144 lines
5.7 KiB
C++
144 lines
5.7 KiB
C++
/*
|
|
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 "CollisionDispatch/CompoundCollisionAlgorithm.h"
|
|
#include "CollisionDispatch/CollisionObject.h"
|
|
#include "CollisionShapes/CompoundShape.h"
|
|
|
|
|
|
CompoundCollisionAlgorithm::CompoundCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
|
|
:m_dispatcher(ci.m_dispatcher),
|
|
m_compoundProxy(*proxy0),
|
|
m_otherProxy(*proxy1)
|
|
{
|
|
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
|
|
assert (colObj->m_collisionShape->IsCompound());
|
|
|
|
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
|
|
int numChildren = compoundShape->GetNumChildShapes();
|
|
m_childProxies.resize( numChildren );
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
m_childProxies[i] = BroadphaseProxy(*proxy0);
|
|
}
|
|
|
|
m_childCollisionAlgorithms.resize(numChildren);
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
CollisionShape* childShape = compoundShape->GetChildShape(i);
|
|
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
|
|
CollisionShape* orgShape = colObj->m_collisionShape;
|
|
colObj->m_collisionShape = childShape;
|
|
m_childCollisionAlgorithms[i] = m_dispatcher->FindAlgorithm(m_childProxies[i],m_otherProxy);
|
|
colObj->m_collisionShape =orgShape;
|
|
}
|
|
}
|
|
|
|
|
|
CompoundCollisionAlgorithm::~CompoundCollisionAlgorithm()
|
|
{
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
delete m_childCollisionAlgorithms[i];
|
|
}
|
|
}
|
|
|
|
void CompoundCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
|
|
{
|
|
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
|
|
assert (colObj->m_collisionShape->IsCompound());
|
|
|
|
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
|
|
|
|
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
|
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
|
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
|
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
|
//then use each overlapping node AABB against Tree0
|
|
//and vise versa.
|
|
|
|
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
//temporarily exchange parent CollisionShape with childShape, and recurse
|
|
CollisionShape* childShape = compoundShape->GetChildShape(i);
|
|
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
|
|
|
|
//backup
|
|
SimdTransform orgTrans = colObj->m_worldTransform;
|
|
CollisionShape* orgShape = colObj->m_collisionShape;
|
|
|
|
SimdTransform childTrans = compoundShape->GetChildTransform(i);
|
|
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
|
|
colObj->m_worldTransform = newChildWorldTrans;
|
|
|
|
colObj->m_collisionShape = childShape;
|
|
m_childCollisionAlgorithms[i]->ProcessCollision(&m_childProxies[i],&m_otherProxy,dispatchInfo);
|
|
//revert back
|
|
colObj->m_collisionShape =orgShape;
|
|
colObj->m_worldTransform = orgTrans;
|
|
}
|
|
}
|
|
|
|
float CompoundCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
|
|
{
|
|
CollisionObject* colObj = static_cast<CollisionObject*>(m_compoundProxy.m_clientObject);
|
|
assert (colObj->m_collisionShape->IsCompound());
|
|
|
|
CompoundShape* compoundShape = static_cast<CompoundShape*>(colObj->m_collisionShape);
|
|
|
|
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
|
|
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
|
|
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
|
|
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
|
|
//then use each overlapping node AABB against Tree0
|
|
//and vise versa.
|
|
|
|
float hitFraction = 1.f;
|
|
|
|
int numChildren = m_childCollisionAlgorithms.size();
|
|
int i;
|
|
for (i=0;i<numChildren;i++)
|
|
{
|
|
//temporarily exchange parent CollisionShape with childShape, and recurse
|
|
CollisionShape* childShape = compoundShape->GetChildShape(i);
|
|
CollisionObject* colObj = static_cast<CollisionObject*>(m_childProxies[i].m_clientObject);
|
|
|
|
//backup
|
|
SimdTransform orgTrans = colObj->m_worldTransform;
|
|
CollisionShape* orgShape = colObj->m_collisionShape;
|
|
|
|
SimdTransform childTrans = compoundShape->GetChildTransform(i);
|
|
SimdTransform newChildWorldTrans = orgTrans*childTrans ;
|
|
colObj->m_worldTransform = newChildWorldTrans;
|
|
|
|
colObj->m_collisionShape = childShape;
|
|
float frac = m_childCollisionAlgorithms[i]->CalculateTimeOfImpact(&m_childProxies[i],&m_otherProxy,dispatchInfo);
|
|
if (frac<hitFraction)
|
|
{
|
|
hitFraction = frac;
|
|
}
|
|
//revert back
|
|
colObj->m_collisionShape =orgShape;
|
|
colObj->m_worldTransform = orgTrans;
|
|
}
|
|
return hitFraction;
|
|
|
|
} |