1625 lines
62 KiB
C++
1625 lines
62 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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 "btCollisionWorld.h"
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#include "btCollisionDispatcher.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
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#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
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#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
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#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
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#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/BroadphaseCollision/btDbvt.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "LinearMath/btQuickprof.h"
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#include "LinearMath/btSerializer.h"
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#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
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//#define USE_BRUTEFORCE_RAYBROADPHASE 1
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//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
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//#define RECALCULATE_AABB_RAYCAST 1
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//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
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///for debug drawing
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//for debug rendering
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionShapes/btConeShape.h"
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#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btCylinderShape.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
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#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
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: m_dispatcher1(dispatcher),
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m_broadphasePairCache(pairCache),
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m_debugDrawer(0),
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m_forceUpdateAllAabbs(true)
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{
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}
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btCollisionWorld::~btCollisionWorld()
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{
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//clean up remaining objects
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int i;
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for (i = 0; i < m_collisionObjects.size(); i++)
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{
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btCollisionObject* collisionObject = m_collisionObjects[i];
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btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp, m_dispatcher1);
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getBroadphase()->destroyProxy(bp, m_dispatcher1);
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collisionObject->setBroadphaseHandle(0);
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}
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}
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}
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void btCollisionWorld::refreshBroadphaseProxy(btCollisionObject* collisionObject)
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{
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if (collisionObject->getBroadphaseHandle())
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{
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int collisionFilterGroup = collisionObject->getBroadphaseHandle()->m_collisionFilterGroup;
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int collisionFilterMask = collisionObject->getBroadphaseHandle()->m_collisionFilterMask;
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getBroadphase()->destroyProxy(collisionObject->getBroadphaseHandle(), getDispatcher());
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//calculate new AABB
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btTransform trans = collisionObject->getWorldTransform();
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btVector3 minAabb;
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btVector3 maxAabb;
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collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
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int type = collisionObject->getCollisionShape()->getShapeType();
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collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
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minAabb,
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maxAabb,
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type,
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collisionObject,
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collisionFilterGroup,
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collisionFilterMask,
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m_dispatcher1));
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}
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}
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void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
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{
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btAssert(collisionObject);
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//check that the object isn't already added
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btAssert(m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
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btAssert(collisionObject->getWorldArrayIndex() == -1); // do not add the same object to more than one collision world
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collisionObject->setWorldArrayIndex(m_collisionObjects.size());
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m_collisionObjects.push_back(collisionObject);
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//calculate new AABB
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btTransform trans = collisionObject->getWorldTransform();
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btVector3 minAabb;
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btVector3 maxAabb;
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collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
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int type = collisionObject->getCollisionShape()->getShapeType();
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collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
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minAabb,
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maxAabb,
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type,
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collisionObject,
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collisionFilterGroup,
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collisionFilterMask,
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m_dispatcher1));
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}
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void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
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{
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btVector3 minAabb, maxAabb;
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colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
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//need to increase the aabb for contact thresholds
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btVector3 contactThreshold(gContactBreakingThreshold, gContactBreakingThreshold, gContactBreakingThreshold);
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minAabb -= contactThreshold;
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maxAabb += contactThreshold;
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if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
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{
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btVector3 minAabb2, maxAabb2;
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colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
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minAabb2 -= contactThreshold;
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maxAabb2 += contactThreshold;
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minAabb.setMin(minAabb2);
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maxAabb.setMax(maxAabb2);
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}
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btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
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//moving objects should be moderately sized, probably something wrong if not
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if (colObj->isStaticObject() || ((maxAabb - minAabb).length2() < btScalar(1e12)))
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{
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bp->setAabb(colObj->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
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}
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else
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{
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//something went wrong, investigate
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//this assert is unwanted in 3D modelers (danger of loosing work)
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colObj->setActivationState(DISABLE_SIMULATION);
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static bool reportMe = true;
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if (reportMe && m_debugDrawer)
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{
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reportMe = false;
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m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
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m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
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m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
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m_debugDrawer->reportErrorWarning("Thanks.\n");
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}
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}
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}
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void btCollisionWorld::updateAabbs()
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{
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BT_PROFILE("updateAabbs");
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for (int i = 0; i < m_collisionObjects.size(); i++)
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{
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btCollisionObject* colObj = m_collisionObjects[i];
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btAssert(colObj->getWorldArrayIndex() == i);
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//only update aabb of active objects
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if (m_forceUpdateAllAabbs || colObj->isActive())
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{
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updateSingleAabb(colObj);
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}
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}
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}
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void btCollisionWorld::computeOverlappingPairs()
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{
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BT_PROFILE("calculateOverlappingPairs");
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m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
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}
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void btCollisionWorld::performDiscreteCollisionDetection()
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{
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BT_PROFILE("performDiscreteCollisionDetection");
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btDispatcherInfo& dispatchInfo = getDispatchInfo();
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updateAabbs();
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computeOverlappingPairs();
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btDispatcher* dispatcher = getDispatcher();
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{
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BT_PROFILE("dispatchAllCollisionPairs");
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if (dispatcher)
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dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(), dispatchInfo, m_dispatcher1);
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}
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}
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void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
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{
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//bool removeFromBroadphase = false;
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{
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btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
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if (bp)
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{
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//
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// only clear the cached algorithms
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//
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getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp, m_dispatcher1);
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getBroadphase()->destroyProxy(bp, m_dispatcher1);
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collisionObject->setBroadphaseHandle(0);
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}
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}
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int iObj = collisionObject->getWorldArrayIndex();
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// btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
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if (iObj >= 0 && iObj < m_collisionObjects.size())
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{
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btAssert(collisionObject == m_collisionObjects[iObj]);
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m_collisionObjects.swap(iObj, m_collisionObjects.size() - 1);
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m_collisionObjects.pop_back();
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if (iObj < m_collisionObjects.size())
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{
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m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
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}
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}
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else
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{
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// slow linear search
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//swapremove
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m_collisionObjects.remove(collisionObject);
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}
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collisionObject->setWorldArrayIndex(-1);
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}
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void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
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btCollisionObject* collisionObject,
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const btCollisionShape* collisionShape,
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const btTransform& colObjWorldTransform,
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RayResultCallback& resultCallback)
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{
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btCollisionObjectWrapper colObWrap(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
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btCollisionWorld::rayTestSingleInternal(rayFromTrans, rayToTrans, &colObWrap, resultCallback);
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}
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void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
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const btCollisionObjectWrapper* collisionObjectWrap,
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RayResultCallback& resultCallback)
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{
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btSphereShape pointShape(btScalar(0.0));
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pointShape.setMargin(0.f);
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const btConvexShape* castShape = &pointShape;
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const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
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const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
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if (collisionShape->isConvex())
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{
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// BT_PROFILE("rayTestConvex");
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btConvexCast::CastResult castResult;
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castResult.m_fraction = resultCallback.m_closestHitFraction;
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btConvexShape* convexShape = (btConvexShape*)collisionShape;
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btVoronoiSimplexSolver simplexSolver;
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btSubsimplexConvexCast subSimplexConvexCaster(castShape, convexShape, &simplexSolver);
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btGjkConvexCast gjkConvexCaster(castShape, convexShape, &simplexSolver);
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//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
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btConvexCast* convexCasterPtr = 0;
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//use kF_UseSubSimplexConvexCastRaytest by default
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if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
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convexCasterPtr = &gjkConvexCaster;
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else
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convexCasterPtr = &subSimplexConvexCaster;
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btConvexCast& convexCaster = *convexCasterPtr;
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if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
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{
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//add hit
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if (castResult.m_normal.length2() > btScalar(0.0001))
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{
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if (castResult.m_fraction < resultCallback.m_closestHitFraction)
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{
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//todo: figure out what this is about. When is rayFromTest.getBasis() not identity?
