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Differential D8762 Diff 28333 extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

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extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

/* /*
Bullet Continuous Collision Detection and Physics Library Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty. This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software. In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely, including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions: subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btSoftBodyConcaveCollisionAlgorithm.h" #include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h" #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h" #include "BulletCollision/CollisionShapes/btConcaveShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h" #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h" #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" #include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h" #include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/CollisionShapes/btConvexHullShape.h" #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "LinearMath/btIDebugDraw.h" #include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletSoftBody/btSoftBody.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) btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
: btCollisionAlgorithm(ci), : btCollisionAlgorithm(ci),
m_isSwapped(isSwapped), m_isSwapped(isSwapped),
m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped) m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
{ {
} }
btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm() btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
{ {
} }
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0) m_dispatchInfoPtr(0)
{ {
m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject()); m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject(); m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
// //
// create the manifold from the dispatcher 'manifold pool' // create the manifold from the dispatcher 'manifold pool'
// //
// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody); // m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
clearCache(); clearCache();
} }
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback() btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
{ {
clearCache(); clearCache();
// m_dispatcher->releaseManifold( m_manifoldPtr ); // 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); btTriIndex* tmp = m_shapeCache.getAtIndex(i);
btAssert(tmp); btAssert(tmp);
btAssert(tmp->m_childShape); 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; delete tmp->m_childShape;
} }
m_shapeCache.clear(); 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 //just for debugging purposes
//printf("triangle %d",m_triangleCount++); //printf("triangle %d",m_triangleCount++);
btCollisionAlgorithmConstructionInfo ci; btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher; 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() &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(); 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[0]), tr(triangle[1]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),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[2]), tr(triangle[0]), color);
} }
btTriIndex triIndex(partId,triangleIndex,0); btTriIndex triIndex(partId, triangleIndex, 0);
btHashKey<btTriIndex> triKey(triIndex.getUid()); btHashKey<btTriIndex> triKey(triIndex.getUid());
btTriIndex* shapeIndex = m_shapeCache[triKey]; btTriIndex* shapeIndex = m_shapeCache[triKey];
if (shapeIndex) if (shapeIndex)
{ {
btCollisionShape* tm = shapeIndex->m_childShape; btCollisionShape* tm = shapeIndex->m_childShape;
btAssert(tm); btAssert(tm);
//copy over user pointers to temporary shape //copy over user pointers to temporary shape
tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer()); 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, 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);//m_manifoldPtr); 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(); colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
return; return;
} }
//aabb filter is already applied! //aabb filter is already applied!
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject); //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]); btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
normal.normalize(); normal.normalize();
normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION; normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f; // other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
// other+=normal*22.f; // other+=normal*22.f;
btVector3 pts[6] = {triangle[0]+normal, btVector3 pts[6] = {triangle[0] + normal,
triangle[1]+normal, triangle[1] + normal,
triangle[2]+normal, triangle[2] + normal,
triangle[0]-normal, triangle[0] - normal,
triangle[1]-normal, triangle[1] - normal,
triangle[2]-normal}; triangle[2] - normal};
btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6); 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]); //btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
// tm.setMargin(m_collisionMarginTriangle); // tm.setMargin(m_collisionMarginTriangle);
//copy over user pointers to temporary shape //copy over user pointers to temporary shape
tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer()); 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, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//?? 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(); colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo); ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
triIndex.m_childShape = tm; 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_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION); m_collisionMarginTriangle = collisionMarginTriangle + btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
m_resultOut = resultOut; m_resultOut = resultOut;
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax; btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax); m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5); btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5); btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
btTransform softTransform; btTransform softTransform;
softTransform.setIdentity(); softTransform.setIdentity();
softTransform.setOrigin(softBodyCenter); softTransform.setOrigin(softBodyCenter);
