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path: root/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
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-rw-r--r--extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp201
1 files changed, 80 insertions, 121 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index 9f0d44526bf..750718f57f8 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@@ -27,34 +26,28 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletSoftBody/btSoftBody.h"
-#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
+#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06) //make this configurable
-btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
-: btCollisionAlgorithm(ci),
-m_isSwapped(isSwapped),
-m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
+btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
+ : btCollisionAlgorithm(ci),
+ m_isSwapped(isSwapped),
+ m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
{
}
-
-
btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
{
}
-
-
-btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
-m_dispatcher(dispatcher),
-m_dispatchInfoPtr(0)
+btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
+ m_dispatchInfoPtr(0)
{
- m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject());
- m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject();
+ m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
+ m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
//
// create the manifold from the dispatcher 'manifold pool'
@@ -68,46 +61,42 @@ btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
{
clearCache();
// m_dispatcher->releaseManifold( m_manifoldPtr );
-
}
-
-void btSoftBodyTriangleCallback::clearCache()
+void btSoftBodyTriangleCallback::clearCache()
{
- for (int i=0;i<m_shapeCache.size();i++)
+ for (int i = 0; i < m_shapeCache.size(); i++)
{
btTriIndex* tmp = m_shapeCache.getAtIndex(i);
btAssert(tmp);
btAssert(tmp->m_childShape);
- m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
+ m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape); //necessary?
delete tmp->m_childShape;
}
m_shapeCache.clear();
}
-
-void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
+void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
-
+
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
///debug drawing of the overlapping triangles
- if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe))
+ if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
{
- btVector3 color(1,1,0);
+ btVector3 color(1, 1, 0);
const btTransform& tr = m_triBody->getWorldTransform();
- m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
- m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
- m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
+ m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
+ m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
+ m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
}
- btTriIndex triIndex(partId,triangleIndex,0);
+ btTriIndex triIndex(partId, triangleIndex, 0);
btHashKey<btTriIndex> triKey(triIndex.getUid());
-
btTriIndex* shapeIndex = m_shapeCache[triKey];
if (shapeIndex)
{
@@ -117,81 +106,73 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
//copy over user pointers to temporary shape
tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
- btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
+ btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
- btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);
+ btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);
+ ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
+ btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType); //m_manifoldPtr);
- btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr);
-
- colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
+ colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
+
return;
}
- //aabb filter is already applied!
+ //aabb filter is already applied!
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
// if (m_softBody->getCollisionShape()->getShapeType()==
{
// btVector3 other;
- btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
+ btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
normal.normalize();
- normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
+ normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
// 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);
+ 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);
- //btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
+ //btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
// tm.setMargin(m_collisionMarginTriangle);
//copy over user pointers to temporary shape
tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
-
- btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
- btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//??
+ btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
+ btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex); //btTransform::getIdentity());//??
- btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr);
+ ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
+ btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType); //m_manifoldPtr);
- colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
+ colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
triIndex.m_childShape = tm;
- m_shapeCache.insert(triKey,triIndex);
-
+ m_shapeCache.insert(triKey, triIndex);
}
-
-
-
}
-
-
-void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
m_dispatchInfoPtr = &dispatchInfo;
- m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
+ 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);
- btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
+ btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
+ m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
+ btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
+ btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
btTransform softTransform;
softTransform.setIdentity();
@@ -199,56 +180,45 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
btTransform convexInTriangleSpace;
convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
- btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
+ btTransformAabb(halfExtents, m_collisionMarginTriangle, convexInTriangleSpace, m_aabbMin, m_aabbMax);
}
void btSoftBodyConcaveCollisionAlgorithm::clearCache()
{
m_btSoftBodyTriangleCallback.clearCache();
-
}
-void btSoftBodyConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
-
-
//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
if (triBody->getCollisionShape()->isConcave())
{
-
-
- const btCollisionObject* triOb = triBody->getCollisionObject();
- const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triOb->getCollisionShape());
+ const btCollisionObject* triOb = triBody->getCollisionObject();
+ const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
// if (convexBody->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
- m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,triBody,dispatchInfo,resultOut);
+ m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, triBody, dispatchInfo, resultOut);
-
- concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
+ concaveShape->processAllTriangles(&m_btSoftBodyTriangleCallback, m_btSoftBodyTriangleCallback.getAabbMin(), m_btSoftBodyTriangleCallback.getAabbMax());
// resultOut->refreshContactPoints();
-
}
-
}
-
}
-
-btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
-
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
//only perform CCD above a certain threshold, this prevents blocking on the long run
@@ -267,25 +237,23 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
- struct LocalTriangleSphereCastCallback : public btTriangleCallback
+ struct LocalTriangleSphereCastCallback : public btTriangleCallback
{
btTransform m_ccdSphereFromTrans;
btTransform m_ccdSphereToTrans;
- btTransform m_meshTransform;
+ btTransform m_meshTransform;
- btScalar m_ccdSphereRadius;
- btScalar m_hitFraction;
+ btScalar m_ccdSphereRadius;
+ btScalar m_hitFraction;
-
- LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
- :m_ccdSphereFromTrans(from),
- m_ccdSphereToTrans(to),
- m_ccdSphereRadius(ccdSphereRadius),
- m_hitFraction(hitFraction)
- {
+ LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
+ : m_ccdSphereFromTrans(from),
+ m_ccdSphereToTrans(to),
+ m_ccdSphereRadius(ccdSphereRadius),
+ m_hitFraction(hitFraction)
+ {
}
-
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
(void)partId;
@@ -295,29 +263,23 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
ident.setIdentity();
btConvexCast::CastResult castResult;
castResult.m_fraction = m_hitFraction;
- btSphereShape pointShape(m_ccdSphereRadius);
- btTriangleShape triShape(triangle[0],triangle[1],triangle[2]);
- btVoronoiSimplexSolver simplexSolver;
- btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
+ btSphereShape pointShape(m_ccdSphereRadius);
+ btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
+ btVoronoiSimplexSolver simplexSolver;
+ btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space?
- if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
- ident,ident,castResult))
+ if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
+ ident, ident, castResult))
{
if (m_hitFraction > castResult.m_fraction)
m_hitFraction = castResult.m_fraction;
}
-
}
-
};
-
-
-
-
if (triBody->getCollisionShape()->isConcave())
{
btVector3 rayAabbMin = convexFromLocal.getOrigin();
@@ -325,33 +287,30 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
btVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin());
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
- rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
- rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
+ rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
+ rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
- btScalar curHitFraction = btScalar(1.); //is this available?
- LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
- convexbody->getCcdSweptSphereRadius(),curHitFraction);
+ btScalar curHitFraction = btScalar(1.); //is this available?
+ LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
+ convexbody->getCcdSweptSphereRadius(), curHitFraction);
raycastCallback.m_hitFraction = convexbody->getHitFraction();
btCollisionObject* concavebody = triBody;
- btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
+ btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
if (triangleMesh)
{
- triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
+ triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
}
-
-
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
{
- convexbody->setHitFraction( raycastCallback.m_hitFraction);
+ convexbody->setHitFraction(raycastCallback.m_hitFraction);
return raycastCallback.m_hitFraction;
}
}
return btScalar(1.);
-
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 14:42:26 +0300