Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

some work on compound collision shapes (not finished yet)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

53
Bullet/CollisionDispatch/CompoundCollisionAlgorithm.cpp
View File

@@ -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)