diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 73 |
1 files changed, 43 insertions, 30 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 4c09291692d..093c6f9b200 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -31,11 +31,10 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btDbvt.h" #include "LinearMath/btAabbUtil2.h" #include "LinearMath/btQuickprof.h" -#include "LinearMath/btStackAlloc.h" #include "LinearMath/btSerializer.h" #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" - +#include "BulletCollision/Gimpact/btGImpactShape.h" //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION @@ -73,8 +72,6 @@ m_broadphasePairCache(pairCache), m_debugDrawer(0), m_forceUpdateAllAabbs(true) { - m_stackAlloc = collisionConfiguration->getStackAllocator(); - m_dispatchInfo.m_stackAllocator = m_stackAlloc; } @@ -290,13 +287,19 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con btConvexShape* convexShape = (btConvexShape*) collisionShape; btVoronoiSimplexSolver simplexSolver; -#define USE_SUBSIMPLEX_CONVEX_CAST 1 -#ifdef USE_SUBSIMPLEX_CONVEX_CAST - btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); -#else - //btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver); + btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver); + + btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver); + //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); -#endif //#USE_SUBSIMPLEX_CONVEX_CAST + bool condition = true; + btConvexCast* convexCasterPtr = 0; + if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest) + convexCasterPtr = &subSimplexConvexCaster; + else + convexCasterPtr = &gjkConvexCaster; + + btConvexCast& convexCaster = *convexCasterPtr; if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) { @@ -328,34 +331,26 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con } else { if (collisionShape->isConcave()) { - // BT_PROFILE("rayTestConcave"); - if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) - { - ///optimized version for btBvhTriangleMeshShape - btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; - btTransform worldTocollisionObject = colObjWorldTransform.inverse(); - btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); - btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); - //ConvexCast::CastResult + //ConvexCast::CastResult struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback { btCollisionWorld::RayResultCallback* m_resultCallback; const btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; + const btConcaveShape* m_triangleMesh; btTransform m_colObjWorldTransform; BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, - btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform): - //@BP Mod - btTriangleRaycastCallback(from,to, resultCallback->m_flags), - m_resultCallback(resultCallback), - m_collisionObject(collisionObject), - m_triangleMesh(triangleMesh), - m_colObjWorldTransform(colObjWorldTransform) - { - } + btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const 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 ) @@ -378,10 +373,28 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con }; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + // BT_PROFILE("rayTestConcave"); + if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + ///optimized version for btBvhTriangleMeshShape + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform); rcb.m_hitFraction = resultCallback.m_closestHitFraction; triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); - } else + } + else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) + { + btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape; + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal); + }else { //generic (slower) case btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; |