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Update Bullet to the latest commit 126b676
This commit is contained in:
Oussama
@@ -25,62 +25,58 @@ subject to the following restrictions:
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btShapePairCallback gCompoundChildShapePairCallback = 0;
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btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
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:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
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m_isSwapped(isSwapped),
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m_sharedManifold(ci.m_manifold)
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btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
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: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
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m_isSwapped(isSwapped),
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m_sharedManifold(ci.m_manifold)
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{
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m_ownsManifold = false;
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const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
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btAssert (colObjWrap->getCollisionShape()->isCompound());
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const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
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btAssert(colObjWrap->getCollisionShape()->isCompound());
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
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m_compoundShapeRevision = compoundShape->getUpdateRevision();
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preallocateChildAlgorithms(body0Wrap,body1Wrap);
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preallocateChildAlgorithms(body0Wrap, body1Wrap);
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}
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void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
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const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
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btAssert (colObjWrap->getCollisionShape()->isCompound());
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const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
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const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
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btAssert(colObjWrap->getCollisionShape()->isCompound());
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
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int numChildren = compoundShape->getNumChildShapes();
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int i;
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m_childCollisionAlgorithms.resize(numChildren);
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for (i=0;i<numChildren;i++)
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for (i = 0; i < numChildren; i++)
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{
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if (compoundShape->getDynamicAabbTree())
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{
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m_childCollisionAlgorithms[i] = 0;
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} else
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}
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else
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{
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const btCollisionShape* childShape = compoundShape->getChildShape(i);
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btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully)
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m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
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btCollisionObjectWrapper childWrap(colObjWrap, childShape, colObjWrap->getCollisionObject(), colObjWrap->getWorldTransform(), -1, i); //wrong child trans, but unused (hopefully)
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m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap, otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
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btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
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btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
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}
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}
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}
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void btCompoundCollisionAlgorithm::removeChildAlgorithms()
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void btCompoundCollisionAlgorithm::removeChildAlgorithms()
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{
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int numChildren = m_childCollisionAlgorithms.size();
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int i;
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for (i=0;i<numChildren;i++)
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for (i = 0; i < numChildren; i++)
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{
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if (m_childCollisionAlgorithms[i])
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{
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@@ -95,54 +91,27 @@ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
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removeChildAlgorithms();
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}
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struct btCompoundLeafCallback : btDbvt::ICollide
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struct btCompoundLeafCallback : btDbvt::ICollide
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{
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public:
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const btCollisionObjectWrapper* m_compoundColObjWrap;
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const btCollisionObjectWrapper* m_otherObjWrap;
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btDispatcher* m_dispatcher;
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const btDispatcherInfo& m_dispatchInfo;
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btManifoldResult* m_resultOut;
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btCollisionAlgorithm** m_childCollisionAlgorithms;
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btPersistentManifold* m_sharedManifold;
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btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
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:m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
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m_childCollisionAlgorithms(childCollisionAlgorithms),
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m_sharedManifold(sharedManifold)
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{
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btManifoldResult* m_resultOut;
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btCollisionAlgorithm** m_childCollisionAlgorithms;
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btPersistentManifold* m_sharedManifold;
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btCompoundLeafCallback(const btCollisionObjectWrapper* compoundObjWrap, const btCollisionObjectWrapper* otherObjWrap, btDispatcher* dispatcher, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut, btCollisionAlgorithm** childCollisionAlgorithms, btPersistentManifold* sharedManifold)
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: m_compoundColObjWrap(compoundObjWrap), m_otherObjWrap(otherObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithms(childCollisionAlgorithms), m_sharedManifold(sharedManifold)
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{
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}
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void ProcessChildShape(const btCollisionShape* childShape,int index)
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void ProcessChildShape(const btCollisionShape* childShape, int index)
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{
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btAssert(index>=0);
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btAssert(index >= 0);
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
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btAssert(index<compoundShape->getNumChildShapes());
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//backup
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btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
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const btTransform& childTrans = compoundShape->getChildTransform(index);
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btTransform newChildWorldTrans = orgTrans*childTrans ;
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//perform an AABB check first
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btVector3 aabbMin0,aabbMax0;
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childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
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btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
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aabbMin0 -= extendAabb;
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aabbMax0 += extendAabb;
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btVector3 aabbMin1, aabbMax1;
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m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
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btAssert(index < compoundShape->getNumChildShapes());
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if (gCompoundChildShapePairCallback)
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{
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@@ -150,11 +119,28 @@ public:
