137 lines
4.7 KiB
C++
137 lines
4.7 KiB
C++
/*
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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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/*
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Author: Francisco León Nájera
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Concave-Concave Collision
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*/
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "btConcaveConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btGIMPACTMeshShape.h"
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#include "../Extras/GIMPACT/include/GIMPACT/gimpact.h"
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btConcaveConcaveCollisionAlgorithm::btConcaveConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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: btCollisionAlgorithm(ci)
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{
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}
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btConcaveConcaveCollisionAlgorithm::~btConcaveConcaveCollisionAlgorithm()
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{
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clearCache();
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}
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void btConcaveConcaveCollisionAlgorithm::clearCache()
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{
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btPersistentManifold* mainfold;
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for (size_t i=0;i<this->m_mainfoldsPtr.size() ; i++)
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{
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mainfold = m_mainfoldsPtr[i];
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m_dispatcher->releaseManifold(mainfold);
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}
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m_mainfoldsPtr.clear();
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}
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btPersistentManifold* btConcaveConcaveCollisionAlgorithm::newContactMainfold(btCollisionObject* body0,btCollisionObject* body1)
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{
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btPersistentManifold* newmainfold;
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newmainfold = m_dispatcher->getNewManifold(body0,body1);
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m_mainfoldsPtr.push_back(newmainfold);
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return newmainfold;
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}
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void process_gimpact_contacts(GIM_CONTACT * pcontacts,
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int contact_count,
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btConcaveConcaveCollisionAlgorithm * algorithm,
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btCollisionObject* body0,
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btCollisionObject* body1,
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btManifoldResult* resultOut)
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{
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int i, ci = MANIFOLD_CACHE_SIZE;//Max point size
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btPersistentManifold * current_mainfold = 0;
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for(i=0;i<contact_count;i++)
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{
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if(ci>=MANIFOLD_CACHE_SIZE)
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{
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current_mainfold = algorithm->newContactMainfold(body0,body1);
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resultOut->setPersistentManifold(current_mainfold);
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ci=0;
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}
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btVector3 cpoint(pcontacts->m_point[0],pcontacts->m_point[1],pcontacts->m_point[2]);
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//Normal points to body0
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btVector3 cnormal(pcontacts->m_normal[0],pcontacts->m_normal[1],pcontacts->m_normal[2]);
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resultOut->addContactPoint(cnormal,cpoint,-pcontacts->m_depth);
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pcontacts++;
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ci++;
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}
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}
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void btConcaveConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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clearCache();
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if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE && body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
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{
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btGIMPACTMeshShape* tri0b = static_cast<btGIMPACTMeshShape*>( body0->getCollisionShape());
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btGIMPACTMeshShape* tri1b = static_cast<btGIMPACTMeshShape*>( body1->getCollisionShape());
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tri0b->prepareMeshes(body0->getWorldTransform());
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tri1b->prepareMeshes(body1->getWorldTransform());
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size_t i,j;
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size_t parts0 = tri0b->m_gim_trimesh_parts.size();
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size_t parts1 = tri1b->m_gim_trimesh_parts.size();
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GIM_TRIMESH * trimesh0;
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GIM_TRIMESH * trimesh1;
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GDYNAMIC_ARRAY contacts;
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GIM_CONTACT * pcontacts;
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for(i=0;i<parts0;i++)
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{
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for(j=0;j<parts1;j++)
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{
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trimesh0 = (GIM_TRIMESH * )tri0b->m_gim_trimesh_parts[i];
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trimesh1 = (GIM_TRIMESH * )tri1b->m_gim_trimesh_parts[j];
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GIM_CREATE_CONTACT_LIST(contacts);
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gim_trimesh_trimesh_collision(trimesh0,trimesh1,&contacts);
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if(contacts.m_size>0)
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{
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pcontacts = GIM_DYNARRAY_POINTER(GIM_CONTACT,contacts);
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process_gimpact_contacts(pcontacts,contacts.m_size,this,body0,body1,resultOut);
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}
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GIM_DYNARRAY_DESTROY(contacts);
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}
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}
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}
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}
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float btConcaveConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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return 1.f;
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}
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