diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp | 342 |
1 files changed, 185 insertions, 157 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp index 2f2c09ffc03..2e87475e393 100644 --- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @@ -51,7 +51,7 @@ public: } - void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) + void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation) const { equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal); equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal); @@ -89,7 +89,7 @@ Declared here due of insuficent space on Pool allocators class GIM_ShapeRetriever { public: - btGImpactShapeInterface * m_gim_shape; + const btGImpactShapeInterface * m_gim_shape; btTriangleShapeEx m_trishape; btTetrahedronShapeEx m_tetrashape; @@ -98,7 +98,7 @@ public: { public: GIM_ShapeRetriever * m_parent; - virtual btCollisionShape * getChildShape(int index) + virtual const btCollisionShape * getChildShape(int index) { return m_parent->m_gim_shape->getChildShape(index); } @@ -133,7 +133,7 @@ public: TetraShapeRetriever m_tetra_retriever; ChildShapeRetriever * m_current_retriever; - GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape) + GIM_ShapeRetriever(const btGImpactShapeInterface * gim_shape) { m_gim_shape = gim_shape; //select retriever @@ -153,7 +153,7 @@ public: m_current_retriever->m_parent = this; } - btCollisionShape * getChildShape(int index) + const btCollisionShape * getChildShape(int index) { return m_current_retriever->getChildShape(index); } @@ -193,8 +193,8 @@ float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime() -btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) -: btActivatingCollisionAlgorithm(ci,body0,body1) +btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap) { m_manifoldPtr = NULL; m_convex_algorithm = NULL; @@ -209,71 +209,58 @@ btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm() -void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0, - btCollisionObject * body1, +void btGImpactCollisionAlgorithm::addContactPoint(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, const btVector3 & point, const btVector3 & normal, btScalar distance) { m_resultOut->setShapeIdentifiersA(m_part0,m_triface0); m_resultOut->setShapeIdentifiersB(m_part1,m_triface1); - checkManifold(body0,body1); + checkManifold(body0Wrap,body1Wrap); m_resultOut->addContactPoint(normal,point,distance); } void btGImpactCollisionAlgorithm::shape_vs_shape_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1) + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape * shape0, + const btCollisionShape * shape1) { - btCollisionShape* tmpShape0 = body0->getCollisionShape(); - btCollisionShape* tmpShape1 = body1->getCollisionShape(); - - body0->internalSetTemporaryCollisionShape(shape0); - body1->internalSetTemporaryCollisionShape(shape1); { - btCollisionAlgorithm* algor = newAlgorithm(body0,body1); + + btCollisionAlgorithm* algor = newAlgorithm(body0Wrap,body1Wrap); // post : checkManifold is called m_resultOut->setShapeIdentifiersA(m_part0,m_triface0); m_resultOut->setShapeIdentifiersB(m_part1,m_triface1); - - algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); - + + algor->processCollision(body0Wrap,body1Wrap,*m_dispatchInfo,m_resultOut); + algor->~btCollisionAlgorithm(); m_dispatcher->freeCollisionAlgorithm(algor); } - body0->internalSetTemporaryCollisionShape(tmpShape0); - body1->internalSetTemporaryCollisionShape(tmpShape1); } void btGImpactCollisionAlgorithm::convex_vs_convex_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btCollisionShape * shape0, - btCollisionShape * shape1) + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape* shape0, + const btCollisionShape* shape1) { - btCollisionShape* tmpShape0 = body0->getCollisionShape(); - btCollisionShape* tmpShape1 = body1->getCollisionShape(); - - body0->internalSetTemporaryCollisionShape(shape0); - body1->internalSetTemporaryCollisionShape(shape1); - - m_resultOut->setShapeIdentifiersA(m_part0,m_triface0); m_resultOut->setShapeIdentifiersB(m_part1,m_triface1); - checkConvexAlgorithm(body0,body1); - m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut); + btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0); + btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),m_part1,m_triface1); + checkConvexAlgorithm(&ob0,&ob1); + m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut); - body0->internalSetTemporaryCollisionShape(tmpShape0); - body1->internalSetTemporaryCollisionShape(tmpShape1); } @@ -283,8 +270,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision( void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( const btTransform & trans0, const btTransform & trans1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1,btPairSet & pairset) + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1,btPairSet & pairset) { if(shape0->hasBoxSet() && shape1->hasBoxSet()) { @@ -320,8 +307,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs( void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( const btTransform & trans0, const btTransform & trans1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1, btAlignedObjectArray<int> & collided_primitives) { @@ -359,10 +346,10 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs( } -void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, +void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, const int * pairs, int pair_count) { btTriangleShapeEx tri0; @@ -389,7 +376,7 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body //collide two convex shapes if(tri0.overlap_test_conservative(tri1)) { - convex_vs_convex_collision(body0,body1,&tri0,&tri1); + convex_vs_convex_collision(body0Wrap,body1Wrap,&tri0,&tri1); } } @@ -398,14 +385,14 @@ void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body shape1->unlockChildShapes(); } -void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btGImpactMeshShapePart * shape1, +void btGImpactCollisionAlgorithm::collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart * shape0, + const btGImpactMeshShapePart * shape1, const int * pairs, int pair_count) { - btTransform orgtrans0 = body0->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); btPrimitiveTriangle ptri0; btPrimitiveTriangle ptri1; @@ -451,7 +438,7 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body while(j--) { - addContactPoint(body0, body1, + addContactPoint(body0Wrap, body1Wrap, contact_data.m_points[j], contact_data.m_separating_normal, -contact_data.m_penetration_depth); @@ -472,20 +459,20 @@ void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btGImpactShapeInterface * shape1) + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btGImpactShapeInterface * shape1) { if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) { - btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0); + const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0); m_part0 = meshshape0->getMeshPartCount(); while(m_part0--) { - gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1); + gimpact_vs_gimpact(body0Wrap,body1Wrap,meshshape0->getMeshPart(m_part0),shape1); } return; @@ -493,13 +480,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) { - btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1); + const btGImpactMeshShape * meshshape1 = static_cast<const btGImpactMeshShape *>(shape1); m_part1 = meshshape1->getMeshPartCount(); while(m_part1--) { - gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1)); + gimpact_vs_gimpact(body0Wrap,body1Wrap,shape0,meshshape1->getMeshPart(m_part1)); } @@ -507,8 +494,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( } - btTransform orgtrans0 = body0->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); btPairSet pairset; @@ -519,13 +506,13 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART) { - btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0); - btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1); + const btGImpactMeshShapePart * shapepart0 = static_cast<const btGImpactMeshShapePart * >(shape0); + const btGImpactMeshShapePart * shapepart1 = static_cast<const btGImpactMeshShapePart * >(shape1); //specialized function #ifdef BULLET_TRIANGLE_COLLISION - collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + collide_gjk_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); #else - collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); + collide_sat_triangles(body0Wrap,body1Wrap,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size()); #endif return; @@ -548,55 +535,49 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact( GIM_PAIR * pair = &pairset[i]; m_triface0 = pair->m_index1; m_triface1 = pair->m_index2; - btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0); - btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1); - - if(child_has_transform0) - { - body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0)); - } - - if(child_has_transform1) - { - body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1)); - } - - //collide two convex shapes - convex_vs_convex_collision(body0,body1,colshape0,colshape1); + const btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0); + const btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1); + btTransform tr0 = body0Wrap->getWorldTransform(); + btTransform tr1 = body1Wrap->getWorldTransform(); if(child_has_transform0) { - body0->setWorldTransform(orgtrans0); + tr0 = orgtrans0*shape0->getChildTransform(m_triface0); } if(child_has_transform1) { - body1->setWorldTransform(orgtrans1); + tr1 = orgtrans1*shape1->getChildTransform(m_triface1); } + btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0,m_part0,m_triface0); + btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1,m_part1,m_triface1); + + //collide two convex shapes + convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1); } shape0->unlockChildShapes(); shape1->unlockChildShapes(); } -void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCollisionShape * shape1,bool swapped) +void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btCollisionShape * shape1,bool swapped) { if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE) { - btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0); + const btGImpactMeshShape * meshshape0 = static_cast<const btGImpactMeshShape *>(shape0); int& part = swapped ? m_part1 : m_part0; part = meshshape0->getMeshPartCount(); while(part--) { - gimpact_vs_shape(body0, - body1, + gimpact_vs_shape(body0Wrap, + body1Wrap, meshshape0->getMeshPart(part), shape1,swapped); @@ -609,9 +590,9 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART && shape1->getShapeType() == STATIC_PLANE_PROXYTYPE) { - btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0); - btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1); - gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped); + const btGImpactMeshShapePart * shapepart = static_cast<const btGImpactMeshShapePart *>(shape0); + const btStaticPlaneShape * planeshape = static_cast<const btStaticPlaneShape * >(shape1); + gimpacttrimeshpart_vs_plane_collision(body0Wrap,body1Wrap,shapepart,planeshape,swapped); return; } @@ -621,21 +602,21 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, if(shape1->isCompound()) { - btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1); - gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped); + const btCompoundShape * compoundshape = static_cast<const btCompoundShape *>(shape1); + gimpact_vs_compoundshape(body0Wrap,body1Wrap,shape0,compoundshape,swapped); return; } else if(shape1->isConcave()) { - btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1); - gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped); + const btConcaveShape * concaveshape = static_cast<const btConcaveShape *>(shape1); + gimpact_vs_concave(body0Wrap,body1Wrap,shape0,concaveshape,swapped); return; } - btTransform orgtrans0 = body0->getWorldTransform(); + btTransform orgtrans0 = body0Wrap->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); btAlignedObjectArray<int> collided_results; @@ -662,28 +643,38 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, else m_triface0 = child_index; - btCollisionShape * colshape0 = retriever0.getChildShape(child_index); + const btCollisionShape * colshape0 = retriever0.getChildShape(child_index); + + btTransform tr0 = body0Wrap->getWorldTransform(); if(child_has_transform0) { - body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index)); + tr0 = orgtrans0*shape0->getChildTransform(child_index); + } + + btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0); + const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap(); + + if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob0.getCollisionObject()) + { + m_resultOut->setBody0Wrap(&ob0); + } else + { + m_resultOut->setBody1Wrap(&ob0); } //collide two shapes if(swapped) { - shape_vs_shape_collision(body1,body0,shape1,colshape0); + + shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0); } else { - shape_vs_shape_collision(body0,body1,colshape0,shape1); - } - - //restore transforms - if(child_has_transform0) - { - body0->setWorldTransform(orgtrans0); + + shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1); } + m_resultOut->setBody0Wrap(prevObj0); } @@ -691,44 +682,58 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0, } -void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btCompoundShape * shape1,bool swapped) +void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface * shape0, + const btCompoundShape * shape1,bool swapped) { - btTransform orgtrans1 = body1->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); int i = shape1->getNumChildShapes(); while(i--) { - btCollisionShape * colshape1 = shape1->getChildShape(i); + const btCollisionShape * colshape1 = shape1->getChildShape(i); btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i); - body1->setWorldTransform(childtrans1); - + btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1,-1,i); + + const btCollisionObjectWrapper* tmp = 0; + if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject()) + { + tmp = m_resultOut->getBody0Wrap(); + m_resultOut->setBody0Wrap(&ob1); + } else + { + tmp = m_resultOut->getBody1Wrap(); + m_resultOut->setBody1Wrap(&ob1); + } //collide child shape - gimpact_vs_shape(body0, body1, + gimpact_vs_shape(body0Wrap, &ob1, shape0,colshape1,swapped); - - //restore transforms - body1->setWorldTransform(orgtrans1); + if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject()) + { + m_resultOut->setBody0Wrap(tmp); + } else + { + m_resultOut->setBody1Wrap(tmp); + } } } void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactMeshShapePart * shape0, - btStaticPlaneShape * shape1,bool swapped) + const btCollisionObjectWrapper * body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactMeshShapePart * shape0, + const btStaticPlaneShape * shape1,bool