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Differential D1739 Diff 5899 extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

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extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h" #include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h" #include "LinearMath/btQuickprof.h"
#include "LinearMath/btSerializer.h" #include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
//#define USE_BRUTEFORCE_RAYBROADPHASE 1 //#define USE_BRUTEFORCE_RAYBROADPHASE 1
//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest //RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
//#define RECALCULATE_AABB_RAYCAST 1 //#define RECALCULATE_AABB_RAYCAST 1
//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor) //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
▲ Show 20 Lines • Show All 241 Lines • ▼ Show 20 Lines if (collisionShape->isConvex())
btConvexShape* convexShape = (btConvexShape*) collisionShape; btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver; btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver); btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver); btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0); //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
bool condition = true;
btConvexCast* convexCasterPtr = 0; btConvexCast* convexCasterPtr = 0;
if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest) //use kF_UseSubSimplexConvexCastRaytest by default
convexCasterPtr = &subSimplexConvexCaster; if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
else
convexCasterPtr = &gjkConvexCaster; convexCasterPtr = &gjkConvexCaster;
else
convexCasterPtr = &subSimplexConvexCaster;
btConvexCast& convexCaster = *convexCasterPtr; btConvexCast& convexCaster = *convexCasterPtr;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult)) if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{ {
//add hit //add hit
if (castResult.m_normal.length2() > btScalar(0.0001)) if (castResult.m_normal.length2() > btScalar(0.0001))
{ {
if (castResult.m_fraction < resultCallback.m_closestHitFraction) if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{ {
//todo: figure out what this is about. When is rayFromTest.getBasis() not identity?
#ifdef USE_SUBSIMPLEX_CONVEX_CAST #ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace //rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal; castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST #endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize(); castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult btCollisionWorld::LocalRayResult localRayResult
( (
▲ Show 20 Lines • Show All 63 Lines • ▼ Show 20 Lines if (collisionShape->isConcave())
{ {
///optimized version for btBvhTriangleMeshShape ///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape; btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform); BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction; rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal); triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} }
else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE) else
{
btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal);
}else
{ {
//generic (slower) case //generic (slower) case
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape; btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse(); btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin(); btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin(); btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
▲ Show 20 Lines • Show All 840 Lines • ▼ Show 20 Lines virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)
m_debugDrawer->drawLine(wv2,wv0,m_color); m_debugDrawer->drawLine(wv2,wv0,m_color);
} }
}; };
void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color) void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
{ {
// Draw a small simplex at the center of the object // Draw a small simplex at the center of the object
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
{
getDebugDrawer()->drawTransform(worldTransform,1); getDebugDrawer()->drawTransform(worldTransform,1);
}
if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
{ {
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape); const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--) for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)
{ {
btTransform childTrans = compoundShape->getChildTransform(i); btTransform childTrans = compoundShape->getChildTransform(i);
const btCollisionShape* colShape = compoundShape->getChildShape(i); const btCollisionShape* colShape = compoundShape->getChildShape(i);
▲ Show 20 Lines • Show All 161 Lines • ▼ Show 20 Lines if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
} }
} }
} }
void btCollisionWorld::debugDrawWorld() void btCollisionWorld::debugDrawWorld()
{ {
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints) if (getDebugDrawer())
{
btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors();
if ( getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
if (getDispatcher())
{ {
int numManifolds = getDispatcher()->getNumManifolds(); int numManifolds = getDispatcher()->getNumManifolds();
btVector3 color(1,1,0);
for (int i=0;i<numManifolds;i++) for (int i=0;i<numManifolds;i++)
{ {
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i); btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0()); //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1()); //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
int numContacts = contactManifold->getNumContacts(); int numContacts = contactManifold->getNumContacts();
for (int j=0;j<numContacts;j++) for (int j=0;j<numContacts;j++)
{ {
btManifoldPoint& cp = contactManifold->getContactPoint(j); btManifoldPoint& cp = contactManifold->getContactPoint(j);
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color); getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),defaultColors.m_contactPoint);
}
} }
} }
} }
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))) if ((getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
{ {
int i; int i;
for ( i=0;i<m_collisionObjects.size();i++) for ( i=0;i<m_collisionObjects.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0) if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
{ {
if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)) if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
{ {
btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.)); btVector3 color(btScalar(0.4),btScalar(0.4),btScalar(0.4));
switch(colObj->getActivationState()) switch(colObj->getActivationState())
{ {
case ACTIVE_TAG: case ACTIVE_TAG:
color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break; color = defaultColors.m_activeObject; break;
case ISLAND_SLEEPING: case ISLAND_SLEEPING:
color = btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break; color = defaultColors.m_deactivatedObject;break;
case WANTS_DEACTIVATION: case WANTS_DEACTIVATION:
color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break; color = defaultColors.m_wantsDeactivationObject;break;
case DISABLE_DEACTIVATION: case DISABLE_DEACTIVATION:
color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break; color = defaultColors.m_disabledDeactivationObject;break;
case DISABLE_SIMULATION: case DISABLE_SIMULATION:
color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break; color = defaultColors.m_disabledSimulationObject;break;
default: default:
{ {
color = btVector3(btScalar(1),btScalar(0.),btScalar(0.)); color = btVector3(btScalar(.3),btScalar(0.3),btScalar(0.3));
} }
}; };
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color); debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
} }
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{ {
btVector3 minAabb,maxAabb; btVector3 minAabb,maxAabb;
btVector3 colorvec(1,0,0); btVector3 colorvec = defaultColors.m_aabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb); colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold); btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold; minAabb -= contactThreshold;
maxAabb += contactThreshold; maxAabb += contactThreshold;
btVector3 minAabb2,maxAabb2; btVector3 minAabb2,maxAabb2;
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject()) if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{ {
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2); colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold; minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold; maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2); minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2); maxAabb.setMax(maxAabb2);
} }
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec); m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
} }
} }
}
} }
} }
} }
void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer) void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
{ {
int i; int i;
//serialize all collision objects
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
{
colObj->serializeSingleObject(serializer);
}
}
///keep track of shapes already serialized ///keep track of shapes already serialized
btHashMap<btHashPtr,btCollisionShape*> serializedShapes; btHashMap<btHashPtr,btCollisionShape*> serializedShapes;
for (i=0;i<m_collisionObjects.size();i++) for (i=0;i<m_collisionObjects.size();i++)
{ {
btCollisionObject* colObj = m_collisionObjects[i]; btCollisionObject* colObj = m_collisionObjects[i];
btCollisionShape* shape = colObj->getCollisionShape(); btCollisionShape* shape = colObj->getCollisionShape();
if (!serializedShapes.find(shape)) if (!serializedShapes.find(shape))
{ {
serializedShapes.insert(shape,shape); serializedShapes.insert(shape,shape);
shape->serializeSingleShape(serializer); shape->serializeSingleShape(serializer);
} }
} }
//serialize all collision objects
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) || (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK))
{
colObj->serializeSingleObject(serializer);
}
}
} }
void btCollisionWorld::serialize(btSerializer* serializer) void btCollisionWorld::serialize(btSerializer* serializer)
{ {
serializer->startSerialization(); serializer->startSerialization();
serializeCollisionObjects(serializer); serializeCollisionObjects(serializer);
serializer->finishSerialization(); serializer->finishSerialization();
} }