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#ifdef USE_SUBSIMPLEX_CONVEX_CAST
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//rotate normal into worldspace
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castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
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#endif //USE_SUBSIMPLEX_CONVEX_CAST
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castResult.m_normal.normalize();
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btCollisionWorld::LocalRayResult localRayResult(
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collisionObjectWrap->getCollisionObject(),
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0,
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castResult.m_normal,
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castResult.m_fraction);
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bool normalInWorldSpace = true;
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resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
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}
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}
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}
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}
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else
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{
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if (collisionShape->isConcave())
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{
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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const btCollisionObject* m_collisionObject;
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const btConcaveShape* m_triangleMesh;
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btTransform m_colObjWorldTransform;
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BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
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btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, const btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
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btTriangleRaycastCallback(from, to, resultCallback->m_flags),
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m_resultCallback(resultCallback),
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m_collisionObject(collisionObject),
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m_triangleMesh(triangleMesh),
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m_colObjWorldTransform(colObjWorldTransform)
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{
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}
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virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
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{
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btCollisionWorld::LocalShapeInfo shapeInfo;
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shapeInfo.m_shapePart = partId;
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shapeInfo.m_triangleIndex = triangleIndex;
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btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
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btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
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&shapeInfo,
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hitNormalWorld,
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hitFraction);
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bool normalInWorldSpace = true;
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return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
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}
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};
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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// BT_PROFILE("rayTestConcave");
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if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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///optimized version for btBvhTriangleMeshShape
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
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BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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triangleMesh->performRaycast(&rcb, rayFromLocal, rayToLocal);
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}
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else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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///optimized version for btScaledBvhTriangleMeshShape
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btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
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btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)scaledTriangleMesh->getChildShape();
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//scale the ray positions
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btVector3 scale = scaledTriangleMesh->getLocalScaling();
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btVector3 rayFromLocalScaled = rayFromLocal / scale;
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btVector3 rayToLocalScaled = rayToLocal / scale;
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//perform raycast in the underlying btBvhTriangleMeshShape
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BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
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}
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else if (((resultCallback.m_flags&btTriangleRaycastCallback::kF_DisableHeightfieldAccelerator)==0)
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&& collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE
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)
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{
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///optimized version for btHeightfieldTerrainShape
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btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform);
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rcb.m_hitFraction = resultCallback.m_closestHitFraction;
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heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
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}
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else
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{
