diff options
Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp | 120 |
1 files changed, 60 insertions, 60 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp index 61a57ea5da9..f334e15e0d3 100644 --- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp @@ -32,7 +32,7 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletSoftBody/btSoftBody.h" -#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.3)//make this configurable +#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped) : btCollisionAlgorithm(ci), @@ -50,27 +50,27 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm() btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped): - m_dispatcher(dispatcher), - m_dispatchInfoPtr(0) +m_dispatcher(dispatcher), +m_dispatchInfoPtr(0) { m_softBody = (btSoftBody*) (isSwapped? body1:body0); m_triBody = isSwapped? body0:body1; - - // - // create the manifold from the dispatcher 'manifold pool' - // -// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody); - clearCache(); + // + // create the manifold from the dispatcher 'manifold pool' + // + // m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody); + + clearCache(); } btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback() { clearCache(); -// m_dispatcher->releaseManifold( m_manifoldPtr ); - + // m_dispatcher->releaseManifold( m_manifoldPtr ); + } - + void btSoftBodyTriangleCallback::clearCache() { @@ -83,18 +83,18 @@ void btSoftBodyTriangleCallback::clearCache() delete tmp->m_childShape; } m_shapeCache.clear(); -}; +} void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex) { - //just for debugging purposes + //just for debugging purposes //printf("triangle %d",m_triangleCount++); btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody); btCollisionAlgorithmConstructionInfo ci; ci.m_dispatcher1 = m_dispatcher; - ///debug drawing of the overlapping triangles + ///debug drawing of the overlapping triangles if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0) { btVector3 color(255,255,0); @@ -107,7 +107,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, btTriIndex triIndex(partId,triangleIndex,0); btHashKey<btTriIndex> triKey(triIndex.getUid()); - + btTriIndex* shapeIndex = m_shapeCache[triKey]; if (shapeIndex) { @@ -116,13 +116,13 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, //copy over user pointers to temporary shape tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer()); - + btCollisionShape* tmpShape = ob->getCollisionShape(); ob->internalSetTemporaryCollisionShape( tm ); - + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr); - + colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->~btCollisionAlgorithm(); ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); @@ -133,56 +133,56 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, //aabb filter is already applied! //btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject); - -// if (m_softBody->getCollisionShape()->getShapeType()== + + // if (m_softBody->getCollisionShape()->getShapeType()== { -// btVector3 other; + // btVector3 other; btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]); normal.normalize(); normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION; -// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f; -// other+=normal*22.f; - btVector3 pts[6] = {triangle[0], - triangle[1], - triangle[2], - triangle[0]-normal, - triangle[1]-normal, - triangle[2]-normal}; + // other=(triangle[0]+triangle[1]+triangle[2])*0.333333f; + // other+=normal*22.f; + btVector3 pts[6] = {triangle[0]+normal, + triangle[1]+normal, + triangle[2]+normal, + triangle[0]-normal, + triangle[1]-normal, + triangle[2]-normal}; btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6); -// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other); - + // btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other); + //btTriangleShape tm(triangle[0],triangle[1],triangle[2]); - // tm.setMargin(m_collisionMarginTriangle); - + // tm.setMargin(m_collisionMarginTriangle); + //copy over user pointers to temporary shape tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer()); - + btCollisionShape* tmpShape = ob->getCollisionShape(); ob->internalSetTemporaryCollisionShape( tm ); - + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr); ///this should use the btDispatcher, so the actual registered algorithm is used // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody); //m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex); - // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex); -// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); + // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex); + // cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->~btCollisionAlgorithm(); ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); - - + + ob->internalSetTemporaryCollisionShape( tmpShape ); triIndex.m_childShape = tm; m_shapeCache.insert(triKey,triIndex); } - + } @@ -194,7 +194,7 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION); m_resultOut = resultOut; - + btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax; m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax); btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5); @@ -217,8 +217,8 @@ void btSoftBodyConcaveCollisionAlgorithm::clearCache() void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { - - + + btCollisionObject* convexBody = m_isSwapped ? body1 : body0; btCollisionObject* triBody = m_isSwapped ? body0 : body1; @@ -228,26 +228,26 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* b btCollisionObject* triOb = triBody; btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape()); - - // if (convexBody->getCollisionShape()->isConvex()) + + // if (convexBody->getCollisionShape()->isConvex()) { btScalar collisionMarginTriangle = concaveShape->getMargin(); - -// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); + + // resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut); //Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here. //m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); -// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody); + // m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody); concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax()); - - // resultOut->refreshContactPoints(); - + + // resultOut->refreshContactPoints(); + } - + } } @@ -287,7 +287,7 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO btScalar m_ccdSphereRadius; btScalar m_hitFraction; - + LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction) :m_ccdSphereFromTrans(from), @@ -296,8 +296,8 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO m_hitFraction(hitFraction) { } - - + + virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) { (void)partId; @@ -327,9 +327,9 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO }; - - + + if (triBody->getCollisionShape()->isConcave()) { btVector3 rayAabbMin = convexFromLocal.getOrigin(); @@ -349,12 +349,12 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO btCollisionObject* concavebody = triBody; btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape(); - + if (triangleMesh) { triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax); } - + if (raycastCallback.m_hitFraction < convexbody->getHitFraction()) |