swapped) { - btTransform orgtrans0 = body0->getWorldTransform(); - btTransform orgtrans1 = body1->getWorldTransform(); + btTransform orgtrans0 = body0Wrap->getWorldTransform(); + btTransform orgtrans1 = body1Wrap->getWorldTransform(); - btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1); + const btPlaneShape * planeshape = static_cast<const btPlaneShape *>(shape1); btVector4 plane; planeshape->get_plane_equation_transformed(orgtrans1,plane); @@ -757,14 +762,14 @@ void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision( { if(swapped) { - addContactPoint(body1, body0, + addContactPoint(body1Wrap, body0Wrap, vertex, -plane, distance); } else { - addContactPoint(body0, body1, + addContactPoint(body0Wrap, body1Wrap, vertex, plane, distance); @@ -782,9 +787,9 @@ class btGImpactTriangleCallback: public btTriangleCallback { public: btGImpactCollisionAlgorithm * algorithm; - btCollisionObject * body0; - btCollisionObject * body1; - btGImpactShapeInterface * gimpactshape0; + const btCollisionObjectWrapper * body0Wrap; + const btCollisionObjectWrapper * body1Wrap; + const btGImpactShapeInterface * gimpactshape0; bool swapped; btScalar margin; @@ -802,8 +807,31 @@ public: algorithm->setPart1(partId); algorithm->setFace1(triangleIndex); } + + btCollisionObjectWrapper ob1Wrap(body1Wrap,&tri1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),partId,triangleIndex); + const btCollisionObjectWrapper * tmp = 0; + + if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject()) + { + tmp = algorithm->internalGetResultOut()->getBody0Wrap(); + algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap); + } else + { + tmp = algorithm->internalGetResultOut()->getBody1Wrap(); + algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap); + } + algorithm->gimpact_vs_shape( - body0,body1,gimpactshape0,&tri1,swapped); + body0Wrap,&ob1Wrap,gimpactshape0,&tri1,swapped); + + if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject()) + { + algorithm->internalGetResultOut()->setBody0Wrap(tmp); + } else + { + algorithm->internalGetResultOut()->setBody1Wrap(tmp); + } + } }; @@ -811,16 +839,16 @@ public: void btGImpactCollisionAlgorithm::gimpact_vs_concave( - btCollisionObject * body0, - btCollisionObject * body1, - btGImpactShapeInterface * shape0, - btConcaveShape * shape1,bool swapped) + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper * body1Wrap, + const btGImpactShapeInterface * shape0, + const btConcaveShape * shape1,bool swapped) { //create the callback btGImpactTriangleCallback tricallback; tricallback.algorithm = this; - tricallback.body0 = body0; - tricallback.body1 = body1; + tricallback.body0Wrap = body0Wrap; + tricallback.body1Wrap = body1Wrap; tricallback.gimpactshape0 = shape0; tricallback.swapped = swapped; tricallback.margin = shape1->getMargin(); @@ -828,7 +856,7 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave( //getting the trimesh AABB btTransform gimpactInConcaveSpace; - gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform(); + gimpactInConcaveSpace = body1Wrap->getWorldTransform().inverse() * body0Wrap->getWorldTransform(); btVector3 minAABB,maxAABB; shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB); @@ -839,36 +867,36 @@ void btGImpactCollisionAlgorithm::gimpact_vs_concave( -void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btGImpactCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { clearCache(); m_resultOut = resultOut; m_dispatchInfo = &dispatchInfo; - btGImpactShapeInterface * gimpactshape0; - btGImpactShapeInterface * gimpactshape1; + const btGImpactShapeInterface * gimpactshape0; + const btGImpactShapeInterface * gimpactshape1; - if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) + if (body0Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) { - gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape()); + gimpactshape0 = static_cast<const btGImpactShapeInterface *>(body0Wrap->getCollisionShape()); - if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + if( body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) { - gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape()); + gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape()); - gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1); + gimpact_vs_gimpact(body0Wrap,body1Wrap,gimpactshape0,gimpactshape1); } else { - gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false); + gimpact_vs_shape(body0Wrap,body1Wrap,gimpactshape0,body1Wrap->getCollisionShape(),false); } } - else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) + else if (body1Wrap->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE ) { - gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape()); + gimpactshape1 = static_cast<const btGImpactShapeInterface *>(body1Wrap->getCollisionShape()); - gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true); + gimpact_vs_shape(body1Wrap,body0Wrap,gimpactshape1,body0Wrap->getCollisionShape(),true); } } |