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//generic (slower) case
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btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
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btTransform worldTocollisionObject = colObjWorldTransform.inverse();
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btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
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btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
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//ConvexCast::CastResult
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struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
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{
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btCollisionWorld::RayResultCallback* m_resultCallback;
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const btCollisionObject* m_collisionObject;
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btConcaveShape* m_triangleMesh;
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|
btTransform m_colObjWorldTransform;
|
|
|
|
BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
|
|
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
|
|
btTriangleRaycastCallback(from, to, resultCallback->m_flags),
|
|
m_resultCallback(resultCallback),
|
|
m_collisionObject(collisionObject),
|
|
m_triangleMesh(triangleMesh),
|
|
m_colObjWorldTransform(colObjWorldTransform)
|
|
{
|
|
}
|
|
|
|
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = partId;
|
|
shapeInfo.m_triangleIndex = triangleIndex;
|
|
|
|
btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
|
|
|
|
btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
|
|
&shapeInfo,
|
|
hitNormalWorld,
|
|
hitFraction);
|
|
|
|
bool normalInWorldSpace = true;
|
|
return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
|
|
}
|
|
};
|
|
|
|
BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
|
|
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
|
|
|
|
btVector3 rayAabbMinLocal = rayFromLocal;
|
|
rayAabbMinLocal.setMin(rayToLocal);
|
|
btVector3 rayAabbMaxLocal = rayFromLocal;
|
|
rayAabbMaxLocal.setMax(rayToLocal);
|
|
|
|
concaveShape->processAllTriangles(&rcb, rayAabbMinLocal, rayAabbMaxLocal);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// BT_PROFILE("rayTestCompound");
|
|
if (collisionShape->isCompound())
|
|
{
|
|
struct LocalInfoAdder2 : public RayResultCallback
|
|
{
|
|
RayResultCallback* m_userCallback;
|
|
int m_i;
|
|
|
|
LocalInfoAdder2(int i, RayResultCallback* user)
|
|
: m_userCallback(user), m_i(i)
|
|
{
|
|
m_closestHitFraction = m_userCallback->m_closestHitFraction;
|
|
m_flags = m_userCallback->m_flags;
|
|
}
|
|
virtual bool needsCollision(btBroadphaseProxy* p) const
|
|
{
|
|
return m_userCallback->needsCollision(p);
|
|
}
|
|
|
|
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& r, bool b)
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = -1;
|
|
shapeInfo.m_triangleIndex = m_i;
|
|
if (r.m_localShapeInfo == NULL)
|
|
r.m_localShapeInfo = &shapeInfo;
|
|
|
|
const btScalar result = m_userCallback->addSingleResult(r, b);
|
|
m_closestHitFraction = m_userCallback->m_closestHitFraction;
|
|
return result;
|
|
}
|
|
};
|
|
|
|
struct RayTester : btDbvt::ICollide
|
|
{
|
|
const btCollisionObject* m_collisionObject;
|
|
const btCompoundShape* m_compoundShape;
|
|
const btTransform& m_colObjWorldTransform;
|
|
const btTransform& m_rayFromTrans;
|
|
const btTransform& m_rayToTrans;
|
|
RayResultCallback& m_resultCallback;
|
|
|
|
RayTester(const btCollisionObject* collisionObject,
|
|
const btCompoundShape* compoundShape,
|
|
const btTransform& colObjWorldTransform,
|
|
const btTransform& rayFromTrans,
|
|
const btTransform& rayToTrans,
|
|
RayResultCallback& resultCallback) : m_collisionObject(collisionObject),
|
|
m_compoundShape(compoundShape),
|
|
m_colObjWorldTransform(colObjWorldTransform),
|
|
m_rayFromTrans(rayFromTrans),
|
|
m_rayToTrans(rayToTrans),
|
|
m_resultCallback(resultCallback)
|
|
{
|
|
}
|
|
|
|
void ProcessLeaf(int i)
|
|
{
|
|
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
|
|
const btTransform& childTrans = m_compoundShape->getChildTransform(i);
|
|
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
|
|
|
|
btCollisionObjectWrapper tmpOb(0, childCollisionShape, m_collisionObject, childWorldTrans, -1, i);
|
|
// replace collision shape so that callback can determine the triangle
|
|
|
|
LocalInfoAdder2 my_cb(i, &m_resultCallback);
|
|
|
|
rayTestSingleInternal(
|
|
m_rayFromTrans,
|
|
m_rayToTrans,
|
|
&tmpOb,
|
|
my_cb);
|
|
}
|
|
|
|
void Process(const btDbvtNode* leaf)
|
|
{
|
|
ProcessLeaf(leaf->dataAsInt);
|
|
}
|
|
};
|
|
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
|
|
const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
|
|
|
|
RayTester rayCB(
|
|
collisionObjectWrap->getCollisionObject(),
|
|
compoundShape,
|
|
colObjWorldTransform,
|
|
rayFromTrans,
|
|
rayToTrans,
|
|
resultCallback);
|
|
#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
|
|
if (dbvt)
|
|
{
|
|
btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
|
|
btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
|
|
btDbvt::rayTest(dbvt->m_root, localRayFrom, localRayTo, rayCB);
|
|
}
|
|
else
|
|
#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
|
|
{
|
|
for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
|
|
{
|
|
rayCB.ProcessLeaf(i);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
|
|
btCollisionObject* collisionObject,
|
|
const btCollisionShape* collisionShape,
|
|
const btTransform& colObjWorldTransform,
|
|
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
|
|
{
|
|
btCollisionObjectWrapper tmpOb(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
|
|
btCollisionWorld::objectQuerySingleInternal(castShape, convexFromTrans, convexToTrans, &tmpOb, resultCallback, allowedPenetration);
|
|
}
|
|
|
|
void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
|
|
const btCollisionObjectWrapper* colObjWrap,
|
|
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
|
|
{
|
|
const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
|
|
const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
|
|
|
|
if (collisionShape->isConvex())
|
|
{
|
|
//BT_PROFILE("convexSweepConvex");
|
|
btConvexCast::CastResult castResult;
|
|
castResult.m_allowedPenetration = allowedPenetration;
|
|
castResult.m_fraction = resultCallback.m_closestHitFraction; //btScalar(1.);//??
|
|
|
|
btConvexShape* convexShape = (btConvexShape*)collisionShape;
|
|
btVoronoiSimplexSolver simplexSolver;
|
|
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
