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btCollisionWorld.cpp
1649 lines (1332 loc) · 59.5 KB
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btCollisionWorld.cpp
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
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.
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.
*/
#include "btCollisionWorld.h"
#include "btCollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
//#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
//#define RECALCULATE_AABB_RAYCAST 1
//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
///for debug drawing
//for debug rendering
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)
:m_dispatcher1(dispatcher),
m_broadphasePairCache(pairCache),
m_debugDrawer(0),
m_forceUpdateAllAabbs(true)
{
}
btCollisionWorld::~btCollisionWorld()
{
//clean up remaining objects
int i;
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* collisionObject= m_collisionObjects[i];
btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
if (bp)
{
//
// only clear the cached algorithms
//
getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
getBroadphase()->destroyProxy(bp,m_dispatcher1);
collisionObject->setBroadphaseHandle(0);
}
}
}
void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
{
btAssert(collisionObject);
//check that the object isn't already added
btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
btAssert(collisionObject->getWorldArrayIndex() == -1); // do not add the same object to more than one collision world
collisionObject->setWorldArrayIndex(m_collisionObjects.size());
m_collisionObjects.push_back(collisionObject);
//calculate new AABB
btTransform trans = collisionObject->getWorldTransform();
btVector3 minAabb;
btVector3 maxAabb;
collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);
int type = collisionObject->getCollisionShape()->getShapeType();
collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(
minAabb,
maxAabb,
type,
collisionObject,
collisionFilterGroup,
collisionFilterMask,
m_dispatcher1)) ;
}
void btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)
{
btVector3 minAabb,maxAabb;
colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);
//need to increase the aabb for contact thresholds
btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);
minAabb -= contactThreshold;
maxAabb += contactThreshold;
if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
minAabb2 -= contactThreshold;
maxAabb2 += contactThreshold;
minAabb.setMin(minAabb2);
maxAabb.setMax(maxAabb2);
}
btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;
//moving objects should be moderately sized, probably something wrong if not
if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))
{
bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);
} else
{
//something went wrong, investigate
//this assert is unwanted in 3D modelers (danger of loosing work)
colObj->setActivationState(DISABLE_SIMULATION);
static bool reportMe = true;
if (reportMe && m_debugDrawer)
{
reportMe = false;
m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
m_debugDrawer->reportErrorWarning("Thanks.\n");
}
}
}
void btCollisionWorld::updateAabbs()
{
BT_PROFILE("updateAabbs");
btTransform predictedTrans;
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btAssert(colObj->getWorldArrayIndex() == i);
//only update aabb of active objects
if (m_forceUpdateAllAabbs || colObj->isActive())
{
updateSingleAabb(colObj);
}
}
}
void btCollisionWorld::computeOverlappingPairs()
{
BT_PROFILE("calculateOverlappingPairs");
m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);
}
void btCollisionWorld::performDiscreteCollisionDetection()
{
BT_PROFILE("performDiscreteCollisionDetection");
btDispatcherInfo& dispatchInfo = getDispatchInfo();
updateAabbs();
computeOverlappingPairs();
btDispatcher* dispatcher = getDispatcher();
{
BT_PROFILE("dispatchAllCollisionPairs");
if (dispatcher)
dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);
}
}
void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
{
//bool removeFromBroadphase = false;
{
btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
if (bp)
{
//
// only clear the cached algorithms
//
getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);
getBroadphase()->destroyProxy(bp,m_dispatcher1);
collisionObject->setBroadphaseHandle(0);
}
}
int iObj = collisionObject->getWorldArrayIndex();
// btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
if (iObj >= 0 && iObj < m_collisionObjects.size())
{
btAssert(collisionObject == m_collisionObjects[iObj]);
m_collisionObjects.swap(iObj, m_collisionObjects.size()-1);
m_collisionObjects.pop_back();
if (iObj < m_collisionObjects.size())
{
m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
}
}
else
{
// slow linear search
//swapremove
m_collisionObjects.remove(collisionObject);
}
collisionObject->setWorldArrayIndex(-1);
}
void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
}
void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
const btCollisionObjectWrapper* collisionObjectWrap,
RayResultCallback& resultCallback)
{
btSphereShape pointShape(btScalar(0.0));
pointShape.setMargin(0.f);
const btConvexShape* castShape = &pointShape;
const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
if (collisionShape->isConvex())
{
// BT_PROFILE("rayTestConvex");
btConvexCast::CastResult castResult;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
btConvexCast* convexCasterPtr = 0;
//use kF_UseSubSimplexConvexCastRaytest by default
if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseGjkConvexCastRaytest)