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return;
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}
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if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
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{
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//backup
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btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
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const btTransform& childTrans = compoundShape->getChildTransform(index);
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btTransform newChildWorldTrans = orgTrans * childTrans;
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//perform an AABB check first
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btVector3 aabbMin0, aabbMax0;
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childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
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btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
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aabbMin0 -= extendAabb;
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aabbMax0 += extendAabb;
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btVector3 aabbMin1, aabbMax1;
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m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
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if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
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{
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btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index);
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btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
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btCollisionAlgorithm* algo = 0;
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bool allocatedAlgorithm = false;
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@@ -172,7 +158,7 @@ public:
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}
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algo = m_childCollisionAlgorithms[index];
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}
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const btCollisionObjectWrapper* tmpWrap = 0;
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///detect swapping case
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@@ -180,15 +166,16 @@ public:
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{
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tmpWrap = m_resultOut->getBody0Wrap();
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m_resultOut->setBody0Wrap(&compoundWrap);
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m_resultOut->setShapeIdentifiersA(-1,index);
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} else
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m_resultOut->setShapeIdentifiersA(-1, index);
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}
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else
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{
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tmpWrap = m_resultOut->getBody1Wrap();
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m_resultOut->setBody1Wrap(&compoundWrap);
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m_resultOut->setShapeIdentifiersB(-1,index);
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m_resultOut->setShapeIdentifiersB(-1, index);
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}
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algo->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut);
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algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
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#if 0
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if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
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@@ -202,18 +189,19 @@ public:
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if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
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{
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m_resultOut->setBody0Wrap(tmpWrap);
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} else
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}
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else
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{
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m_resultOut->setBody1Wrap(tmpWrap);
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}
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if(allocatedAlgorithm)
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if (allocatedAlgorithm)
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{
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algo->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm(algo);
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}
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}
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}
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}
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void Process(const btDbvtNode* leaf)
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void Process(const btDbvtNode* leaf)
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{
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int index = leaf->dataAsInt;
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@@ -230,22 +218,16 @@ public:
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}
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#endif
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ProcessChildShape(childShape,index);
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ProcessChildShape(childShape, index);
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}
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};
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void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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void btCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
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const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
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const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
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const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
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btAssert (colObjWrap->getCollisionShape()->isCompound());
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btAssert(colObjWrap->getCollisionShape()->isCompound());
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
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///btCompoundShape might have changed:
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@@ -254,17 +236,17 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
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{
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///clear and update all
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removeChildAlgorithms();
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preallocateChildAlgorithms(body0Wrap,body1Wrap);
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preallocateChildAlgorithms(body0Wrap, body1Wrap);
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m_compoundShapeRevision = compoundShape->getUpdateRevision();
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}
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if (m_childCollisionAlgorithms.size()==0)
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if (m_childCollisionAlgorithms.size() == 0)
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return;
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const btDbvt* tree = compoundShape->getDynamicAabbTree();
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//use a dynamic aabb tree to cull potential child-overlaps
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btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
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btCompoundLeafCallback callback(colObjWrap, otherObjWrap, m_dispatcher, dispatchInfo, resultOut, &m_childCollisionAlgorithms[0], m_sharedManifold);
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///we need to refresh all contact manifolds
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///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
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@@ -272,18 +254,18 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
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{
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int i;
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manifoldArray.resize(0);
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for (i=0;i<m_childCollisionAlgorithms.size();i++)
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for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
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{
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if (m_childCollisionAlgorithms[i])
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{
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m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
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for (int m=0;m<manifoldArray.size();m++)
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for (int m = 0; m < manifoldArray.size(); m++)
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{
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if (manifoldArray[m]->getNumContacts())
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{
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resultOut->setPersistentManifold(manifoldArray[m]);
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resultOut->refreshContactPoints();
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resultOut->setPersistentManifold(0);//??necessary?
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resultOut->setPersistentManifold(0); //??necessary?