|
|
|
|
btContinuousConvexCollision convexCaster1(castShape, convexShape, &simplexSolver, &gjkEpaPenetrationSolver);
|
|
//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
|
|
//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
|
|
|
|
btConvexCast* castPtr = &convexCaster1;
|
|
|
|
if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
|
|
{
|
|
//add hit
|
|
if (castResult.m_normal.length2() > btScalar(0.0001))
|
|
{
|
|
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
|
|
{
|
|
castResult.m_normal.normalize();
|
|
btCollisionWorld::LocalConvexResult localConvexResult(
|
|
colObjWrap->getCollisionObject(),
|
|
0,
|
|
castResult.m_normal,
|
|
castResult.m_hitPoint,
|
|
castResult.m_fraction);
|
|
|
|
bool normalInWorldSpace = true;
|
|
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (collisionShape->isConcave())
|
|
{
|
|
if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
//BT_PROFILE("convexSweepbtBvhTriangleMesh");
|
|
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
|
|
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
|
|
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
|
|
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
|
|
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
|
|
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
|
|
|
|
//ConvexCast::CastResult
|
|
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
|
|
{
|
|
btCollisionWorld::ConvexResultCallback* m_resultCallback;
|
|
const btCollisionObject* m_collisionObject;
|
|
btTriangleMeshShape* m_triangleMesh;
|
|
|
|
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
|
|
btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
|
|
m_resultCallback(resultCallback),
|
|
m_collisionObject(collisionObject),
|
|
m_triangleMesh(triangleMesh)
|
|
{
|
|
}
|
|
|
|
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = partId;
|
|
shapeInfo.m_triangleIndex = triangleIndex;
|
|
if (hitFraction <= m_resultCallback->m_closestHitFraction)
|
|
{
|
|
btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
|
|
&shapeInfo,
|
|
hitNormalLocal,
|
|
hitPointLocal,
|
|
hitFraction);
|
|
|
|
bool normalInWorldSpace = true;
|
|
|
|
return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
|
|
}
|
|
return hitFraction;
|
|
}
|
|
};
|
|
|
|
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
|
|
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
|
|
tccb.m_allowedPenetration = allowedPenetration;
|
|
btVector3 boxMinLocal, boxMaxLocal;
|
|
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
|
|
triangleMesh->performConvexcast(&tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
|
|
}
|
|
else
|
|
{
|
|
if (collisionShape->getShapeType() == STATIC_PLANE_PROXYTYPE)
|
|
{
|
|
btConvexCast::CastResult castResult;
|
|
castResult.m_allowedPenetration = allowedPenetration;
|
|
castResult.m_fraction = resultCallback.m_closestHitFraction;
|
|
btStaticPlaneShape* planeShape = (btStaticPlaneShape*)collisionShape;
|
|
btContinuousConvexCollision convexCaster1(castShape, planeShape);
|
|
btConvexCast* castPtr = &convexCaster1;
|
|
|
|
if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
|
|
{
|
|
//add hit
|
|
if (castResult.m_normal.length2() > btScalar(0.0001))
|
|
{
|
|
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
|
|
{
|
|
castResult.m_normal.normalize();
|
|
btCollisionWorld::LocalConvexResult localConvexResult(
|
|
colObjWrap->getCollisionObject(),
|
|
0,
|
|
castResult.m_normal,
|
|
castResult.m_hitPoint,
|
|
castResult.m_fraction);
|
|
|
|
bool normalInWorldSpace = true;
|
|
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//BT_PROFILE("convexSweepConcave");
|
|
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
|
|
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
|
|
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
|
|
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
|
|
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
|
|
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
|
|
|
|
//ConvexCast::CastResult
|
|
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
|
|
{
|
|
btCollisionWorld::ConvexResultCallback* m_resultCallback;
|
|
const btCollisionObject* m_collisionObject;
|
|
btConcaveShape* m_triangleMesh;
|
|
|
|
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
|
|
btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
|
|
m_resultCallback(resultCallback),
|
|
m_collisionObject(collisionObject),
|
|
m_triangleMesh(triangleMesh)
|
|
{
|
|
}
|
|
|
|
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = partId;
|
|
shapeInfo.m_triangleIndex = triangleIndex;
|
|
if (hitFraction <= m_resultCallback->m_closestHitFraction)
|
|
{
|
|
btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
|
|
&shapeInfo,
|
|
hitNormalLocal,
|
|
hitPointLocal,
|
|
hitFraction);
|
|
|
|
bool normalInWorldSpace = true;
|
|
|
|
return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
|
|
}
|
|
return hitFraction;
|
|
}
|
|
};
|
|
|
|
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
|
|
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
|
|
tccb.m_allowedPenetration = allowedPenetration;
|
|
btVector3 boxMinLocal, boxMaxLocal;
|
|
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
|
|
|
|
btVector3 rayAabbMinLocal = convexFromLocal;
|
|
rayAabbMinLocal.setMin(convexToLocal);
|
|
btVector3 rayAabbMaxLocal = convexFromLocal;
|
|
rayAabbMaxLocal.setMax(convexToLocal);
|
|
rayAabbMinLocal += boxMinLocal;
|
|
rayAabbMaxLocal += boxMaxLocal;
|
|
concaveShape->processAllTriangles(&tccb, rayAabbMinLocal, rayAabbMaxLocal);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (collisionShape->isCompound())
|
|
{
|
|
struct btCompoundLeafCallback : btDbvt::ICollide
|
|
{
|
|
btCompoundLeafCallback(
|
|
const btCollisionObjectWrapper* colObjWrap,
|
|
const btConvexShape* castShape,
|
|
const btTransform& convexFromTrans,
|
|
const btTransform& convexToTrans,
|
|
btScalar allowedPenetration,
|
|
const btCompoundShape* compoundShape,
|
|
const btTransform& colObjWorldTransform,
|
|
ConvexResultCallback& resultCallback)
|
|
: m_colObjWrap(colObjWrap),
|
|
m_castShape(castShape),
|
|
m_convexFromTrans(convexFromTrans),
|
|
m_convexToTrans(convexToTrans),
|
|
m_allowedPenetration(allowedPenetration),
|
|
m_compoundShape(compoundShape),
|
|
m_colObjWorldTransform(colObjWorldTransform),
|
|
m_resultCallback(resultCallback)
|
|
{
|
|
}
|
|
|
|
const btCollisionObjectWrapper* m_colObjWrap;
|
|
const btConvexShape* m_castShape;
|
|
const btTransform& m_convexFromTrans;
|
|
const btTransform& m_convexToTrans;
|
|
btScalar m_allowedPenetration;
|
|
const btCompoundShape* m_compoundShape;
|
|
const btTransform& m_colObjWorldTransform;
|
|