convexCasterPtr = &gjkConvexCaster;
else
convexCasterPtr = &subSimplexConvexCaster;
btConvexCast& convexCaster = *convexCasterPtr;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
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
//rotate normal into worldspace
castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalRayResult localRayResult
(
collisionObjectWrap->getCollisionObject(),
0,
castResult.m_normal,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
}
}
}
} else {
if (collisionShape->isConcave())
{
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
const btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const btConcaveShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalWorld,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
}
else
{
//generic (slower) case
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
btCollisionWorld::LocalRayResult rayResult
(m_collisionObject,
&shapeInfo,
hitNormalWorld,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);
}
};
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
btVector3 rayAabbMinLocal = rayFromLocal;
rayAabbMinLocal.setMin(rayToLocal);
btVector3 rayAabbMaxLocal = rayFromLocal;
rayAabbMaxLocal.setMax(rayToLocal);
concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);
}
} else {
// BT_PROFILE("rayTestCompound");
if (collisionShape->isCompound())
{
struct LocalInfoAdder2 : public RayResultCallback
{
RayResultCallback* m_userCallback;
int m_i;
LocalInfoAdder2 (int i, RayResultCallback *user)
: m_userCallback(user), m_i(i)
{
m_closestHitFraction = m_userCallback->m_closestHitFraction;
m_flags = m_userCallback->m_flags;
}
virtual bool needsCollision(btBroadphaseProxy* p) const
{
return m_userCallback->needsCollision(p);
}
virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = -1;
shapeInfo.m_triangleIndex = m_i;
if (r.m_localShapeInfo == NULL)
r.m_localShapeInfo = &shapeInfo;
const btScalar result = m_userCallback->addSingleResult(r, b);
m_closestHitFraction = m_userCallback->m_closestHitFraction;
return result;
}
};
struct RayTester : btDbvt::ICollide
{
const btCollisionObject* m_collisionObject;
const btCompoundShape* m_compoundShape;
const btTransform& m_colObjWorldTransform;
const btTransform& m_rayFromTrans;
const btTransform& m_rayToTrans;
RayResultCallback& m_resultCallback;
RayTester(const btCollisionObject* collisionObject,
const btCompoundShape* compoundShape,
const btTransform& colObjWorldTransform,
const btTransform& rayFromTrans,
const btTransform& rayToTrans,
RayResultCallback& resultCallback):
m_collisionObject(collisionObject),
m_compoundShape(compoundShape),
m_colObjWorldTransform(colObjWorldTransform),
m_rayFromTrans(rayFromTrans),
m_rayToTrans(rayToTrans),
m_resultCallback(resultCallback)
{
}
void ProcessLeaf(int i)
{
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
const btTransform& childTrans = m_compoundShape->getChildTransform(i);
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans,-1,i);
// replace collision shape so that callback can determine the triangle
LocalInfoAdder2 my_cb(i, &m_resultCallback);
rayTestSingleInternal(
m_rayFromTrans,
m_rayToTrans,
&tmpOb,
my_cb);
}
void Process(const btDbvtNode* leaf)
{
ProcessLeaf(leaf->dataAsInt);
}
};
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
RayTester rayCB(
collisionObjectWrap->getCollisionObject(),
compoundShape,
colObjWorldTransform,
rayFromTrans,
rayToTrans,
resultCallback);
#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
if (dbvt)
{
btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
btDbvt::rayTest(dbvt->m_root, localRayFrom , localRayTo, rayCB);
}
else
#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
{
for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
{
rayCB.ProcessLeaf(i);
}
}
}
}
}
}
void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
}
void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
const btCollisionObjectWrapper* colObjWrap,
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
if (collisionShape->isConvex())
{
//BT_PROFILE("convexSweepConvex");
btConvexCast::CastResult castResult;
castResult.m_allowedPenetration = allowedPenetration;
castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);
//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
btConvexCast* castPtr = &convexCaster1;
if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
colObjWrap->getCollisionObject(),
0,
castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
}
}
}
} else {
if (collisionShape->isConcave())
{
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
//BT_PROFILE("convexSweepbtBvhTriangleMesh");
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
{
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),triangleMesh, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
} else
{
if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
btConvexCast::CastResult castResult;
castResult.m_allowedPenetration = allowedPenetration;
castResult.m_fraction = resultCallback.m_closestHitFraction;
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
btContinuousConvexCollision convexCaster1(castShape,planeShape);
btConvexCast* castPtr = &convexCaster1;
if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
colObjWrap->getCollisionObject(),
0,
castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
}
}
}
} else
{
//BT_PROFILE("convexSweepConcave");
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
//ConvexCast::CastResult
struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
btCollisionWorld::ConvexResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
