diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2006-10-23 06:54:30 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2006-10-23 06:54:30 +0400 |
commit | 44d16f056215e6068f0b186a0ab766165cf3966e (patch) | |
tree | f0ad85e29c32563d1d4c1c46db4e2cd22f7f78dc /extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp | |
parent | e459764b4b056959e354edca3868a91ff9bc272f (diff) |
Added refactored Bullet 2.x library. Important: these files are not part of the Blender build yet. First, the integration will be updated to make use of the new Bullet version. Then all build systems needs to be updated.
The refactoring didn't leave a single file the same, all filenames and classes have bt prefix, methodnames start with lowercase, a single headerfile can be included, and also a single include path.
Plan is to make use of this Bullet 2.x version in extern/bullet2 within the coming weeks, then extern/bullet can be discarded/ignored/content removed.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp | 140 |
1 files changed, 140 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp new file mode 100644 index 00000000000..febd726b556 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -0,0 +1,140 @@ +/* +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" + + +btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) +:m_isSwapped(isSwapped) +{ + btCollisionObject* colObj = m_isSwapped? body1 : body0; + btCollisionObject* otherObj = m_isSwapped? body0 : body1; + assert (colObj->m_collisionShape->isCompound()); + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape); + int numChildren = compoundShape->getNumChildShapes(); + int i; + + m_childCollisionAlgorithms.resize(numChildren); + for (i=0;i<numChildren;i++) + { + btCollisionShape* childShape = compoundShape->getChildShape(i); + btCollisionShape* orgShape = colObj->m_collisionShape; + colObj->m_collisionShape = childShape; + m_childCollisionAlgorithms[i] = ci.m_dispatcher->findAlgorithm(colObj,otherObj); + colObj->m_collisionShape =orgShape; + } +} + + +btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm() +{ + int numChildren = m_childCollisionAlgorithms.size(); + int i; + for (i=0;i<numChildren;i++) + { + delete m_childCollisionAlgorithms[i]; + } +} + +void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + btCollisionObject* colObj = m_isSwapped? body1 : body0; + btCollisionObject* otherObj = m_isSwapped? body0 : body1; + + assert (colObj->m_collisionShape->isCompound()); + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape); + + //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. + + 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->m_worldTransform; + btCollisionShape* orgShape = colObj->m_collisionShape; + + btTransform childTrans = compoundShape->getChildTransform(i); + btTransform newChildWorldTrans = orgTrans*childTrans ; + colObj->m_worldTransform = newChildWorldTrans; + //the contactpoint is still projected back using the original inverted worldtrans + colObj->m_collisionShape = childShape; + m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut); + //revert back + colObj->m_collisionShape =orgShape; + colObj->m_worldTransform = orgTrans; + } +} + +float btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + + btCollisionObject* colObj = m_isSwapped? body1 : body0; + btCollisionObject* otherObj = m_isSwapped? body0 : body1; + + assert (colObj->m_collisionShape->isCompound()); + + btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->m_collisionShape); + + //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. + + float hitFraction = 1.f; + + 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->m_worldTransform; + btCollisionShape* orgShape = colObj->m_collisionShape; + + btTransform childTrans = compoundShape->getChildTransform(i); + btTransform newChildWorldTrans = orgTrans*childTrans ; + colObj->m_worldTransform = newChildWorldTrans; + + colObj->m_collisionShape = childShape; + float frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut); + if (frac<hitFraction) + { + hitFraction = frac; + } + //revert back + colObj->m_collisionShape =orgShape; + colObj->m_worldTransform = orgTrans; + } + return hitFraction; + +} + + |