ConvexResultCallback& m_resultCallback;
|
|
|
|
public:
|
|
void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
|
|
{
|
|
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
|
|
|
|
struct LocalInfoAdder : public ConvexResultCallback
|
|
{
|
|
ConvexResultCallback* m_userCallback;
|
|
int m_i;
|
|
|
|
LocalInfoAdder(int i, ConvexResultCallback* user)
|
|
: m_userCallback(user), m_i(i)
|
|
{
|
|
m_closestHitFraction = m_userCallback->m_closestHitFraction;
|
|
}
|
|
virtual bool needsCollision(btBroadphaseProxy* p) const
|
|
{
|
|
return m_userCallback->needsCollision(p);
|
|
}
|
|
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
|
|
{
|
|
btCollisionWorld::LocalShapeInfo shapeInfo;
|
|
shapeInfo.m_shapePart = -1;
|
|
shapeInfo.m_triangleIndex = m_i;
|
|
if (r.m_localShapeInfo == NULL)
|
|
r.m_localShapeInfo = &shapeInfo;
|
|
const btScalar result = m_userCallback->addSingleResult(r, b);
|
|
m_closestHitFraction = m_userCallback->m_closestHitFraction;
|
|
return result;
|
|
}
|
|
};
|
|
|
|
LocalInfoAdder my_cb(index, &m_resultCallback);
|
|
|
|
btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
|
|
|
|
objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
|
|
}
|
|
|
|
void Process(const btDbvtNode* leaf)
|
|
{
|
|
// Processing leaf node
|
|
int index = leaf->dataAsInt;
|
|
|
|
btTransform childTrans = m_compoundShape->getChildTransform(index);
|
|
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
|
|
|
|
ProcessChild(index, childTrans, childCollisionShape);
|
|
}
|
|
};
|
|
|
|
BT_PROFILE("convexSweepCompound");
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
|
|
|
|
btVector3 fromLocalAabbMin, fromLocalAabbMax;
|
|
btVector3 toLocalAabbMin, toLocalAabbMax;
|
|
|
|
castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
|
|
castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
|
|
|
|
fromLocalAabbMin.setMin(toLocalAabbMin);
|
|
fromLocalAabbMax.setMax(toLocalAabbMax);
|
|
|
|
btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
|
|
allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
|
|
|
|
const btDbvt* tree = compoundShape->getDynamicAabbTree();
|
|
if (tree)
|
|
{
|
|
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
|
|
tree->collideTV(tree->m_root, bounds, callback);
|
|
}
|
|
else
|
|
{
|
|
int i;
|
|
for (i = 0; i < compoundShape->getNumChildShapes(); i++)
|
|
{
|
|
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
|
|
btTransform childTrans = compoundShape->getChildTransform(i);
|
|
callback.ProcessChild(i, childTrans, childCollisionShape);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
struct btSingleRayCallback : public btBroadphaseRayCallback
|
|
{
|
|
btVector3 m_rayFromWorld;
|
|
btVector3 m_rayToWorld;
|
|
btTransform m_rayFromTrans;
|
|
btTransform m_rayToTrans;
|
|
btVector3 m_hitNormal;
|
|
|
|
const btCollisionWorld* m_world;
|
|
btCollisionWorld::RayResultCallback& m_resultCallback;
|
|
|
|
btSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btCollisionWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
|
|
: m_rayFromWorld(rayFromWorld),
|
|
m_rayToWorld(rayToWorld),
|
|
m_world(world),
|
|
m_resultCallback(resultCallback)
|
|
{
|
|
m_rayFromTrans.setIdentity();
|
|
m_rayFromTrans.setOrigin(m_rayFromWorld);
|
|
m_rayToTrans.setIdentity();
|
|
m_rayToTrans.setOrigin(m_rayToWorld);
|
|
|
|
btVector3 rayDir = (rayToWorld - rayFromWorld);
|
|
|
|
rayDir.normalize();
|
|
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
|
|
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
|
|
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
|
|
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
|
|
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
|
|
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
|
|
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
|
|
|
|
m_lambda_max = rayDir.dot(m_rayToWorld - m_rayFromWorld);
|
|
}
|
|
|
|
virtual bool process(const btBroadphaseProxy* proxy)
|
|
{
|
|
///terminate further ray tests, once the closestHitFraction reached zero
|
|
if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
|
|
return false;
|
|
|
|
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
|
|
|
|
//only perform raycast if filterMask matches
|
|
if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
|
|
{
|
|
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
|
|
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
|
|
#if 0
|
|
#ifdef RECALCULATE_AABB
|
|
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
|
|
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
|
|
#else
|
|
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
|
|
const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
|
|
const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
|
|
#endif
|
|
#endif
|
|
//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
|
|
//culling already done by broadphase
|
|
//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
|
|
{
|
|
m_world->rayTestSingle(m_rayFromTrans, m_rayToTrans,
|
|
collisionObject,
|
|
collisionObject->getCollisionShape(),
|
|
collisionObject->getWorldTransform(),
|
|
m_resultCallback);
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
|
|
{
|
|
//BT_PROFILE("rayTest");
|
|
/// use the broadphase to accelerate the search for objects, based on their aabb
|
|
/// and for each object with ray-aabb overlap, perform an exact ray test
|
|
btSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
|
|
|
|
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
|
|
m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
|
|
#else
|
|
for (int i = 0; i < this->getNumCollisionObjects(); i++)
|
|
{
|
|
rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
|
|
}
|
|
#endif //USE_BRUTEFORCE_RAYBROADPHASE
|
|
}
|
|
|
|
struct btSingleSweepCallback : public btBroadphaseRayCallback
|
|
{
|
|
btTransform m_convexFromTrans;
|
|
btTransform m_convexToTrans;
|
|
btVector3 m_hitNormal;
|
|
const btCollisionWorld* m_world;
|
|
btCollisionWorld::ConvexResultCallback& m_resultCallback;
|
|
btScalar m_allowedCcdPenetration;
|
|
const btConvexShape* m_castShape;
|
|
|
|
btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans, const btCollisionWorld* world, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedPenetration)
|
|
: m_convexFromTrans(convexFromTrans),
|
|
m_convexToTrans(convexToTrans),
|
|
m_world(world),
|
|
m_resultCallback(resultCallback),
|
|
m_allowedCcdPenetration(allowedPenetration),
|
|
m_castShape(castShape)
|
|
{
|
|
btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
|
|
btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized();
|
|
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
|
|
