454 lines
16 KiB
C++
454 lines
16 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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 "btCompoundCompoundCollisionAlgorithm.h"
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#include "LinearMath/btQuickprof.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/BroadphaseCollision/btDbvt.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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//USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and MycollideTT
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#define USE_LOCAL_STACK 1
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btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
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btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
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:btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,isSwapped)
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{
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void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
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m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
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const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
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btAssert (col0ObjWrap->getCollisionShape()->isCompound());
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const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
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btAssert (col1ObjWrap->getCollisionShape()->isCompound());
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const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
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m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
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const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
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m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
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}
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btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
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{
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removeChildAlgorithms();
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m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
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btAlignedFree(m_childCollisionAlgorithmCache);
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}
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void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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int i;
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btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
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for (i=0;i<pairs.size();i++)
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{
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if (pairs[i].m_userPointer)
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{
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((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
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}
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}
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}
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void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
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{
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btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
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int numChildren = pairs.size();
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int i;
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for (i=0;i<numChildren;i++)
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{
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if (pairs[i].m_userPointer)
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{
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btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
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algo->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm(algo);
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}
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}
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m_childCollisionAlgorithmCache->removeAllPairs();
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}
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struct btCompoundCompoundLeafCallback : btDbvt::ICollide
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{
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int m_numOverlapPairs;
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const btCollisionObjectWrapper* m_compound0ColObjWrap;
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const btCollisionObjectWrapper* m_compound1ColObjWrap;
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btDispatcher* m_dispatcher;
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const btDispatcherInfo& m_dispatchInfo;
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btManifoldResult* m_resultOut;
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class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
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btPersistentManifold* m_sharedManifold;
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btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap,
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const btCollisionObjectWrapper* compound0ObjWrap,
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btDispatcher* dispatcher,
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const btDispatcherInfo& dispatchInfo,
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btManifoldResult* resultOut,
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btHashedSimplePairCache* childAlgorithmsCache,
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btPersistentManifold* sharedManifold)
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:m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
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m_childCollisionAlgorithmCache(childAlgorithmsCache),
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m_sharedManifold(sharedManifold)
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{
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}
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void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
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{
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BT_PROFILE("btCompoundCompoundLeafCallback::Process");
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m_numOverlapPairs++;
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int childIndex0 = leaf0->dataAsInt;
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int childIndex1 = leaf1->dataAsInt;
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btAssert(childIndex0>=0);
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btAssert(childIndex1>=0);
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const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
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btAssert(childIndex0<compoundShape0->getNumChildShapes());
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const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
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btAssert(childIndex1<compoundShape1->getNumChildShapes());
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const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
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const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
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//backup
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btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
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const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
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btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ;
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btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
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const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
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btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ;
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//perform an AABB check first
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btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
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childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
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childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
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btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
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aabbMin0 -= thresholdVec;
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aabbMax0 += thresholdVec;
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if (gCompoundCompoundChildShapePairCallback)
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{
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if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1))
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return;
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}
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if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
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{
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btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0);
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btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1);
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btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
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bool removePair = false;
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btCollisionAlgorithm* colAlgo = 0;
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if (m_resultOut->m_closestPointDistanceThreshold > 0)
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{
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colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
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removePair = true;
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}
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else
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{
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if (pair)
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{
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colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
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}
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else
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{
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colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
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pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1);
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btAssert(pair);
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pair->m_userPointer = colAlgo;
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}
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}
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btAssert(colAlgo);
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const btCollisionObjectWrapper* tmpWrap0 = 0;
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const btCollisionObjectWrapper* tmpWrap1 = 0;
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tmpWrap0 = m_resultOut->getBody0Wrap();
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tmpWrap1 = m_resultOut->getBody1Wrap();
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m_resultOut->setBody0Wrap(&compoundWrap0);
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m_resultOut->setBody1Wrap(&compoundWrap1);
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m_resultOut->setShapeIdentifiersA(-1,childIndex0);
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m_resultOut->setShapeIdentifiersB(-1,childIndex1);
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colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
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m_resultOut->setBody0Wrap(tmpWrap0);
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m_resultOut->setBody1Wrap(tmpWrap1);
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if (removePair)
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{
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colAlgo->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm(colAlgo);
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}
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}
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}
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};
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static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a,
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const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
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{
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btVector3 newmin,newmax;
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btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax);
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newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
