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Update bullet to Master 12409f1118a7c7a266f9071350c70789dfe73bb9

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This commit is contained in:
Andrea Catania
2018-09-07 16:11:04 +02:00
parent 5307043751
commit 6142448417
119 changed files with 11716 additions and 2440 deletions
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109
thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp vendored
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@@ -27,6 +27,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
@@ -152,7 +153,7 @@ partId, int triangleIndex)
{
m_resultOut->setBody1Wrap(tmpWrap);
}
colAlgo->~btCollisionAlgorithm();
@@ -163,7 +164,7 @@ partId, int triangleIndex)
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
{
m_convexBodyWrap = convexBodyWrap;
m_triBodyWrap = triBodyWrap;
@@ -177,14 +178,14 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr
convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold;
btVector3 extra(extraMargin,extraMargin,extraMargin);
convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax);
btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold;
btVector3 extra(extraMargin, extraMargin, extraMargin);
m_aabbMax += extra;
m_aabbMin -= extra;
}
void btConvexConcaveCollisionAlgorithm::clearCache()
@@ -193,35 +194,99 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
}
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
if (triBodyWrap->getCollisionShape()->isConcave())
{
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
if (convexBodyWrap->getCollisionShape()->isConvex())
if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE)
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
if (convexBodyWrap->getCollisionShape()->isConvex())
{
btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
btAlignedObjectArray<btVector3> queryVertices;
if (convex->isPolyhedral())
{
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
for (int v = 0; v < poly->getNumVertices(); v++)
{
btVector3 vtx;
poly->getVertex(v, vtx);
queryVertices.push_back(vtx);
}
}
btScalar maxDist = SIMD_EPSILON;
if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
{
queryVertices.push_back(btVector3(0, 0, 0));
btSphereShape* sphere = (btSphereShape*)convex;
maxDist = sphere->getRadius() + SIMD_EPSILON;
}
if (queryVertices.size())
{
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
//m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
for (int v = 0; v < queryVertices.size(); v++)
{
const btVector3& vtx = queryVertices[v];
btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform()*vtx;
btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
btVector3 normalLocal;
btScalar dist;
if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal))
{
if (dist <= maxDist)
{
normalLocal.safeNormalize();
btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal;
if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
{
btSphereShape* sphere = (btSphereShape*)convex;
dist -= sphere->getRadius();
vtxWorldSpace -= sphere->getRadius()*normal;
}
resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist);
}
}
}
resultOut->refreshContactPoints();
}
}
} else
{
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
if (convexBodyWrap->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
resultOut->refreshContactPoints();
m_btConvexTriangleCallback.clearWrapperData();
m_btConvexTriangleCallback.clearWrapperData();
}
}
}