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
|
|
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
|
|
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
|
|
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
|
|
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
|
|
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
|
|
|
|
m_lambda_max = rayDir.dot(unnormalizedRayDir);
|
|
}
|
|
|
|
virtual bool process(const btBroadphaseProxy* proxy)
|
|
{
|
|
///terminate further convex sweep tests, once the closestHitFraction reached zero
|
|
if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
|
|
return false;
|
|
|
|
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
|
|
|
|
//only perform raycast if filterMask matches
|
|
if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
|
|
{
|
|
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
|
|
m_world->objectQuerySingle(m_castShape, m_convexFromTrans, m_convexToTrans,
|
|
collisionObject,
|
|
collisionObject->getCollisionShape(),
|
|
collisionObject->getWorldTransform(),
|
|
m_resultCallback,
|
|
m_allowedCcdPenetration);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
};
|
|
|
|
void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
|
|
{
|
|
BT_PROFILE("convexSweepTest");
|
|
/// use the broadphase to accelerate the search for objects, based on their aabb
|
|
/// and for each object with ray-aabb overlap, perform an exact ray test
|
|
/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical
|
|
|
|
btTransform convexFromTrans, convexToTrans;
|
|
convexFromTrans = convexFromWorld;
|
|
convexToTrans = convexToWorld;
|
|
btVector3 castShapeAabbMin, castShapeAabbMax;
|
|
/* Compute AABB that encompasses angular movement */
|
|
{
|
|
btVector3 linVel, angVel;
|
|
btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
|
|
btVector3 zeroLinVel;
|
|
zeroLinVel.setValue(0, 0, 0);
|
|
btTransform R;
|
|
R.setIdentity();
|
|
R.setRotation(convexFromTrans.getRotation());
|
|
castShape->calculateTemporalAabb(R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
|
|
}
|
|
|
|
#ifndef USE_BRUTEFORCE_RAYBROADPHASE
|
|
|
|
btSingleSweepCallback convexCB(castShape, convexFromWorld, convexToWorld, this, resultCallback, allowedCcdPenetration);
|
|
|
|
m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(), convexToTrans.getOrigin(), convexCB, castShapeAabbMin, castShapeAabbMax);
|
|
|
|
#else
|
|
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,
|
|
// do a ray-shape query using convexCaster (CCD)
|
|
int i;
|
|
for (i = 0; i < m_collisionObjects.size(); i++)
|
|
{
|
|
btCollisionObject* collisionObject = m_collisionObjects[i];
|
|
//only perform raycast if filterMask matches
|
|
if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
|
|
{
|
|
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
|
|
btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
|
|
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
|
|
AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
|
|
btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
|
|
btVector3 hitNormal;
|
|
if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
|
|
{
|
|
objectQuerySingle(castShape, convexFromTrans, convexToTrans,
|
|
collisionObject,
|
|
collisionObject->getCollisionShape(),
|
|
collisionObject->getWorldTransform(),
|
|
resultCallback,
|
|
allowedCcdPenetration);
|
|
}
|
|
}
|
|
}
|
|
#endif //USE_BRUTEFORCE_RAYBROADPHASE
|
|
}
|
|
|
|
struct btBridgedManifoldResult : public btManifoldResult
|
|
{
|
|
btCollisionWorld::ContactResultCallback& m_resultCallback;
|
|
|
|
btBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap, const btCollisionObjectWrapper* obj1Wrap, btCollisionWorld::ContactResultCallback& resultCallback)
|
|
: btManifoldResult(obj0Wrap, obj1Wrap),
|
|
m_resultCallback(resultCallback)
|
|
{
|
|
}
|
|
|
|
virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
|
|
{
|
|
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
|
|
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
|
|
btVector3 localA;
|
|
btVector3 localB;
|
|
if (isSwapped)
|
|
{
|
|
localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
|
|
localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
|
|
}
|
|
else
|
|
{
|
|
localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
|
|
localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
|
|
}
|
|
|
|
btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
|
|
newPt.m_positionWorldOnA = pointA;
|
|
newPt.m_positionWorldOnB = pointInWorld;
|
|
|
|
//BP mod, store contact triangles.
|
|
if (isSwapped)
|
|
{
|
|
newPt.m_partId0 = m_partId1;
|
|
newPt.m_partId1 = m_partId0;
|
|
newPt.m_index0 = m_index1;
|
|
newPt.m_index1 = m_index0;
|
|
}
|
|
else
|
|
{
|
|
newPt.m_partId0 = m_partId0;
|
|
newPt.m_partId1 = m_partId1;
|
|
newPt.m_index0 = m_index0;
|
|
newPt.m_index1 = m_index1;
|
|
}
|
|
|
|
//experimental feature info, for per-triangle material etc.
|
|
const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
|
|
const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
|
|
m_resultCallback.addSingleResult(newPt, obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
|
|
}
|
|
};
|
|
|
|
struct btSingleContactCallback : public btBroadphaseAabbCallback
|
|
{
|
|
btCollisionObject* m_collisionObject;
|
|
btCollisionWorld* m_world;
|
|
btCollisionWorld::ContactResultCallback& m_resultCallback;
|
|
|
|
btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world, btCollisionWorld::ContactResultCallback& resultCallback)
|
|
: m_collisionObject(collisionObject),
|
|
m_world(world),
|
|
m_resultCallback(resultCallback)
|
|
{
|
|
}
|
|
|
|
virtual bool process(const btBroadphaseProxy* proxy)
|
|
{
|
|
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
|
|
if (collisionObject == m_collisionObject)
|
|
return true;
|
|
|
|
//only perform raycast if filterMask matches
|
|
if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
|
|
{
|
|
btCollisionObjectWrapper ob0(0, m_collisionObject->getCollisionShape(), m_collisionObject, m_collisionObject->getWorldTransform(), -1, -1);
|
|
btCollisionObjectWrapper ob1(0, collisionObject->getCollisionShape(), collisionObject, collisionObject->getWorldTransform(), -1, -1);
|
|
|
|
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0, &ob1, 0, BT_CLOSEST_POINT_ALGORITHMS);
|
|
if (algorithm)
|
|
{
|
|
btBridgedManifoldResult contactPointResult(&ob0, &ob1, m_resultCallback);
|
|
//discrete collision detection query
|
|
|
|
algorithm->processCollision(&ob0, &ob1, m_world->getDispatchInfo(), &contactPointResult);
|
|
|
|
algorithm->~btCollisionAlgorithm();
|
|
m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);
|
|
}
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.
