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

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

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{ {
btAssert(index>=0); btAssert(index>=0);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape()); const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btAssert(index<compoundShape->getNumChildShapes()); btAssert(index<compoundShape->getNumChildShapes());
//backup //backup
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform(); btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index); const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ; btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first //perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1); m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
▲ Show 20 Lines • Show All 92 Lines • ▼ Show 20 Linesvoid btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{ {
///clear and update all ///clear and update all
removeChildAlgorithms(); removeChildAlgorithms();
preallocateChildAlgorithms(body0Wrap,body1Wrap); preallocateChildAlgorithms(body0Wrap,body1Wrap);
m_compoundShapeRevision = compoundShape->getUpdateRevision(); m_compoundShapeRevision = compoundShape->getUpdateRevision();
} }
if (m_childCollisionAlgorithms.size()==0)
return;
const btDbvt* tree = compoundShape->getDynamicAabbTree(); const btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps //use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
///we need to refresh all contact manifolds ///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{ {
▲ Show 20 Lines • Show All 43 Lines • ▼ Show 20 Linesvoid btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{ {
//iterate over all children, perform an AABB check inside ProcessChildShape //iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.size(); int numChildren = m_childCollisionAlgorithms.size();
int i; int i;
btManifoldArray manifoldArray; btManifoldArray manifoldArray;
const btCollisionShape* childShape = 0; const btCollisionShape* childShape = 0;
btTransform orgTrans; btTransform orgTrans;
btTransform orgInterpolationTrans;
btTransform newChildWorldTrans; btTransform newChildWorldTrans;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<numChildren;i++) for (i=0;i<numChildren;i++)
{ {
if (m_childCollisionAlgorithms[i]) if (m_childCollisionAlgorithms[i])
{ {
childShape = compoundShape->getChildShape(i); childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm //if not longer overlapping, remove the algorithm
orgTrans = colObjWrap->getWorldTransform(); orgTrans = colObjWrap->getWorldTransform();
orgInterpolationTrans = colObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i); const btTransform& childTrans = compoundShape->getChildTransform(i);
newChildWorldTrans = orgTrans*childTrans ; newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first //perform an AABB check first
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1); otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
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