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path: root/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp')
-rw-r--r--extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp69
1 files changed, 29 insertions, 40 deletions
diff --git a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
index d99be3b8138..9f0d44526bf 100644
--- a/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
+++ b/extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -25,7 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
-
+#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "LinearMath/btIDebugDraw.h"
@@ -34,10 +34,10 @@ subject to the following restrictions:
#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
-btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
+btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
: btCollisionAlgorithm(ci),
m_isSwapped(isSwapped),
-m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
+m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
{
}
@@ -49,12 +49,12 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
-btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
+btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
- m_softBody = (btSoftBody*) (isSwapped? body1:body0);
- m_triBody = isSwapped? body0:body1;
+ m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject());
+ m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject();
//
// create the manifold from the dispatcher 'manifold pool'
@@ -90,7 +90,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
- btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
+
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
@@ -98,7 +98,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe))
{
btVector3 color(1,1,0);
- btTransform& tr = ob->getWorldTransform();
+ 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);
@@ -115,18 +115,18 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
btAssert(tm);
//copy over user pointers to temporary shape
- tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
-
- btCollisionShape* tmpShape = ob->getCollisionShape();
- ob->internalSetTemporaryCollisionShape( tm );
+ tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
+ 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);
- btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
+ btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr);
- colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+ colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
- ob->internalSetTemporaryCollisionShape( tmpShape);
+
return;
}
@@ -158,24 +158,18 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
// tm.setMargin(m_collisionMarginTriangle);
//copy over user pointers to temporary shape
- tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
+ tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
- btCollisionShape* tmpShape = ob->getCollisionShape();
- ob->internalSetTemporaryCollisionShape( tm );
+
+ 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);
- 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->setShapeIdentifiersB(partId,triangleIndex);
- // cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
- colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+ colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
- ob->internalSetTemporaryCollisionShape( tmpShape );
triIndex.m_childShape = tm;
m_shapeCache.insert(triKey,triIndex);
@@ -187,7 +181,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
-void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,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);
@@ -204,7 +198,7 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
softTransform.setOrigin(softBodyCenter);
btTransform convexInTriangleSpace;
- convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform;
+ convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
}
@@ -214,33 +208,28 @@ void btSoftBodyConcaveCollisionAlgorithm::clearCache()
}
-void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,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;
- btCollisionObject* triBody = m_isSwapped ? body0 : body1;
+ const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
if (triBody->getCollisionShape()->isConcave())
{
- btCollisionObject* triOb = triBody;
- btConcaveShape* concaveShape = static_cast<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,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.setTimeStepAndCounters(collisionMarginTriangle,triBody,dispatchInfo,resultOut);
+
concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
// resultOut->refreshContactPoints();
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-03 17:37:41 +0300