btConcaveShape* m_triangleMesh;
BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = partId;
shapeInfo.m_triangleIndex = triangleIndex;
if (hitFraction <= m_resultCallback->m_closestHitFraction)
{
btCollisionWorld::LocalConvexResult convexResult
(m_collisionObject,
&shapeInfo,
hitNormalLocal,
hitPointLocal,
hitFraction);
bool normalInWorldSpace = true;
return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
return hitFraction;
}
};
BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
tccb.m_allowedPenetration = allowedPenetration;
btVector3 boxMinLocal, boxMaxLocal;
castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
btVector3 rayAabbMinLocal = convexFromLocal;
rayAabbMinLocal.setMin(convexToLocal);
btVector3 rayAabbMaxLocal = convexFromLocal;
rayAabbMaxLocal.setMax(convexToLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
}
}
} else {
if (collisionShape->isCompound())
{
struct btCompoundLeafCallback : btDbvt::ICollide
{
btCompoundLeafCallback(
const btCollisionObjectWrapper* colObjWrap,
const btConvexShape* castShape,
const btTransform& convexFromTrans,
const btTransform& convexToTrans,
btScalar allowedPenetration,
const btCompoundShape* compoundShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback)
:
m_colObjWrap(colObjWrap),
m_castShape(castShape),
m_convexFromTrans(convexFromTrans),
m_convexToTrans(convexToTrans),
m_allowedPenetration(allowedPenetration),
m_compoundShape(compoundShape),
m_colObjWorldTransform(colObjWorldTransform),
m_resultCallback(resultCallback) {
}
const btCollisionObjectWrapper* m_colObjWrap;
const btConvexShape* m_castShape;
const btTransform& m_convexFromTrans;
const btTransform& m_convexToTrans;
btScalar m_allowedPenetration;
const btCompoundShape* m_compoundShape;
const btTransform& m_colObjWorldTransform;
ConvexResultCallback& m_resultCallback;
public:
void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
{
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
struct LocalInfoAdder : public ConvexResultCallback {
ConvexResultCallback* m_userCallback;
int m_i;
LocalInfoAdder(int i, ConvexResultCallback *user)
: m_userCallback(user), m_i(i)
{
m_closestHitFraction = m_userCallback->m_closestHitFraction;
}
virtual bool needsCollision(btBroadphaseProxy* p) const
{
return m_userCallback->needsCollision(p);
}
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
{
btCollisionWorld::LocalShapeInfo shapeInfo;
shapeInfo.m_shapePart = -1;
shapeInfo.m_triangleIndex = m_i;
if (r.m_localShapeInfo == NULL)
r.m_localShapeInfo = &shapeInfo;
const btScalar result = m_userCallback->addSingleResult(r, b);
m_closestHitFraction = m_userCallback->m_closestHitFraction;
return result;
}
};
LocalInfoAdder my_cb(index, &m_resultCallback);
btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
}
void Process(const btDbvtNode* leaf)
{
// Processing leaf node
int index = leaf->dataAsInt;
btTransform childTrans = m_compoundShape->getChildTransform(index);
const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
ProcessChild(index, childTrans, childCollisionShape);
}
};
BT_PROFILE("convexSweepCompound");
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
btVector3 fromLocalAabbMin, fromLocalAabbMax;
btVector3 toLocalAabbMin, toLocalAabbMax;
castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
fromLocalAabbMin.setMin(toLocalAabbMin);
fromLocalAabbMax.setMax(toLocalAabbMax);
btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
const btDbvt* tree = compoundShape->getDynamicAabbTree();
if (tree) {
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
tree->collideTV(tree->m_root, bounds, callback);
} else {
int i;
for (i=0;i<compoundShape->getNumChildShapes();i++)
{
const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
btTransform childTrans = compoundShape->getChildTransform(i);
callback.ProcessChild(i, childTrans, childCollisionShape);
}
}
}
}
}
}
struct btSingleRayCallback : public btBroadphaseRayCallback
{
btVector3 m_rayFromWorld;
btVector3 m_rayToWorld;
btTransform m_rayFromTrans;
btTransform m_rayToTrans;
btVector3 m_hitNormal;
const btCollisionWorld* m_world;
btCollisionWorld::RayResultCallback& m_resultCallback;
btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld),
m_world(world),
m_resultCallback(resultCallback)
{
m_rayFromTrans.setIdentity();
m_rayFromTrans.setOrigin(m_rayFromWorld);
m_rayToTrans.setIdentity();
m_rayToTrans.setOrigin(m_rayToWorld);
btVector3 rayDir = (rayToWorld-rayFromWorld);
rayDir.normalize ();
///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT
m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
m_signs[0] = m_rayDirectionInverse[0] < 0.0;
m_signs[1] = m_rayDirectionInverse[1] < 0.0;
m_signs[2] = m_rayDirectionInverse[2] < 0.0;
m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);
}
virtual bool process(const btBroadphaseProxy* proxy)
{
///terminate further ray tests, once the closestHitFraction reached zero
if (m_resultCallback.m_closestHitFraction == btScalar(0.f))
return false;
btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
//only perform raycast if filterMask matches
if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
#if 0
#ifdef RECALCULATE_AABB
btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
#else
//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
#endif
#endif
//btScalar hitLambda = m_resultCallback.m_closestHitFraction;
//culling already done by broadphase
//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
{
m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,
collisionObject,
collisionObject->getCollisionShape(),
collisionObject->getWorldTransform(),