|
|
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
|
|
void btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback)
|
|
{
|
|
btVector3 aabbMin, aabbMax;
|
|
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), aabbMin, aabbMax);
|
|
btSingleContactCallback contactCB(colObj, this, resultCallback);
|
|
|
|
m_broadphasePairCache->aabbTest(aabbMin, aabbMax, contactCB);
|
|
}
|
|
|
|
///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
|
|
///it reports one or more contact points (including the one with deepest penetration)
|
|
void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
|
|
{
|
|
btCollisionObjectWrapper obA(0, colObjA->getCollisionShape(), colObjA, colObjA->getWorldTransform(), -1, -1);
|
|
btCollisionObjectWrapper obB(0, colObjB->getCollisionShape(), colObjB, colObjB->getWorldTransform(), -1, -1);
|
|
|
|
btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA, &obB, 0, BT_CLOSEST_POINT_ALGORITHMS);
|
|
if (algorithm)
|
|
{
|
|
btBridgedManifoldResult contactPointResult(&obA, &obB, resultCallback);
|
|
contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold;
|
|
//discrete collision detection query
|
|
algorithm->processCollision(&obA, &obB, getDispatchInfo(), &contactPointResult);
|
|
|
|
algorithm->~btCollisionAlgorithm();
|
|
getDispatcher()->freeCollisionAlgorithm(algorithm);
|
|
}
|
|
}
|
|
|
|
class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback
|
|
{
|
|
btIDebugDraw* m_debugDrawer;
|
|
btVector3 m_color;
|
|
btTransform m_worldTrans;
|
|
|
|
public:
|
|
DebugDrawcallback(btIDebugDraw* debugDrawer, const btTransform& worldTrans, const btVector3& color) : m_debugDrawer(debugDrawer),
|
|
m_color(color),
|
|
m_worldTrans(worldTrans)
|
|
{
|
|
}
|
|
|
|
virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
|
|
{
|
|
processTriangle(triangle, partId, triangleIndex);
|
|
}
|
|
|
|
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
|
{
|
|
(void)partId;
|
|
(void)triangleIndex;
|
|
|
|
btVector3 wv0, wv1, wv2;
|
|
wv0 = m_worldTrans * triangle[0];
|
|
wv1 = m_worldTrans * triangle[1];
|
|
wv2 = m_worldTrans * triangle[2];
|
|
btVector3 center = (wv0 + wv1 + wv2) * btScalar(1. / 3.);
|
|
|
|
if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
|
|
{
|
|
btVector3 normal = (wv1 - wv0).cross(wv2 - wv0);
|
|
normal.normalize();
|
|
btVector3 normalColor(1, 1, 0);
|
|
m_debugDrawer->drawLine(center, center + normal, normalColor);
|
|
}
|
|
m_debugDrawer->drawTriangle(wv0, wv1, wv2, m_color, 1.0);
|
|
}
|
|
};
|
|
|
|
void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
|
|
{
|
|
// Draw a small simplex at the center of the object
|
|
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
|
|
{
|
|
getDebugDrawer()->drawTransform(worldTransform, .1);
|
|
}
|
|
|
|
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
|
|
for (int i = compoundShape->getNumChildShapes() - 1; i >= 0; i--)
|
|
{
|
|
btTransform childTrans = compoundShape->getChildTransform(i);
|
|
const btCollisionShape* colShape = compoundShape->getChildShape(i);
|
|
debugDrawObject(worldTransform * childTrans, colShape, color);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
switch (shape->getShapeType())
|
|
{
|
|
case BOX_SHAPE_PROXYTYPE:
|
|
{
|
|
const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
|
|
btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
|
|
getDebugDrawer()->drawBox(-halfExtents, halfExtents, worldTransform, color);
|
|
break;
|
|
}
|
|
|
|
case SPHERE_SHAPE_PROXYTYPE:
|
|
{
|
|
const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
|
|
btScalar radius = sphereShape->getMargin(); //radius doesn't include the margin, so draw with margin
|
|
|
|
getDebugDrawer()->drawSphere(radius, worldTransform, color);
|
|
break;
|
|
}
|
|
case MULTI_SPHERE_SHAPE_PROXYTYPE:
|
|
{
|
|
const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
|
|
|
|
btTransform childTransform;
|
|
childTransform.setIdentity();
|
|
|
|
for (int i = multiSphereShape->getSphereCount() - 1; i >= 0; i--)
|
|
{
|
|
childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
|
|
getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform * childTransform, color);
|
|
}
|
|
|
|
break;
|
|
}
|
|
case CAPSULE_SHAPE_PROXYTYPE:
|
|
{
|
|
const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
|
|
|
|
btScalar radius = capsuleShape->getRadius();
|
|
btScalar halfHeight = capsuleShape->getHalfHeight();
|
|
|
|
int upAxis = capsuleShape->getUpAxis();
|
|
getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
|
|
break;
|
|
}
|
|
case CONE_SHAPE_PROXYTYPE:
|
|
{
|
|
const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
|
|
btScalar radius = coneShape->getRadius(); //+coneShape->getMargin();
|
|
btScalar height = coneShape->getHeight(); //+coneShape->getMargin();
|
|
|
|
int upAxis = coneShape->getConeUpIndex();
|
|
getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
|
|
break;
|
|
}
|
|
case CYLINDER_SHAPE_PROXYTYPE:
|
|
{
|
|
const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
|
|
int upAxis = cylinder->getUpAxis();
|
|
btScalar radius = cylinder->getRadius();
|
|
btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
|
|
getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
|
|
break;
|
|
}
|
|
|
|
case STATIC_PLANE_PROXYTYPE:
|
|
{
|
|
const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
|
|
btScalar planeConst = staticPlaneShape->getPlaneConstant();
|
|
const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
|
|
getDebugDrawer()->drawPlane(planeNormal, planeConst, worldTransform, color);
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
/// for polyhedral shapes
|
|
if (shape->isPolyhedral())
|
|
{
|
|
btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*)shape;
|
|
|
|
int i;
|
|
if (polyshape->getConvexPolyhedron())
|
|
{
|
|
const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
|
|
for (i = 0; i < poly->m_faces.size(); i++)
|
|
{
|
|
btVector3 centroid(0, 0, 0);
|
|
int numVerts = poly->m_faces[i].m_indices.size();
|
|
if (numVerts)
|
|
{
|
|
int lastV = poly->m_faces[i].m_indices[numVerts - 1];
|
|
for (int v = 0; v < poly->m_faces[i].m_indices.size(); v++)
|
|
{
|
|
int curVert = poly->m_faces[i].m_indices[v];
|
|
centroid += poly->m_vertices[curVert];
|
|
getDebugDrawer()->drawLine(worldTransform * poly->m_vertices[lastV], worldTransform * poly->m_vertices[curVert], color);
