{
CollisionObject* collisionObject= (*iter);
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
//check aabb overlap
if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
{
if (collisionObject->m_collisionShape->IsConvex())
if (collisionShape->IsConvex())
{
ConvexCast::CastResult castResult;
castResult.m_fraction = 1.f;//??
ConvexShape* convexShape = (ConvexShape*) collisionObject->m_collisionShape;
ConvexShape* convexShape = (ConvexShape*) collisionShape;
VoronoiSimplexSolver simplexSolver;
SubsimplexConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,collisionObject->m_worldTransform,collisionObject->m_worldTransform,castResult))
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > 0.0001f)
@@ -217,12 +187,12 @@ void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3&
else
{
if (collisionObject->m_collisionShape->IsConcave())
if (collisionShape->IsConcave())
{
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionObject->m_collisionShape;
TriangleMeshShape* triangleMesh = (TriangleMeshShape*)collisionShape;
SimdTransform worldTocollisionObject = collisionObject->m_worldTransform.inverse();
SimdTransform worldTocollisionObject = colObjWorldTransform.inverse();
SimdVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
SimdVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
@@ -231,12 +201,12 @@ void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3&
struct BridgeTriangleRaycastCallback : public TriangleRaycastCallback
{
RayResultCallback* m_resultCallback;
CollisionWorld::RayResultCallback* m_resultCallback;
CollisionObject* m_collisionObject;
TriangleMeshShape* m_triangleMesh;
BridgeTriangleRaycastCallback( const SimdVector3& from,const SimdVector3& to,
RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape* triangleMesh):
CollisionWorld::RayResultCallback* resultCallback, CollisionObject* collisionObject,TriangleMeshShape* triangleMesh):
TriangleRaycastCallback(from,to),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
@@ -275,10 +245,75 @@ void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3&
triangleMesh->ProcessAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else
{
//todo: use AABB tree or other BVH acceleration structure!
if (collisionShape->IsCompound())
{
const CompoundShape* compoundShape = static_cast<const CompoundShape*>(collisionShape);
int i=0;
for (i=0;i<compoundShape->GetNumChildShapes();i++)
{
SimdTransform childTrans = compoundShape->GetChildTransform(i);
const CollisionShape* childCollisionShape = compoundShape->GetChildShape(i);
SimdTransform childWorldTrans = colObjWorldTransform * childTrans;
RayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
childCollisionShape,
childWorldTrans,
resultCallback);
}
}
}
}
}
void CollisionWorld::RayTest(const SimdVector3& rayFromWorld, const SimdVector3& rayToWorld, RayResultCallback& resultCallback)
{
SimdTransform rayFromTrans,rayToTrans;
rayFromTrans.setIdentity();
rayFromTrans.setOrigin(rayFromWorld);
rayToTrans.setIdentity();
rayToTrans.setOrigin(rayToWorld);
//do culling based on aabb (rayFrom/rayTo)
SimdVector3 rayAabbMin = rayFromWorld;
SimdVector3 rayAabbMax = rayFromWorld;
rayAabbMin.setMin(rayToWorld);
rayAabbMax.setMax(rayToWorld);
/// brute force go over all objects. Once there is a broadphase, use that, or
/// add a raycast against aabb first.
std::vector<CollisionObject*>::iterator iter;
for (iter=m_collisionObjects.begin();
!(iter==m_collisionObjects.end()); iter++)
{
CollisionObject* collisionObject= (*iter);
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
SimdVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->m_collisionShape->GetAabb(collisionObject->m_worldTransform,collisionObjectAabbMin,collisionObjectAabbMax);
//check aabb overlap
if (TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,collisionObjectAabbMin,collisionObjectAabbMax))
{
RayTestSingle(rayFromTrans,rayToTrans,
collisionObject,
collisionObject->m_collisionShape,
collisionObject->m_worldTransform,
resultCallback);
}
}

53
Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
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@@ -14,19 +14,70 @@ subject to the following restrictions:
*/
#include "CollisionDispatch/CompoundCollisionAlgorithm.h"
#include "CollisionDispatch/CollisionObject.h"
#include "CollisionShapes/CompoundShape.h"
CompoundCollisionAlgorithm::CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
:m_dispatcher(ci.m_dispatcher),
m_compoundProxy(*proxy0),
m_otherProxy(*proxy1)
{
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
assert (colObj->m_collisionShape->IsCompound());
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
int numChildren = compoundShape->GetNumChildShapes();
m_childProxies.resize( numChildren );
int i;
for (i=0;i<numChildren;i++)
{
m_childProxies[i] = BroadphaseProxy(*proxy0);
}
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
CollisionShape* childShape = compoundShape->GetChildShape(i);
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
CollisionShape* orgShape = colObj->m_collisionShape;
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i] = m_dispatcher->FindAlgorithm(m_childProxies[i],m_otherProxy);
colObj->m_collisionShape =orgShape;
}
}
CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
{
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
delete m_childCollisionAlgorithms[i];
}
}
void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
{
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
assert (colObj->m_collisionShape->IsCompound());
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
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);
CollisionShape* orgShape = colObj->m_collisionShape;
colObj->m_collisionShape = childShape;
m_childCollisionAlgorithms[i]->ProcessCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
//revert back
colObj->m_collisionShape =orgShape;
}
}
float CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)

7
Bullet/CollisionDispatch/CompoundCollisionAlgorithm.h
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@@ -23,14 +23,19 @@ subject to the following restrictions:
#include "NarrowPhaseCollision/PersistentManifold.h"
class Dispatcher;
#include "BroadphaseCollision/BroadphaseProxy.h"
#include <vector>
/// CompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
/// Place holder, not fully implemented yet
class CompoundCollisionAlgorithm : public CollisionAlgorithm
{
BroadphaseProxy m_compoundProxy;
BroadphaseProxy m_otherProxy;
std::vector<BroadphaseProxy> m_childProxies;
std::vector<CollisionAlgorithm*> m_childCollisionAlgorithms;
Dispatcher* m_dispatcher;
BroadphaseProxy m_compound;
BroadphaseProxy m_other;