btTransform convexInTriangleSpace; btTransform convexInTriangleSpace;
convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform; 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() void btSoftBodyConcaveCollisionAlgorithm::clearCache()
{ {
m_btSoftBodyTriangleCallback.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; //btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap; const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
if (triBody->getCollisionShape()->isConcave()) if (triBody->getCollisionShape()->isConcave())
{ {
const btCollisionObject* triOb = triBody->getCollisionObject(); const btCollisionObject* triOb = triBody->getCollisionObject();
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triOb->getCollisionShape()); const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
// if (convexBody->getCollisionShape()->isConvex()) // if (convexBody->getCollisionShape()->isConvex())
{ {
btScalar collisionMarginTriangle = concaveShape->getMargin(); btScalar collisionMarginTriangle = concaveShape->getMargin();
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr); // 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(); // 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)resultOut;
(void)dispatchInfo; (void)dispatchInfo;
btCollisionObject* convexbody = m_isSwapped ? body1 : body0; btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1; btCollisionObject* triBody = m_isSwapped ? body0 : body1;
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast) //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 //only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame... //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2(); btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
if (squareMot0 < convexbody->getCcdSquareMotionThreshold()) if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
{ {
return btScalar(1.); return btScalar(1.);
} }
//const btVector3& from = convexbody->m_worldTransform.getOrigin(); //const btVector3& from = convexbody->m_worldTransform.getOrigin();
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin(); //btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius' //todo: only do if the motion exceeds the 'radius'
btTransform triInv = triBody->getWorldTransform().inverse(); btTransform triInv = triBody->getWorldTransform().inverse();
btTransform convexFromLocal = triInv * convexbody->getWorldTransform(); btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform(); btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
struct LocalTriangleSphereCastCallback : public btTriangleCallback struct LocalTriangleSphereCastCallback : public btTriangleCallback
{ {
btTransform m_ccdSphereFromTrans; btTransform m_ccdSphereFromTrans;
btTransform m_ccdSphereToTrans; btTransform m_ccdSphereToTrans;
btTransform m_meshTransform; btTransform m_meshTransform;
btScalar m_ccdSphereRadius; btScalar m_ccdSphereRadius;
btScalar m_hitFraction; btScalar m_hitFraction;
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction) LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
:m_ccdSphereFromTrans(from), : m_ccdSphereFromTrans(from),
m_ccdSphereToTrans(to), m_ccdSphereToTrans(to),
m_ccdSphereRadius(ccdSphereRadius), m_ccdSphereRadius(ccdSphereRadius),
m_hitFraction(hitFraction) m_hitFraction(hitFraction)
{ {
} }
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex) virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{ {
(void)partId; (void)partId;
(void)triangleIndex; (void)triangleIndex;
//do a swept sphere for now //do a swept sphere for now
btTransform ident; btTransform ident;
ident.setIdentity(); ident.setIdentity();
btConvexCast::CastResult castResult; btConvexCast::CastResult castResult;
castResult.m_fraction = m_hitFraction; castResult.m_fraction = m_hitFraction;
btSphereShape pointShape(m_ccdSphereRadius); btSphereShape pointShape(m_ccdSphereRadius);
btTriangleShape triShape(triangle[0],triangle[1],triangle[2]); btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
btVoronoiSimplexSolver simplexSolver; btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver); btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver); //GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0); //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space? //local space?
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans, if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
ident,ident,castResult)) ident, ident, castResult))
{ {
if (m_hitFraction > castResult.m_fraction) if (m_hitFraction > castResult.m_fraction)
m_hitFraction = castResult.m_fraction; m_hitFraction = castResult.m_fraction;
} }
} }
}; };
if (triBody->getCollisionShape()->isConcave()) if (triBody->getCollisionShape()->isConcave())
{ {
btVector3 rayAabbMin = convexFromLocal.getOrigin(); btVector3 rayAabbMin = convexFromLocal.getOrigin();
rayAabbMin.setMin(convexToLocal.getOrigin()); rayAabbMin.setMin(convexToLocal.getOrigin());
btVector3 rayAabbMax = convexFromLocal.getOrigin(); btVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin()); rayAabbMax.setMax(convexToLocal.getOrigin());
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius(); btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0); rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0); rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
btScalar curHitFraction = btScalar(1.); //is this available? btScalar curHitFraction = btScalar(1.); //is this available?
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal, LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
convexbody->getCcdSweptSphereRadius(),curHitFraction); convexbody->getCcdSweptSphereRadius(), curHitFraction);
raycastCallback.m_hitFraction = convexbody->getHitFraction(); raycastCallback.m_hitFraction = convexbody->getHitFraction();
btCollisionObject* concavebody = triBody; btCollisionObject* concavebody = triBody;
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape(); btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
if (triangleMesh) if (triangleMesh)
{ {
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax); triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
} }
if (raycastCallback.m_hitFraction < convexbody->getHitFraction()) if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
{ {
convexbody->setHitFraction( raycastCallback.m_hitFraction); convexbody->setHitFraction(raycastCallback.m_hitFraction);
return raycastCallback.m_hitFraction; return raycastCallback.m_hitFraction;
} }
} }
return btScalar(1.); return btScalar(1.);
} }