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newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
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btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax);
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return Intersect(a,newb);
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}
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static inline void MycollideTT( const btDbvtNode* root0,
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const btDbvtNode* root1,
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const btTransform& xform,
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btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold)
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{
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if(root0&&root1)
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{
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int depth=1;
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int treshold=btDbvt::DOUBLE_STACKSIZE-4;
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btAlignedObjectArray<btDbvt::sStkNN> stkStack;
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#ifdef USE_LOCAL_STACK
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ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
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stkStack.initializeFromBuffer(&localStack,btDbvt::DOUBLE_STACKSIZE,btDbvt::DOUBLE_STACKSIZE);
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#else
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stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
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#endif
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stkStack[0]=btDbvt::sStkNN(root0,root1);
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do {
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btDbvt::sStkNN p=stkStack[--depth];
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if(MyIntersect(p.a->volume,p.b->volume,xform, distanceThreshold))
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{
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if(depth>treshold)
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{
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stkStack.resize(stkStack.size()*2);
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treshold=stkStack.size()-4;
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}
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if(p.a->isinternal())
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{
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if(p.b->isinternal())
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{
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stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]);
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stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]);
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stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]);
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stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]);
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}
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else
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{
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stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b);
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stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b);
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}
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}
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else
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{
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if(p.b->isinternal())
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{
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stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]);
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stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]);
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}
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else
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{
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callback->Process(p.a,p.b);
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}
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}
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}
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} while(depth);
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}
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}
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void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
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const btCollisionObjectWrapper* col1ObjWrap= body1Wrap;
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btAssert (col0ObjWrap->getCollisionShape()->isCompound());
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btAssert (col1ObjWrap->getCollisionShape()->isCompound());
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const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
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const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
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const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
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const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
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if (!tree0 || !tree1)
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{
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return btCompoundCollisionAlgorithm::processCollision(body0Wrap,body1Wrap,dispatchInfo,resultOut);
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}
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///btCompoundShape might have changed:
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////make sure the internal child collision algorithm caches are still valid
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if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
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{
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///clear all
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removeChildAlgorithms();
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m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
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m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
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}
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///we need to refresh all contact manifolds
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///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
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///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
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{
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int i;
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btManifoldArray manifoldArray;
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#ifdef USE_LOCAL_STACK
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btPersistentManifold localManifolds[4];
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manifoldArray.initializeFromBuffer(&localManifolds,0,4);
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#endif
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btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
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for (i=0;i<pairs.size();i++)
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{
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if (pairs[i].m_userPointer)
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{
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btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
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algo->getAllContactManifolds(manifoldArray);
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for (int m=0;m<manifoldArray.size();m++)
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{
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if (manifoldArray[m]->getNumContacts())
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{
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resultOut->setPersistentManifold(manifoldArray[m]);
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resultOut->refreshContactPoints();
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resultOut->setPersistentManifold(0);
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}
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}
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manifoldArray.resize(0);
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}
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}
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}
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btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
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const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform();
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MycollideTT(tree0->m_root,tree1->m_root,xform,&callback, resultOut->m_closestPointDistanceThreshold);
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//printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs);
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//remove non-overlapping child pairs
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{
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btAssert(m_removePairs.size()==0);
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//iterate over all children, perform an AABB check inside ProcessChildShape
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btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
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int i;
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btManifoldArray manifoldArray;
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btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
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for (i=0;i<pairs.size();i++)
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{
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if (pairs[i].m_userPointer)
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{
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btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
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{
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const btCollisionShape* childShape0 = 0;
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btTransform newChildWorldTrans0;
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childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
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const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
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newChildWorldTrans0 = col0ObjWrap->getWorldTransform()*childTrans0 ;
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childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
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}
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btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
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aabbMin0 -= thresholdVec;
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aabbMax0 += thresholdVec;
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{
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const btCollisionShape* childShape1 = 0;
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btTransform newChildWorldTrans1;
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childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
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const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
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newChildWorldTrans1 = col1ObjWrap->getWorldTransform()*childTrans1 ;
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childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
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}
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aabbMin1 -= thresholdVec;
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aabbMax1 += thresholdVec;
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if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
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{
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algo->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm(algo);
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m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB));
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}
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}
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}
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for (int i=0;i<m_removePairs.size();i++)
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{
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m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB);
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}
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m_removePairs.clear();
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}
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}
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btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btAssert(0);
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return 0.f;
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}
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