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-rw-r--r--extern/bullet2/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp351
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diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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--- a/extern/bullet2/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ /dev/null
@@ -1,351 +0,0 @@
-/*
-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 "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;
-
-}
-
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-07 02:02:36 +0300