391 lines
15 KiB
C++
391 lines
15 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
|
|
*/
|
|
|
|
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
|
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
#include "LinearMath/btAabbUtil2.h"
|
|
#include "btManifoldResult.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
|
|
|
|
btShapePairCallback gCompoundChildShapePairCallback = 0;
|
|
|
|
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
|
|
: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
|
|
m_isSwapped(isSwapped),
|
|
m_sharedManifold(ci.m_manifold)
|
|
{
|
|
m_ownsManifold = false;
|
|
|
|
const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
|
|
btAssert(colObjWrap->getCollisionShape()->isCompound());
|
|
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
|
|
m_compoundShapeRevision = compoundShape->getUpdateRevision();
|
|
|
|
preallocateChildAlgorithms(body0Wrap, body1Wrap);
|
|
}
|
|
|
|
void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
|
|
{
|
|
const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
|
|
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
|
|
btAssert(colObjWrap->getCollisionShape()->isCompound());
|
|
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
|
|
|
|
int numChildren = compoundShape->getNumChildShapes();
|
|
int i;
|
|
|
|
m_childCollisionAlgorithms.resize(numChildren);
|
|
for (i = 0; i < numChildren; i++)
|
|
{
|
|
if (compoundShape->getDynamicAabbTree())
|
|
{
|
|
m_childCollisionAlgorithms[i] = 0;
|
|
}
|
|
else
|
|
{
|
|
const btCollisionShape* childShape = compoundShape->getChildShape(i);
|
|
|
|
btCollisionObjectWrapper childWrap(colObjWrap, childShape, colObjWrap->getCollisionObject(), colObjWrap->getWorldTransform(), -1, i); //wrong child trans, but unused (hopefully)
|
|
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap, otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
|
|
|
|
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
|
|
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCompoundCollisionAlgorithm::removeChildAlgorithms()
|
|
{
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i = 0; i < numChildren; i++)
|
|
{
|
|
if (m_childCollisionAlgorithms[i])
|
|
{
|
|
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
|
|
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
|
|
{
|
|
removeChildAlgorithms();
|
|
}
|
|
|
|
struct btCompoundLeafCallback : btDbvt::ICollide
|
|
{
|
|
public:
|
|
const btCollisionObjectWrapper* m_compoundColObjWrap;
|
|
const btCollisionObjectWrapper* m_otherObjWrap;
|
|
btDispatcher* m_dispatcher;
|
|
const btDispatcherInfo& m_dispatchInfo;
|
|
btManifoldResult* m_resultOut;
|
|
btCollisionAlgorithm** m_childCollisionAlgorithms;
|
|
btPersistentManifold* m_sharedManifold;
|
|
|
|
btCompoundLeafCallback(const btCollisionObjectWrapper* compoundObjWrap, const btCollisionObjectWrapper* otherObjWrap, btDispatcher* dispatcher, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut, btCollisionAlgorithm** childCollisionAlgorithms, btPersistentManifold* sharedManifold)
|
|
: m_compoundColObjWrap(compoundObjWrap), m_otherObjWrap(otherObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithms(childCollisionAlgorithms), m_sharedManifold(sharedManifold)
|
|
{
|
|
}
|
|
|
|
void ProcessChildShape(const btCollisionShape* childShape, int index)
|
|
{
|
|
btAssert(index >= 0);
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
|
|
btAssert(index < compoundShape->getNumChildShapes());
|
|
|
|
if (gCompoundChildShapePairCallback)
|
|
{
|
|
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
|
|
return;
|
|
}
|
|
|
|
//backup
|
|
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
|
|
|
|
const btTransform& childTrans = compoundShape->getChildTransform(index);
|
|
btTransform newChildWorldTrans = orgTrans * childTrans;
|
|
|
|
//perform an AABB check first
|
|
btVector3 aabbMin0, aabbMax0;
|
|
childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
|
|
|
|
btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
|
|
aabbMin0 -= extendAabb;
|
|
aabbMax0 += extendAabb;
|
|
|
|
btVector3 aabbMin1, aabbMax1;
|
|