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}
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}
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manifoldArray.resize(0);
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@@ -293,57 +275,56 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
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if (tree)
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{
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btVector3 localAabbMin,localAabbMax;
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btVector3 localAabbMin, localAabbMax;
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btTransform otherInCompoundSpace;
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otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
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otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
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otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace, localAabbMin, localAabbMax);
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btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
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localAabbMin -= extraExtends;
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localAabbMax += extraExtends;
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const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
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const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
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//process all children, that overlap with the given AABB bounds
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tree->collideTVNoStackAlloc(tree->m_root,bounds,stack2,callback);
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} else
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tree->collideTVNoStackAlloc(tree->m_root, bounds, stack2, callback);
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}
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else
|
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{
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//iterate over all children, perform an AABB check inside ProcessChildShape
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int numChildren = m_childCollisionAlgorithms.size();
|
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int i;
|
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for (i=0;i<numChildren;i++)
|
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for (i = 0; i < numChildren; i++)
|
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{
|
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callback.ProcessChildShape(compoundShape->getChildShape(i),i);
|
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callback.ProcessChildShape(compoundShape->getChildShape(i), i);
|
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}
|
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}
|
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|
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{
|
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//iterate over all children, perform an AABB check inside ProcessChildShape
|
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//iterate over all children, perform an AABB check inside ProcessChildShape
|
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int numChildren = m_childCollisionAlgorithms.size();
|
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int i;
|
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manifoldArray.resize(0);
|
||||
const btCollisionShape* childShape = 0;
|
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btTransform orgTrans;
|
||||
|
||||
btTransform newChildWorldTrans;
|
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btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
|
||||
|
||||
for (i=0;i<numChildren;i++)
|
||||
const btCollisionShape* childShape = 0;
|
||||
btTransform orgTrans;
|
||||
|
||||
btTransform newChildWorldTrans;
|
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btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
|
||||
|
||||
for (i = 0; i < numChildren; i++)
|
||||
{
|
||||
if (m_childCollisionAlgorithms[i])
|
||||
{
|
||||
childShape = compoundShape->getChildShape(i);
|
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//if not longer overlapping, remove the algorithm
|
||||
//if not longer overlapping, remove the algorithm
|
||||
orgTrans = colObjWrap->getWorldTransform();
|
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|
||||
|
||||
const btTransform& childTrans = compoundShape->getChildTransform(i);
|
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newChildWorldTrans = orgTrans*childTrans ;
|
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newChildWorldTrans = orgTrans * childTrans;
|
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|
||||
//perform an AABB check first
|
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childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
|
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otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
|
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childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
|
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otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
|
||||
|
||||
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
|
||||
if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
|
||||
{
|
||||
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
|
||||
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
|
||||
@@ -354,15 +335,15 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
|
||||
}
|
||||
}
|
||||
|
||||
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
||||
{
|
||||
btAssert(0);
|
||||
//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
|
||||
btCollisionObject* colObj = m_isSwapped? body1 : body0;
|
||||
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
|
||||
btCollisionObject* colObj = m_isSwapped ? body1 : body0;
|
||||
btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
|
||||
|
||||
btAssert(colObj->getCollisionShape()->isCompound());
|
||||
|
||||
btAssert (colObj->getCollisionShape()->isCompound());
|
||||
|
||||
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
|
||||
|
||||
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
||||
@@ -376,33 +357,29 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
|
||||
|
||||
int numChildren = m_childCollisionAlgorithms.size();
|
||||
int i;
|
||||
btTransform orgTrans;
|
||||
btScalar frac;
|
||||
for (i=0;i<numChildren;i++)
|
||||
btTransform orgTrans;
|
||||
btScalar frac;
|
||||
for (i = 0; i < numChildren; i++)
|
||||
{
|
||||
//btCollisionShape* childShape = compoundShape->getChildShape(i);
|
||||
|
||||
//backup
|
||||
orgTrans = colObj->getWorldTransform();
|
||||
|
||||
orgTrans = colObj->getWorldTransform();
|
||||
|
||||
const btTransform& childTrans = compoundShape->getChildTransform(i);
|
||||
//btTransform newChildWorldTrans = orgTrans*childTrans ;
|
||||
colObj->setWorldTransform( orgTrans*childTrans );
|
||||
colObj->setWorldTransform(orgTrans * childTrans);
|
||||
|
||||
//btCollisionShape* tmpShape = colObj->getCollisionShape();
|
||||
//colObj->internalSetTemporaryCollisionShape( childShape );
|
||||
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
|
||||
if (frac<hitFraction)
|
||||
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
|
||||
if (frac < hitFraction)
|
||||
{
|
||||
hitFraction = frac;
|
||||
}
|
||||
//revert back
|
||||
//colObj->internalSetTemporaryCollisionShape( tmpShape);
|
||||
colObj->setWorldTransform( orgTrans);
|
||||
colObj->setWorldTransform(orgTrans);
|
||||
}
|
||||
return hitFraction;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user