diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp | 40 |
1 files changed, 20 insertions, 20 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index 4353cdac0b1..73fa4e87ea4 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -6,7 +6,7 @@ #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" #include "LinearMath/btIDebugDraw.h" - +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" //#define DEBUG_INTERNAL_EDGE @@ -450,18 +450,18 @@ bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const b /// Changes a btManifoldPoint collision normal to the normal from the mesh. -void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* colObj0,const btCollisionObject* colObj1, int partId0, int index0, int normalAdjustFlags) +void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags) { //btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE); - if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) + if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE) return; btBvhTriangleMeshShape* trimesh = 0; - if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE ) - trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape(); + if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE ) + trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape(); else - trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape(); + trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); if (!triangleInfoMapPtr) @@ -476,13 +476,13 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f; - const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0->getCollisionShape()); + const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape()); btVector3 v0,v1,v2; tri_shape->getVertex(0,v0); tri_shape->getVertex(1,v1); tri_shape->getVertex(2,v2); - btVector3 center = (v0+v1+v2)*btScalar(1./3.); + //btVector3 center = (v0+v1+v2)*btScalar(1./3.); btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0); btVector3 tri_normal; @@ -505,7 +505,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* int numConcaveEdgeHits = 0; int numConvexEdgeHits = 0; - btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; + btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; localContactNormalOnB.normalize();//is this necessary? // Get closest edge @@ -613,12 +613,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* { if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0)) { - btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal; + btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal; // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); cp.m_normalWorldOnB = newNormal; // Reproject collision point along normal. (what about cp.m_distance1?) cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; - cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB); + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); } } @@ -694,19 +694,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* else { numConvexEdgeHits++; - btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; + btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; btVector3 clampedLocalNormal; bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal); if (isClamped) { if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0)) { - btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal; + btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal; // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); cp.m_normalWorldOnB = newNormal; // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; - cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB); + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); } } } @@ -779,19 +779,19 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* // printf("hitting convex edge\n"); - btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; + btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB; btVector3 clampedLocalNormal; bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal); if (isClamped) { if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0)) { - btVector3 newNormal = colObj0->getWorldTransform().getBasis() * clampedLocalNormal; + btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal; // cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB); cp.m_normalWorldOnB = newNormal; // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; - cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB); + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); } } } @@ -820,7 +820,7 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* { tri_normal *= -1; } - cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal; + cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal; } else { btVector3 newNormal = tri_normal *frontFacing; @@ -831,12 +831,12 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObject* return; } //modify the normal to be the triangle normal (or backfacing normal) - cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal; + cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal; } // Reproject collision point along normal. cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1; - cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB); + cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB); } } } |