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
|
|
|
|
|
|
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
|
|
{
|
|
btTransform preTransform = childTrans;
|
|
if (this->m_compoundColObjWrap->m_preTransform)
|
|
{
|
|
preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
|
|
}
|
|
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
|
|
|
|
btCollisionAlgorithm* algo = 0;
|
|
bool allocatedAlgorithm = false;
|
|
|
|
if (m_resultOut->m_closestPointDistanceThreshold > 0)
|
|
{
|
|
algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
|
|
allocatedAlgorithm = true;
|
|
}
|
|
else
|
|
{
|
|
//the contactpoint is still projected back using the original inverted worldtrans
|
|
if (!m_childCollisionAlgorithms[index])
|
|
{
|
|
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
|
|
}
|
|
algo = m_childCollisionAlgorithms[index];
|
|
}
|
|
|
|
const btCollisionObjectWrapper* tmpWrap = 0;
|
|
|
|
///detect swapping case
|
|
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
|
|
{
|
|
tmpWrap = m_resultOut->getBody0Wrap();
|
|
m_resultOut->setBody0Wrap(&compoundWrap);
|
|
m_resultOut->setShapeIdentifiersA(-1, index);
|
|
}
|
|
else
|
|
{
|
|
tmpWrap = m_resultOut->getBody1Wrap();
|
|
m_resultOut->setBody1Wrap(&compoundWrap);
|
|
m_resultOut->setShapeIdentifiersB(-1, index);
|
|
}
|
|
|
|
algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
|
|
|
|
#if 0
|
|
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
|
|
{
|
|
btVector3 worldAabbMin,worldAabbMax;
|
|
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
|
|
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
|
|
}
|
|
#endif
|
|
|
|
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
|
|
{
|
|
m_resultOut->setBody0Wrap(tmpWrap);
|
|
}
|
|
else
|
|
{
|
|
m_resultOut->setBody1Wrap(tmpWrap);
|
|
}
|
|
if (allocatedAlgorithm)
|
|
{
|
|
algo->~btCollisionAlgorithm();
|
|
m_dispatcher->freeCollisionAlgorithm(algo);
|
|
}
|
|
}
|
|
}
|
|
void Process(const btDbvtNode* leaf)
|
|
{
|
|
int index = leaf->dataAsInt;
|
|
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
|
|
const btCollisionShape* childShape = compoundShape->getChildShape(index);
|
|
|
|
#if 0
|
|
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
|
|
{
|
|
btVector3 worldAabbMin,worldAabbMax;
|
|
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
|
|
btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
|
|
m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
|
|
}
|
|
#endif
|
|
|
|
ProcessChildShape(childShape, index);
|
|
}
|
|
};
|
|
|
|
void btCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
|
|
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
|
|
|
|
btAssert(colObjWrap->getCollisionShape()->isCompound());
|
|
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
|
|
|
|
///btCompoundShape might have changed:
|
|
////make sure the internal child collision algorithm caches are still valid
|
|
if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
|
|
{
|
|
///clear and update all
|
|
removeChildAlgorithms();
|
|
|
|
preallocateChildAlgorithms(body0Wrap, body1Wrap);
|
|
m_compoundShapeRevision = compoundShape->getUpdateRevision();
|
|
}
|
|
|
|
if (m_childCollisionAlgorithms.size() == 0)
|
|
return;
|
|
|
|
const btDbvt* tree = compoundShape->getDynamicAabbTree();
|
|
//use a dynamic aabb tree to cull potential child-overlaps
|
|
btCompoundLeafCallback callback(colObjWrap, otherObjWrap, m_dispatcher, dispatchInfo, resultOut, &m_childCollisionAlgorithms[0], m_sharedManifold);
|
|
|
|
///we need to refresh all contact manifolds
|
|
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
|
|
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
|
|
{
|
|
int i;
|
|
manifoldArray.resize(0);
|
|
for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
|
|
{
|
|
if (m_childCollisionAlgorithms[i])
|
|
{
|
|
m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
|
|
for (int m = 0; m < manifoldArray.size(); m++)
|
|
{
|
|
if (manifoldArray[m]->getNumContacts())
|
|
{
|
|
resultOut->setPersistentManifold(manifoldArray[m]);
|
|
resultOut->refreshContactPoints();
|
|
resultOut->setPersistentManifold(0); //??necessary?
