diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 387 |
1 files changed, 230 insertions, 157 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index bfe8d4f52fb..66b93b88efa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -33,6 +33,7 @@ subject to the following restrictions: #include "LinearMath/btQuickprof.h" #include "LinearMath/btStackAlloc.h" #include "LinearMath/btSerializer.h" +#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION @@ -154,7 +155,7 @@ void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj) minAabb -= contactThreshold; maxAabb += contactThreshold; - if(getDispatchInfo().m_convexMaxDistanceUseCPT) + if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject()) { btVector3 minAabb2,maxAabb2; colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2); @@ -662,68 +663,103 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal); } else { - //BT_PROFILE("convexSweepConcave"); - btConcaveShape* concaveShape = (btConcaveShape*)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 + if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE) { - btCollisionWorld::ConvexResultCallback* m_resultCallback; - btCollisionObject* m_collisionObject; - btConcaveShape* m_triangleMesh; - - BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, - btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld): - btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), - m_resultCallback(resultCallback), - m_collisionObject(collisionObject), - m_triangleMesh(triangleMesh) + btConvexCast::CastResult castResult; + castResult.m_allowedPenetration = allowedPenetration; + castResult.m_fraction = resultCallback.m_closestHitFraction; + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape; + btContinuousConvexCollision convexCaster1(castShape,planeShape); + btConvexCast* castPtr = &convexCaster1; + + if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) { + //add hit + if (castResult.m_normal.length2() > btScalar(0.0001)) + { + if (castResult.m_fraction < resultCallback.m_closestHitFraction) + { + castResult.m_normal.normalize(); + btCollisionWorld::LocalConvexResult localConvexResult + ( + collisionObject, + 0, + castResult.m_normal, + castResult.m_hitPoint, + castResult.m_fraction + ); + + bool normalInWorldSpace = true; + resultCallback.addSingleResult(localConvexResult, normalInWorldSpace); + } + } } - - virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex ) + } else + { + //BT_PROFILE("convexSweepConcave"); + btConcaveShape* concaveShape = (btConcaveShape*)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::LocalShapeInfo shapeInfo; - shapeInfo.m_shapePart = partId; - shapeInfo.m_triangleIndex = triangleIndex; - if (hitFraction <= m_resultCallback->m_closestHitFraction) + btCollisionWorld::ConvexResultCallback* m_resultCallback; + btCollisionObject* m_collisionObject; + btConcaveShape* m_triangleMesh; + + BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld): + btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), + m_resultCallback(resultCallback), + m_collisionObject(collisionObject), + m_triangleMesh(triangleMesh) { + } - btCollisionWorld::LocalConvexResult convexResult - (m_collisionObject, - &shapeInfo, - hitNormalLocal, - hitPointLocal, - hitFraction); - bool normalInWorldSpace = false; + 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) + { - return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); - } - return hitFraction; - } + btCollisionWorld::LocalConvexResult convexResult + (m_collisionObject, + &shapeInfo, + hitNormalLocal, + hitPointLocal, + hitFraction); - }; + bool normalInWorldSpace = false; - BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform); - tccb.m_hitFraction = resultCallback.m_closestHitFraction; - tccb.m_allowedPenetration = allowedPenetration; - btVector3 boxMinLocal, boxMaxLocal; - castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace); + } + return hitFraction; + } + + }; - btVector3 rayAabbMinLocal = convexFromLocal; - rayAabbMinLocal.setMin(convexToLocal); - btVector3 rayAabbMaxLocal = convexFromLocal; - rayAabbMaxLocal.setMax(convexToLocal); - rayAabbMinLocal += boxMinLocal; - rayAabbMaxLocal += boxMaxLocal; - concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform); + tccb.m_hitFraction = resultCallback.m_closestHitFraction; + tccb.m_allowedPenetration = allowedPenetration; + btVector3 boxMinLocal, boxMaxLocal; + castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); + + btVector3 rayAabbMinLocal = convexFromLocal; + rayAabbMinLocal.setMin(convexToLocal); + btVector3 rayAabbMaxLocal = convexFromLocal; + rayAabbMaxLocal.setMax(convexToLocal); + rayAabbMinLocal += boxMinLocal; + rayAabbMaxLocal += boxMaxLocal; + concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); + } } } else { ///@todo : use AABB tree or other BVH acceleration structure! @@ -1162,15 +1198,14 @@ public: wv1 = m_worldTrans*triangle[1]; wv2 = m_worldTrans*triangle[2]; btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.); - - btVector3 normal = (wv1-wv0).cross(wv2-wv0); - normal.normalize(); - btVector3 normalColor(1,1,0); - m_debugDrawer->drawLine(center,center+normal,normalColor); - - - - + + if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals ) + { + btVector3 normal = (wv1-wv0).cross(wv2-wv0); + normal.normalize(); + btVector3 normalColor(1,1,0); + m_debugDrawer->drawLine(center,center+normal,normalColor); + } m_debugDrawer->drawLine(wv0,wv1,m_color); m_debugDrawer->drawLine(wv1,wv2,m_color); m_debugDrawer->drawLine(wv2,wv0,m_color); @@ -1195,126 +1230,162 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const } else { - switch (shape->getShapeType()) - { - case BOX_SHAPE_PROXYTYPE: - { - const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); - btVector3 halfExtents = boxShape->getHalfExtentsWithMargin(); - getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color); - break; - } + /// for polyhedral shapes + if (shape->isPolyhedral()) + { + btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; - case SPHERE_SHAPE_PROXYTYPE: + int i; + if (polyshape->getConvexPolyhedron()) { - const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape); - btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin + const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron(); + for (i=0;i<poly->m_faces.size();i++) + { + btVector3 centroid(0,0,0); + int numVerts = poly->m_faces[i].m_indices.size(); + if (numVerts) + { + int lastV = poly->m_faces[i].m_indices[numVerts-1]; + for (int v=0;v<poly->m_faces[i].m_indices.size();v++) + { + int curVert = poly->m_faces[i].m_indices[v]; + centroid+=poly->m_vertices[curVert]; + getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color); + lastV = curVert; + } + } + centroid*= btScalar(1.f)/btScalar(numVerts); + if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals) + { + btVector3 normalColor(1,1,0); + btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]); + getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor); + } + + } - getDebugDrawer()->drawSphere(radius, worldTransform, color); - break; - } - case MULTI_SPHERE_SHAPE_PROXYTYPE: + + } else { - const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape); - - btTransform childTransform; - childTransform.setIdentity(); - - for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--) + for (i=0;i<polyshape->getNumEdges();i++) { - childTransform.setOrigin(multiSphereShape->getSpherePosition(i)); - getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color); + btVector3 a,b; + polyshape->getEdge(i,a,b); + btVector3 wa = worldTransform * a; + btVector3 wb = worldTransform * b; + getDebugDrawer()->drawLine(wa,wb,color); } - - break; } - case CAPSULE_SHAPE_PROXYTYPE: - { - const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape); - btScalar radius = capsuleShape->getRadius(); - btScalar halfHeight = capsuleShape->getHalfHeight(); - int upAxis = capsuleShape->getUpAxis(); - getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color); - break; - } - case CONE_SHAPE_PROXYTYPE: + } + else + { + switch (shape->getShapeType()) { - const btConeShape* coneShape = static_cast<const btConeShape*>(shape); - btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); - btScalar height = coneShape->getHeight();//+coneShape->getMargin(); - int upAxis= coneShape->getConeUpIndex(); - getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color); - break; + case BOX_SHAPE_PROXYTYPE: + { + const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape); + btVector3 halfExtents = boxShape->getHalfExtentsWithMargin(); + getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color); + break; + } - } - case CYLINDER_SHAPE_PROXYTYPE: - { - const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape); - int upAxis = cylinder->getUpAxis(); - btScalar radius = cylinder->getRadius(); - btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; - getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color); - break; - } + case SPHERE_SHAPE_PROXYTYPE: + { + const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape); + btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin - case STATIC_PLANE_PROXYTYPE: - { - const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape); - btScalar planeConst = staticPlaneShape->getPlaneConstant(); - const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); - getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color); - break; + getDebugDrawer()->drawSphere(radius, worldTransform, color); + break; + } + case MULTI_SPHERE_SHAPE_PROXYTYPE: + { + const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape); - } - default: - { + btTransform childTransform; + childTransform.setIdentity(); - if (shape->isConcave()) - { - btConcaveShape* concaveMesh = (btConcaveShape*) shape; + for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--) + { + childTransform.setOrigin(multiSphereShape->getSpherePosition(i)); + getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color); + } - ///@todo pass camera, for some culling? no -> we are not a graphics lib - btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); - btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + break; + } + case CAPSULE_SHAPE_PROXYTYPE: + { + const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape); - DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); - concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); + btScalar radius = capsuleShape->getRadius(); + btScalar halfHeight = capsuleShape->getHalfHeight(); + int upAxis = capsuleShape->getUpAxis(); + getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color); + break; } + case CONE_SHAPE_PROXYTYPE: + { + const btConeShape* coneShape = static_cast<const btConeShape*>(shape); + btScalar radius = coneShape->getRadius();//+coneShape->getMargin(); + btScalar height = coneShape->getHeight();//+coneShape->getMargin(); - if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE) + int upAxis= coneShape->getConeUpIndex(); + getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color); + break; + + } + case CYLINDER_SHAPE_PROXYTYPE: { - btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape; - //todo: pass camera for some culling - btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); - btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); - //DebugDrawcallback drawCallback; - DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); - convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); + const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape); + int upAxis = cylinder->getUpAxis(); + btScalar radius = cylinder->getRadius(); + btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis]; + getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color); + break; } + case STATIC_PLANE_PROXYTYPE: + { + const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape); + btScalar planeConst = staticPlaneShape->getPlaneConstant(); + const btVector3& planeNormal = staticPlaneShape->getPlaneNormal(); + getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color); + break; - /// for polyhedral shapes - if (shape->isPolyhedral()) + } + default: { - btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape; - int i; - for (i=0;i<polyshape->getNumEdges();i++) + if (shape->isConcave()) { - btVector3 a,b; - polyshape->getEdge(i,a,b); - btVector3 wa = worldTransform * a; - btVector3 wb = worldTransform * b; - getDebugDrawer()->drawLine(wa,wb,color); + btConcaveShape* concaveMesh = (btConcaveShape*) shape; + + ///@todo pass camera, for some culling? no -> we are not a graphics lib + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + + DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); + concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax); } + if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE) + { + btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape; + //todo: pass camera for some culling + btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)); + btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT)); + //DebugDrawcallback drawCallback; + DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color); + convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax); + } + + } } } @@ -1327,7 +1398,7 @@ void btCollisionWorld::debugDrawWorld() if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints) { int numManifolds = getDispatcher()->getNumManifolds(); - btVector3 color(0,0,0); + btVector3 color(1,0.65,0); for (int i=0;i<numManifolds;i++) { btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i); @@ -1343,7 +1414,7 @@ void btCollisionWorld::debugDrawWorld() } } - if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)) + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))) { int i; @@ -1352,7 +1423,7 @@ void btCollisionWorld::debugDrawWorld() btCollisionObject* colObj = m_collisionObjects[i]; if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0) { - if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe) + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)) { btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.)); switch(colObj->getActivationState()) @@ -1386,12 +1457,14 @@ void btCollisionWorld::debugDrawWorld() btVector3 minAabb2,maxAabb2; - colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2); - minAabb2 -= contactThreshold; - maxAabb2 += contactThreshold; - - minAabb.setMin(minAabb2); - maxAabb.setMax(maxAabb2); + if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject()) + { + colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2); + minAabb2 -= contactThreshold; + maxAabb2 += contactThreshold; + minAabb.setMin(minAabb2); + maxAabb.setMax(maxAabb2); + } m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec); } |