diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 643 |
1 files changed, 477 insertions, 166 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 7dc7d8d2f68..d8674a320a7 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -4,8 +4,8 @@ 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, +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. @@ -18,59 +18,57 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionShapes/btCollisionShape.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" - +#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting -#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h" //for raycasting +#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/CollisionShapes/btCompoundShape.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h" +#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h" + #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "LinearMath/btAabbUtil2.h" #include "LinearMath/btQuickprof.h" #include "LinearMath/btStackAlloc.h" + //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor) #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" -btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize) +btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration) :m_dispatcher1(dispatcher), m_broadphasePairCache(pairCache), -m_ownsDispatcher(false), -m_ownsBroadphasePairCache(false) +m_debugDrawer(0) { - m_stackAlloc = new btStackAlloc(stackSize); + m_stackAlloc = collisionConfiguration->getStackAllocator(); m_dispatchInfo.m_stackAllocator = m_stackAlloc; } btCollisionWorld::~btCollisionWorld() { - m_stackAlloc->destroy(); - delete m_stackAlloc; //clean up remaining objects int i; for (i=0;i<m_collisionObjects.size();i++) { btCollisionObject* collisionObject= m_collisionObjects[i]; - + btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle(); if (bp) { // // only clear the cached algorithms // - getBroadphase()->cleanProxyFromPairs(bp); - getBroadphase()->destroyProxy(bp); + getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); + getBroadphase()->destroyProxy(bp,m_dispatcher1); } } - if (m_ownsDispatcher) - delete m_dispatcher1; - if (m_ownsBroadphasePairCache) - delete m_broadphasePairCache; } @@ -105,66 +103,105 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho type, collisionObject, collisionFilterGroup, - collisionFilterMask + collisionFilterMask, + m_dispatcher1,0 )) ; - + } +void btCollisionWorld::updateAabbs() +{ + BT_PROFILE("updateAabbs"); + + btTransform predictedTrans; + for ( int i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + + //only update aabb of active objects + if (colObj->isActive()) + { + btPoint3 minAabb,maxAabb; + colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); + //need to increase the aabb for contact thresholds + btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); + minAabb -= contactThreshold; + maxAabb += contactThreshold; + + btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache; + + //moving objects should be moderately sized, probably something wrong if not + if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12))) + { + bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1); + } else + { + //something went wrong, investigate + //this assert is unwanted in 3D modelers (danger of loosing work) + colObj->setActivationState(DISABLE_SIMULATION); + + static bool reportMe = true; + if (reportMe && m_debugDrawer) + { + reportMe = false; + m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation"); + m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n"); + m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n"); + m_debugDrawer->reportErrorWarning("Thanks.\n"); + } + } + } + } + +} void btCollisionWorld::performDiscreteCollisionDetection() { - btDispatcherInfo& dispatchInfo = getDispatchInfo(); - - BEGIN_PROFILE("perform Broadphase Collision Detection"); + BT_PROFILE("performDiscreteCollisionDetection"); + btDispatcherInfo& dispatchInfo = getDispatchInfo(); - //update aabb (of all moved objects) + updateAabbs(); - btVector3 aabbMin,aabbMax; - for (int i=0;i<m_collisionObjects.size();i++) { - m_collisionObjects[i]->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),aabbMin,aabbMax); - m_broadphasePairCache->setAabb(m_collisionObjects[i]->getBroadphaseHandle(),aabbMin,aabbMax); + BT_PROFILE("calculateOverlappingPairs"); + m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1); } - m_broadphasePairCache->refreshOverlappingPairs(); - - - END_PROFILE("perform Broadphase Collision Detection"); - - BEGIN_PROFILE("performDiscreteCollisionDetection"); btDispatcher* dispatcher = getDispatcher(); - if (dispatcher) - dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache,dispatchInfo); - - END_PROFILE("performDiscreteCollisionDetection"); + { + BT_PROFILE("dispatchAllCollisionPairs"); + if (dispatcher) + dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1); + } } + void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject) { - - + + //bool removeFromBroadphase = false; - + { - + btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle(); if (bp) { // // only clear the cached algorithms // - getBroadphase()->cleanProxyFromPairs(bp); - getBroadphase()->destroyProxy(bp); + getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); + getBroadphase()->destroyProxy(bp,m_dispatcher1); collisionObject->setBroadphaseHandle(0); } } @@ -181,192 +218,466 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback, - short int collisionFilterMask, - bool faceNormal) + RayResultCallback& resultCallback) { - btSphereShape pointShape(btScalar(0.0)); pointShape.setMargin(0.f); + const btConvexShape* castShape = &pointShape; - objectQuerySingle(&pointShape,rayFromTrans,rayToTrans, - collisionObject, - collisionShape, - colObjWorldTransform, - resultCallback,collisionFilterMask,faceNormal); + if (collisionShape->isConvex()) + { + btConvexCast::CastResult castResult; + castResult.m_fraction = resultCallback.m_closestHitFraction; + + 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); + //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); +#endif //#USE_SUBSIMPLEX_CONVEX_CAST + + if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < resultCallback.m_closestHitFraction) + { +#ifdef USE_SUBSIMPLEX_CONVEX_CAST + //rotate normal into worldspace + castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal; +#endif //USE_SUBSIMPLEX_CONVEX_CAST + + castResult.m_normal.normalize(); + btCollisionWorld::LocalRayResult localRayResult + ( + collisionObject, + 0, + castResult.m_normal, + castResult.m_fraction + ); + + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localRayResult, normalInWorldSpace); + + } + } + } + } else { + if (collisionShape->isConcave()) + { + 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 + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): + btTriangleRaycastCallback(from,to), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btCollisionWorld::LocalRayResult rayResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitFraction); + + bool normalInWorldSpace = false; + return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace); + } + + }; + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); + } else + { + btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape; + + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + + btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); + btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + + //ConvexCast::CastResult + + struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback + { + btCollisionWorld::RayResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): + btTriangleRaycastCallback(from,to), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) + { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + + btCollisionWorld::LocalRayResult rayResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitFraction); + + bool normalInWorldSpace = false; + return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace); + + + } + + }; + + + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + rcb.m_hitFraction = resultCallback.m_closestHitFraction; + + btVector3 rayAabbMinLocal = rayFromLocal; + rayAabbMinLocal.setMin(rayToLocal); + btVector3 rayAabbMaxLocal = rayFromLocal; + rayAabbMaxLocal.setMax(rayToLocal); + + triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); + } + } else { + //todo: use AABB tree or other BVH acceleration structure! + if (collisionShape->isCompound()) + { + const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); + int i=0; + for (i=0;i<compoundShape->getNumChildShapes();i++) + { + btTransform childTrans = compoundShape->getChildTransform(i); + const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); + btTransform childWorldTrans = colObjWorldTransform * childTrans; + // replace collision shape so that callback can determine the triangle + btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape(); + collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape); + rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + childCollisionShape, + childWorldTrans, + resultCallback); + // restore + collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape); + } + } + } + } } -void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& rayFromTrans,const btTransform& rayToTrans, +void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, btCollisionObject* collisionObject, const btCollisionShape* collisionShape, const btTransform& colObjWorldTransform, - RayResultCallback& resultCallback, - short int collisionFilterMask, - bool faceNormal) + ConvexResultCallback& resultCallback, btScalar allowedPenetration) { - - if (collisionShape->isConvex()) + { + btConvexCast::CastResult castResult; + castResult.m_allowedPenetration = allowedPenetration; + castResult.m_fraction = btScalar(1.);//?? + + btConvexShape* convexShape = (btConvexShape*) collisionShape; + btVoronoiSimplexSolver simplexSolver; + btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver; + + btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver); + //btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver); + //btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver); + + btConvexCast* castPtr = &convexCaster1; + + + + if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) { - btConvexCast::CastResult castResult; - castResult.m_fraction = btScalar(1.);//?? - - btConvexShape* convexShape = (btConvexShape*) collisionShape; - btVoronoiSimplexSolver simplexSolver; - btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver); - //GjkConvexCast convexCaster(castShape,convexShape,&simplexSolver); - //ContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); - - if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) + if (castResult.m_fraction < resultCallback.m_closestHitFraction) { - //add hit - if (castResult.m_normal.length2() > btScalar(0.0001)) - { - castResult.m_normal.normalize(); - if (castResult.m_fraction < resultCallback.m_closestHitFraction) - { - - btCollisionWorld::LocalRayResult localRayResult + castResult.m_normal.normalize(); + btCollisionWorld::LocalConvexResult localConvexResult ( - collisionObject, + collisionObject, 0, castResult.m_normal, + castResult.m_hitPoint, castResult.m_fraction ); - resultCallback.AddSingleResult(localRayResult); + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localConvexResult, normalInWorldSpace); - } - } } } - else + } + } else { + if (collisionShape->isConcave()) + { + if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { - - if (collisionShape->isConcave()) + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); + btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); + // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation + btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis()); + + //ConvexCast::CastResult + struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback + { + btCollisionWorld::ConvexResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } + + + virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) { + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + if (hitFraction <= m_resultCallback->m_closestHitFraction) + { - btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape; - - btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); - btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); - btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); + bool normalInWorldSpace = true; - //ConvexCast::CastResult - struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback - { - btCollisionWorld::RayResultCallback* m_resultCallback; - btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; - - BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,bool faceNormal, - btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to,faceNormal), - m_resultCallback(resultCallback), - m_collisionObject(collisionObject), - m_triangleMesh(triangleMesh) - { - } - - - virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex ) - { - btCollisionWorld::LocalShapeInfo shapeInfo; - shapeInfo.m_shapePart = partId; - shapeInfo.m_triangleIndex = triangleIndex; - shapeInfo.m_triangleShape = m_triangleMesh; - - btCollisionWorld::LocalRayResult rayResult - (m_collisionObject, - &shapeInfo, - hitNormalLocal, - hitFraction); - - return m_resultCallback->AddSingleResult(rayResult); - - - } - - }; + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); + } + return hitFraction; + } + }; - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,faceNormal,&resultCallback,collisionObject,triangleMesh); - rcb.m_hitFraction = resultCallback.m_closestHitFraction; + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal); + } else + { + btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + btTransform worldTocollisionObject = colObjWorldTransform.inverse(); + btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); + btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); + // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation + btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis()); + + //ConvexCast::CastResult + struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback + { + btCollisionWorld::ConvexResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btTriangleMeshShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) + { + } - btVector3 rayAabbMinLocal = rayFromLocal; - rayAabbMinLocal.setMin(rayToLocal); - btVector3 rayAabbMaxLocal = rayFromLocal; - rayAabbMaxLocal.setMax(rayToLocal); - triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); - - } else + virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) { - //todo: use AABB tree or other BVH acceleration structure! - if (collisionShape->isCompound()) + btCollisionWorld::LocalShapeInfo shapeInfo; + shapeInfo.m_shapePart = partId; + shapeInfo.m_triangleIndex = triangleIndex; + if (hitFraction <= m_resultCallback->m_closestHitFraction) { - const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); - int i=0; - for (i=0;i<compoundShape->getNumChildShapes();i++) - { - btTransform childTrans = compoundShape->getChildTransform(i); - const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); - btTransform childWorldTrans = colObjWorldTransform * childTrans; - objectQuerySingle(castShape, rayFromTrans,rayToTrans, - collisionObject, - childCollisionShape, - childWorldTrans, - resultCallback, collisionFilterMask, faceNormal); - } + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); + bool normalInWorldSpace = false; + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); } + return hitFraction; } + + }; + + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + + btVector3 rayAabbMinLocal = convexFromLocal; + rayAabbMinLocal.setMin(convexToLocal); + btVector3 rayAabbMaxLocal = convexFromLocal; + rayAabbMaxLocal.setMax(convexToLocal); + rayAabbMinLocal += boxMinLocal; + rayAabbMaxLocal += boxMaxLocal; + triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); } + } else { + //todo: use AABB tree or other BVH acceleration structure! + if (collisionShape->isCompound()) + { + const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); + int i=0; + for (i=0;i<compoundShape->getNumChildShapes();i++) + { + btTransform childTrans = compoundShape->getChildTransform(i); + const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i); + btTransform childWorldTrans = colObjWorldTransform * childTrans; + // replace collision shape so that callback can determine the triangle + btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape(); + collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape); + objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + childCollisionShape, + childWorldTrans, + resultCallback, allowedPenetration); + // restore + collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape); + } + } + } + } } -void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback,short int collisionFilterMask, bool faceNormal) +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const { - + btTransform rayFromTrans,rayToTrans; rayFromTrans.setIdentity(); rayFromTrans.setOrigin(rayFromWorld); rayToTrans.setIdentity(); - + rayToTrans.setOrigin(rayToWorld); /// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD) - + int i; for (i=0;i<m_collisionObjects.size();i++) { + ///terminate further ray tests, once the closestHitFraction reached zero + if (resultCallback.m_closestHitFraction == btScalar(0.f)) + break; + btCollisionObject* collisionObject= m_collisionObjects[i]; //only perform raycast if filterMask matches - if(collisionObject->getBroadphaseHandle()->m_collisionFilterGroup & collisionFilterMask) { + if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); btVector3 collisionObjectAabbMin,collisionObjectAabbMax; collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); - btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btScalar hitLambda = resultCallback.m_closestHitFraction; btVector3 hitNormal; if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) { - // before testing this object, verify that it is not filtered out - if (resultCallback.NeedRayCast(collisionObject)) - { - rayTestSingle(rayFromTrans,rayToTrans, - collisionObject, - collisionObject->getCollisionShape(), - collisionObject->getWorldTransform(), - resultCallback, - collisionFilterMask, - faceNormal); - } - } + rayTestSingle(rayFromTrans,rayToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback); + } + } + + } + +} + +void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const +{ + btTransform convexFromTrans,convexToTrans; + convexFromTrans = convexFromWorld; + convexToTrans = convexToWorld; + btVector3 castShapeAabbMin, castShapeAabbMax; + /* Compute AABB that encompasses angular movement */ + { + btVector3 linVel, angVel; + btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); + btTransform R; + R.setIdentity (); + R.setRotation (convexFromTrans.getRotation()); + castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); + } + + /// go over all objects, and if the ray intersects their aabb + cast shape aabb, + // do a ray-shape query using convexCaster (CCD) + int i; + for (i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* collisionObject= m_collisionObjects[i]; + //only perform raycast if filterMask matches + if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + btVector3 collisionObjectAabbMin,collisionObjectAabbMax; + collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); + AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); + btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing + btVector3 hitNormal; + if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) + { + objectQuerySingle(castShape, convexFromTrans,convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + resultCallback, + getDispatchInfo().m_allowedCcdPenetration); + } } } |