diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp | 289 |
1 files changed, 220 insertions, 69 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index d8674a320a7..10e880e2523 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -32,6 +32,9 @@ subject to the following restrictions: #include "LinearMath/btQuickprof.h" #include "LinearMath/btStackAlloc.h" +//#define USE_BRUTEFORCE_RAYBROADPHASE 1 +//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest +//#define RECALCULATE_AABB_RAYCAST 1 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor) #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" @@ -66,6 +69,7 @@ btCollisionWorld::~btCollisionWorld() // getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1); getBroadphase()->destroyProxy(bp,m_dispatcher1); + collisionObject->setBroadphaseHandle(0); } } @@ -113,6 +117,41 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho } + + +void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj) +{ + btVector3 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::updateAabbs() { BT_PROFILE("updateAabbs"); @@ -125,38 +164,9 @@ void btCollisionWorld::updateAabbs() //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"); - } - } + updateSingleAabb(colObj); } } - } @@ -226,6 +236,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra if (collisionShape->isConvex()) { +// BT_PROFILE("rayTestConvex"); btConvexCast::CastResult castResult; castResult.m_fraction = resultCallback.m_closestHitFraction; @@ -269,6 +280,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra } else { if (collisionShape->isConcave()) { +// BT_PROFILE("rayTestConcave"); if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { ///optimized version for btBvhTriangleMeshShape @@ -286,7 +298,8 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to), + //@BP Mod + btTriangleRaycastCallback(from,to, resultCallback->m_flags), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) @@ -317,7 +330,8 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); } else { - btTriangleMeshShape* triangleMesh = (btTriangleMeshShape*)collisionShape; + //generic (slower) case + btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); @@ -330,11 +344,12 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra { btCollisionWorld::RayResultCallback* m_resultCallback; btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; + btConcaveShape* m_triangleMesh; BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to, - btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh): - btTriangleRaycastCallback(from,to), + btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh): + //@BP Mod + btTriangleRaycastCallback(from,to, resultCallback->m_flags), m_resultCallback(resultCallback), m_collisionObject(collisionObject), m_triangleMesh(triangleMesh) @@ -363,7 +378,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra }; - BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh); + BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape); rcb.m_hitFraction = resultCallback.m_closestHitFraction; btVector3 rayAabbMinLocal = rayFromLocal; @@ -371,10 +386,11 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra btVector3 rayAabbMaxLocal = rayFromLocal; rayAabbMaxLocal.setMax(rayToLocal); - triangleMesh->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); + concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal); } } else { - //todo: use AABB tree or other BVH acceleration structure! +// BT_PROFILE("rayTestCompound"); + ///@todo: use AABB tree or other BVH acceleration structure, see btDbvt if (collisionShape->isCompound()) { const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); @@ -408,9 +424,10 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt { if (collisionShape->isConvex()) { + //BT_PROFILE("convexSweepConvex"); btConvexCast::CastResult castResult; castResult.m_allowedPenetration = allowedPenetration; - castResult.m_fraction = btScalar(1.);//?? + castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//?? btConvexShape* convexShape = (btConvexShape*) collisionShape; btVoronoiSimplexSolver simplexSolver; @@ -452,6 +469,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt { if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) { + //BT_PROFILE("convexSweepbtBvhTriangleMesh"); btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); @@ -508,7 +526,8 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal); } else { - btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; + //BT_PROFILE("convexSweepConcave"); + btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin(); btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin(); @@ -520,10 +539,10 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt { btCollisionWorld::ConvexResultCallback* m_resultCallback; btCollisionObject* m_collisionObject; - btTriangleMeshShape* m_triangleMesh; + btConcaveShape* m_triangleMesh; BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to, - btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld): + btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld): btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()), m_resultCallback(resultCallback), m_collisionObject(collisionObject), @@ -556,7 +575,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt }; - BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform); + BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform); tccb.m_hitFraction = resultCallback.m_closestHitFraction; btVector3 boxMinLocal, boxMaxLocal; castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal); @@ -567,12 +586,13 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt rayAabbMaxLocal.setMax(convexToLocal); rayAabbMinLocal += boxMinLocal; rayAabbMaxLocal += boxMaxLocal; - triangleMesh->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); + concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal); } } else { - //todo: use AABB tree or other BVH acceleration structure! + ///@todo : use AABB tree or other BVH acceleration structure! if (collisionShape->isCompound()) { + BT_PROFILE("convexSweepCompound"); const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape); int i=0; for (i=0;i<compoundShape->getNumChildShapes();i++) @@ -596,51 +616,173 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt } } -void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const + +struct btSingleRayCallback : public btBroadphaseRayCallback { + btVector3 m_rayFromWorld; + btVector3 m_rayToWorld; + btTransform m_rayFromTrans; + btTransform m_rayToTrans; + btVector3 m_hitNormal; - btTransform rayFromTrans,rayToTrans; - rayFromTrans.setIdentity(); - rayFromTrans.setOrigin(rayFromWorld); - rayToTrans.setIdentity(); + const btCollisionWorld* m_world; + btCollisionWorld::RayResultCallback& m_resultCallback; - rayToTrans.setOrigin(rayToWorld); + btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback) + :m_rayFromWorld(rayFromWorld), + m_rayToWorld(rayToWorld), + m_world(world), + m_resultCallback(resultCallback) + { + m_rayFromTrans.setIdentity(); + m_rayFromTrans.setOrigin(m_rayFromWorld); + m_rayToTrans.setIdentity(); + m_rayToTrans.setOrigin(m_rayToWorld); - /// go over all objects, and if the ray intersects their aabb, do a ray-shape query using convexCaster (CCD) + btVector3 rayDir = (rayToWorld-rayFromWorld); - int i; - for (i=0;i<m_collisionObjects.size();i++) + rayDir.normalize (); + ///what about division by zero? --> just set rayDirection[i] to INF/1e30 + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld); + + } + + + + virtual bool process(const btBroadphaseProxy* proxy) { ///terminate further ray tests, once the closestHitFraction reached zero - if (resultCallback.m_closestHitFraction == btScalar(0.f)) - break; + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; - btCollisionObject* collisionObject= m_collisionObjects[i]; //only perform raycast if filterMask matches - if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) + { //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + //btVector3 collisionObjectAabbMin,collisionObjectAabbMax; +#if 0 +#ifdef RECALCULATE_AABB btVector3 collisionObjectAabbMin,collisionObjectAabbMax; collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); - - btScalar hitLambda = resultCallback.m_closestHitFraction; - btVector3 hitNormal; - if (btRayAabb(rayFromWorld,rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) +#else + //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax); + const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin; + const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax; +#endif +#endif + //btScalar hitLambda = m_resultCallback.m_closestHitFraction; + //culling already done by broadphase + //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal)) { - rayTestSingle(rayFromTrans,rayToTrans, + m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans, collisionObject, collisionObject->getCollisionShape(), collisionObject->getWorldTransform(), - resultCallback); + m_resultCallback); } } - + return true; } +}; + +void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const +{ + BT_PROFILE("rayTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback); + +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB); +#else + for (int i=0;i<this->getNumCollisionObjects();i++) + { + rayCB.process(m_collisionObjects[i]->getBroadphaseHandle()); + } +#endif //USE_BRUTEFORCE_RAYBROADPHASE } -void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback) const + +struct btSingleSweepCallback : public btBroadphaseRayCallback { + + btTransform m_convexFromTrans; + btTransform m_convexToTrans; + btVector3 m_hitNormal; + const btCollisionWorld* m_world; + btCollisionWorld::ConvexResultCallback& m_resultCallback; + btScalar m_allowedCcdPenetration; + const btConvexShape* m_castShape; + + + btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration) + :m_convexFromTrans(convexFromTrans), + m_convexToTrans(convexToTrans), + m_world(world), + m_resultCallback(resultCallback), + m_allowedCcdPenetration(allowedPenetration), + m_castShape(castShape) + { + btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin()); + btVector3 rayDir = unnormalizedRayDir.normalized(); + ///what about division by zero? --> just set rayDirection[i] to INF/1e30 + m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[0]; + m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[1]; + m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(1e30) : btScalar(1.0) / rayDir[2]; + m_signs[0] = m_rayDirectionInverse[0] < 0.0; + m_signs[1] = m_rayDirectionInverse[1] < 0.0; + m_signs[2] = m_rayDirectionInverse[2] < 0.0; + + m_lambda_max = rayDir.dot(unnormalizedRayDir); + + } + + virtual bool process(const btBroadphaseProxy* proxy) + { + ///terminate further convex sweep tests, once the closestHitFraction reached zero + if (m_resultCallback.m_closestHitFraction == btScalar(0.f)) + return false; + + btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject; + + //only perform raycast if filterMask matches + if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { + //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); + m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans, + collisionObject, + collisionObject->getCollisionShape(), + collisionObject->getWorldTransform(), + m_resultCallback, + m_allowedCcdPenetration); + } + + return true; + } +}; + + + +void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const +{ + + BT_PROFILE("convexSweepTest"); + /// use the broadphase to accelerate the search for objects, based on their aabb + /// and for each object with ray-aabb overlap, perform an exact ray test + /// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical + + + btTransform convexFromTrans,convexToTrans; convexFromTrans = convexFromWorld; convexToTrans = convexToWorld; @@ -649,12 +791,21 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT { btVector3 linVel, angVel; btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); + btVector3 zeroLinVel; + zeroLinVel.setValue(0,0,0); btTransform R; R.setIdentity (); R.setRotation (convexFromTrans.getRotation()); - castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); + castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); } +#ifndef USE_BRUTEFORCE_RAYBROADPHASE + + btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration); + + m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax); + +#else /// go over all objects, and if the ray intersects their aabb + cast shape aabb, // do a ray-shape query using convexCaster (CCD) int i; @@ -676,9 +827,9 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT collisionObject->getCollisionShape(), collisionObject->getWorldTransform(), resultCallback, - getDispatchInfo().m_allowedCcdPenetration); + allowedCcdPenetration); } } } - +#endif //USE_BRUTEFORCE_RAYBROADPHASE } |