|
|
lastV = curVert;
|
|
}
|
|
}
|
|
centroid *= btScalar(1.f) / btScalar(numVerts);
|
|
if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
|
|
{
|
|
btVector3 normalColor(1, 1, 0);
|
|
btVector3 faceNormal(poly->m_faces[i].m_plane[0], poly->m_faces[i].m_plane[1], poly->m_faces[i].m_plane[2]);
|
|
getDebugDrawer()->drawLine(worldTransform * centroid, worldTransform * (centroid + faceNormal), normalColor);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
for (i = 0; i < polyshape->getNumEdges(); i++)
|
|
{
|
|
btVector3 a, b;
|
|
polyshape->getEdge(i, a, b);
|
|
btVector3 wa = worldTransform * a;
|
|
btVector3 wb = worldTransform * b;
|
|
getDebugDrawer()->drawLine(wa, wb, color);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (shape->isConcave())
|
|
{
|
|
btConcaveShape* concaveMesh = (btConcaveShape*)shape;
|
|
|
|
///@todo pass camera, for some culling? no -> we are not a graphics lib
|
|
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
|
|
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
|
|
|
|
DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
|
|
concaveMesh->processAllTriangles(&drawCallback, aabbMin, aabbMax);
|
|
}
|
|
|
|
if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*)shape;
|
|
//todo: pass camera for some culling
|
|
btVector3 aabbMax(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
|
|
btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
|
|
//DebugDrawcallback drawCallback;
|
|
DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
|
|
convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback, aabbMin, aabbMax);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCollisionWorld::debugDrawWorld()
|
|
{
|
|
if (getDebugDrawer())
|
|
{
|
|
getDebugDrawer()->clearLines();
|
|
|
|
btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors();
|
|
|
|
if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
|
|
{
|
|
if (getDispatcher())
|
|
{
|
|
int numManifolds = getDispatcher()->getNumManifolds();
|
|
|
|
for (int i = 0; i < numManifolds; i++)
|
|
{
|
|
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
|
|
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
|
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
|
|
|
int numContacts = contactManifold->getNumContacts();
|
|
for (int j = 0; j < numContacts; j++)
|
|
{
|
|
btManifoldPoint& cp = contactManifold->getContactPoint(j);
|
|
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB, cp.m_normalWorldOnB, cp.getDistance(), cp.getLifeTime(), defaultColors.m_contactPoint);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if ((getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
|
|
{
|
|
int i;
|
|
|
|
for (i = 0; i < m_collisionObjects.size(); i++)
|
|
{
|
|
btCollisionObject* colObj = m_collisionObjects[i];
|
|
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT) == 0)
|
|
{
|
|
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
|
|
{
|
|
btVector3 color(btScalar(0.4), btScalar(0.4), btScalar(0.4));
|
|
|
|
switch (colObj->getActivationState())
|
|
{
|
|
case ACTIVE_TAG:
|
|
color = defaultColors.m_activeObject;
|
|
break;
|
|
case ISLAND_SLEEPING:
|
|
color = defaultColors.m_deactivatedObject;
|
|
break;
|
|
case WANTS_DEACTIVATION:
|
|
color = defaultColors.m_wantsDeactivationObject;
|
|
break;
|
|
case DISABLE_DEACTIVATION:
|
|
color = defaultColors.m_disabledDeactivationObject;
|
|
break;
|
|
case DISABLE_SIMULATION:
|
|
color = defaultColors.m_disabledSimulationObject;
|
|
break;
|
|
default:
|
|
{
|
|
color = btVector3(btScalar(.3), btScalar(0.3), btScalar(0.3));
|
|
}
|
|
};
|
|
|
|
colObj->getCustomDebugColor(color);
|
|
|
|
debugDrawObject(colObj->getWorldTransform(), colObj->getCollisionShape(), color);
|
|
}
|
|
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
|
|
{
|
|
btVector3 minAabb, maxAabb;
|
|
btVector3 colorvec = defaultColors.m_aabb;
|
|
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
|
|
btVector3 contactThreshold(gContactBreakingThreshold, gContactBreakingThreshold, gContactBreakingThreshold);
|
|
minAabb -= contactThreshold;
|
|
maxAabb += contactThreshold;
|
|
|
|
btVector3 minAabb2, maxAabb2;
|
|
|
|
if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
|
|
{
|
|
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
|
|
minAabb2 -= contactThreshold;
|
|
maxAabb2 += contactThreshold;
|
|
minAabb.setMin(minAabb2);
|
|
maxAabb.setMax(maxAabb2);
|
|
}
|
|
|
|
m_debugDrawer->drawAabb(minAabb, maxAabb, colorvec);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
|
|
{
|
|
int i;
|
|
|
|
///keep track of shapes already serialized
|
|
btHashMap<btHashPtr, btCollisionShape*> serializedShapes;
|
|
|
|
for (i = 0; i < m_collisionObjects.size(); i++)
|
|
{
|
|
btCollisionObject* colObj = m_collisionObjects[i];
|
|
btCollisionShape* shape = colObj->getCollisionShape();
|
|
|
|
if (!serializedShapes.find(shape))
|
|
{
|
|
serializedShapes.insert(shape, shape);
|
|
shape->serializeSingleShape(serializer);
|
|
}
|
|
}
|
|
|
|
//serialize all collision objects
|
|
for (i = 0; i < m_collisionObjects.size(); i++)
|
|
{
|
|
btCollisionObject* colObj = m_collisionObjects[i];
|
|
if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
|
|
{
|
|
colObj->serializeSingleObject(serializer);
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCollisionWorld::serializeContactManifolds(btSerializer* serializer)
|
|
{
|
|
if (serializer->getSerializationFlags() & BT_SERIALIZE_CONTACT_MANIFOLDS)
|
|
{
|
|
int numManifolds = getDispatcher()->getNumManifolds();
|
|
for (int i = 0; i < numManifolds; i++)
|
|
{
|
|
const btPersistentManifold* manifold = getDispatcher()->getInternalManifoldPointer()[i];
|
|
//don't serialize empty manifolds, they just take space
|
|
//(may have to do it anyway if it destroys determinism)
|
|
if (manifold->getNumContacts() == 0)
|
|
continue;
|
|
|
|
btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1);
|
|
const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer);
|
|
serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold);
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCollisionWorld::serialize(btSerializer* serializer)
|
|
{
|
|
serializer->startSerialization();
|
|
|
|
serializeCollisionObjects(serializer);
|
|
|
|
serializeContactManifolds(serializer);
|
|
|
|
serializer->finishSerialization();
|
|
}
|