| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| 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 "BulletCollision/CollisionDispatch/btManifoldResult.h" |
| |
| btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) |
| :btActivatingCollisionAlgorithm(ci,body0,body1), |
| m_isSwapped(isSwapped), |
| m_sharedManifold(ci.m_manifold) |
| { |
| m_ownsManifold = false; |
| |
| btCollisionObject* colObj = m_isSwapped? body1 : body0; |
| btAssert (colObj->getCollisionShape()->isCompound()); |
| |
| btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape()); |
| m_compoundShapeRevision = compoundShape->getUpdateRevision(); |
| |
| preallocateChildAlgorithms(body0,body1); |
| } |
| |
| void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1) |
| { |
| btCollisionObject* colObj = m_isSwapped? body1 : body0; |
| btCollisionObject* otherObj = m_isSwapped? body0 : body1; |
| btAssert (colObj->getCollisionShape()->isCompound()); |
| |
| btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->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 |
| { |
| btCollisionShape* tmpShape = colObj->getCollisionShape(); |
| btCollisionShape* childShape = compoundShape->getChildShape(i); |
| colObj->internalSetTemporaryCollisionShape( childShape ); |
| m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold); |
| colObj->internalSetTemporaryCollisionShape( tmpShape ); |
| } |
| } |
| } |
| |
| 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: |
| |
| btCollisionObject* m_compoundColObj; |
| btCollisionObject* m_otherObj; |
| btDispatcher* m_dispatcher; |
| const btDispatcherInfo& m_dispatchInfo; |
| btManifoldResult* m_resultOut; |
| btCollisionAlgorithm** m_childCollisionAlgorithms; |
| btPersistentManifold* m_sharedManifold; |
| |
| |
| |
| |
| btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold) |
| :m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut), |
| m_childCollisionAlgorithms(childCollisionAlgorithms), |
| m_sharedManifold(sharedManifold) |
| { |
| |
| } |
| |
| |
| void ProcessChildShape(btCollisionShape* childShape,int index) |
| { |
| |
| btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape()); |
| |
| |
| //backup |
| btTransform orgTrans = m_compoundColObj->getWorldTransform(); |
| btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform(); |
| const btTransform& childTrans = compoundShape->getChildTransform(index); |
| btTransform newChildWorldTrans = orgTrans*childTrans ; |
| |
| //perform an AABB check first |
| btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; |
| childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); |
| m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1); |
| |
| if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) |
| { |
| |
| m_compoundColObj->setWorldTransform( newChildWorldTrans); |
| m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans); |
| |
| //the contactpoint is still projected back using the original inverted worldtrans |
| btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape(); |
| m_compoundColObj->internalSetTemporaryCollisionShape( childShape ); |
| |
| if (!m_childCollisionAlgorithms[index]) |
| m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold); |
| |
| ///detect swapping case |
| if (m_resultOut->getBody0Internal() == m_compoundColObj) |
| { |
| m_resultOut->setShapeIdentifiersA(-1,index); |
| } else |
| { |
| m_resultOut->setShapeIdentifiersB(-1,index); |
| } |
| |
| m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut); |
| 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)); |
| } |
| |
| //revert back transform |
| m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape); |
| m_compoundColObj->setWorldTransform( orgTrans ); |
| m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans); |
| } |
| } |
| void Process(const btDbvtNode* leaf) |
| { |
| int index = leaf->dataAsInt; |
| |
| btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape()); |
| btCollisionShape* childShape = compoundShape->getChildShape(index); |
| if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) |
| { |
| btVector3 worldAabbMin,worldAabbMax; |
| btTransform orgTrans = m_compoundColObj->getWorldTransform(); |
| btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax); |
| m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0)); |
| } |
| ProcessChildShape(childShape,index); |
| |
| } |
| }; |
| |
| |
| |
| |
| |
| |
| void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| btCollisionObject* colObj = m_isSwapped? body1 : body0; |
| btCollisionObject* otherObj = m_isSwapped? body0 : body1; |
| |
| |
| |
| btAssert (colObj->getCollisionShape()->isCompound()); |
| btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->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(body0,body1); |
| } |
| |
| |
| btDbvt* tree = compoundShape->getDynamicAabbTree(); |
| //use a dynamic aabb tree to cull potential child-overlaps |
| btCompoundLeafCallback callback(colObj,otherObj,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; |
| btManifoldArray manifoldArray; |
| 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.clear(); |
| } |
| } |
| } |
| |
| if (tree) |
| { |
| |
| btVector3 localAabbMin,localAabbMax; |
| btTransform otherInCompoundSpace; |
| otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform(); |
| otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax); |
| |
| const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); |
| //process all children, that overlap with the given AABB bounds |
| tree->collideTV(tree->m_root,bounds,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; |
| btManifoldArray manifoldArray; |
| |
| for (i=0;i<numChildren;i++) |
| { |
| if (m_childCollisionAlgorithms[i]) |
| { |
| btCollisionShape* childShape = compoundShape->getChildShape(i); |
| //if not longer overlapping, remove the algorithm |
| btTransform orgTrans = colObj->getWorldTransform(); |
| btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform(); |
| const btTransform& childTrans = compoundShape->getChildTransform(i); |
| btTransform newChildWorldTrans = orgTrans*childTrans ; |
| |
| //perform an AABB check first |
| btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; |
| childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); |
| otherObj->getCollisionShape()->getAabb(otherObj->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) |
| { |
| |
| 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; |
| for (i=0;i<numChildren;i++) |
| { |
| //temporarily exchange parent btCollisionShape with childShape, and recurse |
| btCollisionShape* childShape = compoundShape->getChildShape(i); |
| |
| //backup |
| btTransform orgTrans = colObj->getWorldTransform(); |
| |
| const btTransform& childTrans = compoundShape->getChildTransform(i); |
| //btTransform newChildWorldTrans = orgTrans*childTrans ; |
| colObj->setWorldTransform( orgTrans*childTrans ); |
| |
| btCollisionShape* tmpShape = colObj->getCollisionShape(); |
| colObj->internalSetTemporaryCollisionShape( childShape ); |
| btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut); |
| if (frac<hitFraction) |
| { |
| hitFraction = frac; |
| } |
| //revert back |
| colObj->internalSetTemporaryCollisionShape( tmpShape); |
| colObj->setWorldTransform( orgTrans); |
| } |
| return hitFraction; |
| |
| } |
| |
| |
| |