|
|
}
|
|
}
|
|
manifoldArray.resize(0);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (tree)
|
|
{
|
|
btVector3 localAabbMin, localAabbMax;
|
|
btTransform otherInCompoundSpace;
|
|
otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
|
|
otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace, localAabbMin, localAabbMax);
|
|
btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
|
|
localAabbMin -= extraExtends;
|
|
localAabbMax += extraExtends;
|
|
|
|
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
|
|
//process all children, that overlap with the given AABB bounds
|
|
tree->collideTVNoStackAlloc(tree->m_root, bounds, stack2, callback);
|
|
}
|
|
else
|
|
{
|
|
//iterate over all children, perform an AABB check inside ProcessChildShape
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i = 0; i < numChildren; i++)
|
|
{
|
|
callback.ProcessChildShape(compoundShape->getChildShape(i), i);
|
|
}
|
|
}
|
|
|
|
{
|
|
//iterate over all children, perform an AABB check inside ProcessChildShape
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
manifoldArray.resize(0);
|
|
const btCollisionShape* childShape = 0;
|
|
btTransform orgTrans;
|
|
|
|
btTransform newChildWorldTrans;
|
|
btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
|
|
|
|
for (i = 0; i < numChildren; i++)
|
|
{
|
|
if (m_childCollisionAlgorithms[i])
|
|
{
|
|
childShape = compoundShape->getChildShape(i);
|
|
//if not longer overlapping, remove the algorithm
|
|
orgTrans = colObjWrap->getWorldTransform();
|
|
|
|
const btTransform& childTrans = compoundShape->getChildTransform(i);
|
|
newChildWorldTrans = orgTrans * childTrans;
|
|
|
|
//perform an AABB check first
|
|
childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
|
|
otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
|
|
|
|
if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
|
|
{
|
|
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
|
|
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
|
|
m_childCollisionAlgorithms[i] = 0;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
btAssert(0);
|
|
//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
|
|
btCollisionObject* colObj = m_isSwapped ? body1 : body0;
|
|
btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
|
|
|
|
btAssert(colObj->getCollisionShape()->isCompound());
|
|
|
|
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
|
|
|
|
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
|
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
|
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
|
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
|
//then use each overlapping node AABB against Tree0
|
|
//and vise versa.
|
|
|
|
btScalar hitFraction = btScalar(1.);
|
|
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
btTransform orgTrans;
|
|
btScalar frac;
|
|
for (i = 0; i < numChildren; i++)
|
|
{
|
|
//btCollisionShape* childShape = compoundShape->getChildShape(i);
|
|
|
|
//backup
|
|
orgTrans = colObj->getWorldTransform();
|
|
|
|
const btTransform& childTrans = compoundShape->getChildTransform(i);
|
|
//btTransform newChildWorldTrans = orgTrans*childTrans ;
|
|
colObj->setWorldTransform(orgTrans * childTrans);
|
|
|
|
//btCollisionShape* tmpShape = colObj->getCollisionShape();
|
|
//colObj->internalSetTemporaryCollisionShape( childShape );
|
|
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
|
|
if (frac < hitFraction)
|
|
{
|
|
hitFraction = frac;
|
|
}
|
|
//revert back
|
|
//colObj->internalSetTemporaryCollisionShape( tmpShape);
|
|
colObj->setWorldTransform(orgTrans);
|
|
}
|
|
return hitFraction;
|
|
}
|