315 lines
13 KiB
C++
315 lines
13 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btSoftBodyConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionShapes/btConcaveShape.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletSoftBody/btSoftBody.h"
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#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06) //make this configurable
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btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
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: btCollisionAlgorithm(ci),
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m_isSwapped(isSwapped),
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m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
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{
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}
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btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
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{
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}
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btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
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m_dispatchInfoPtr(0)
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{
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m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
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m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
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//
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// create the manifold from the dispatcher 'manifold pool'
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//
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// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
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clearCache();
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}
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btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
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{
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clearCache();
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// m_dispatcher->releaseManifold( m_manifoldPtr );
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}
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void btSoftBodyTriangleCallback::clearCache()
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{
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for (int i = 0; i < m_shapeCache.size(); i++)
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{
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btTriIndex* tmp = m_shapeCache.getAtIndex(i);
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btAssert(tmp);
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btAssert(tmp->m_childShape);
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m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape); //necessary?
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delete tmp->m_childShape;
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}
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m_shapeCache.clear();
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}
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void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
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{
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//just for debugging purposes
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//printf("triangle %d",m_triangleCount++);
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher1 = m_dispatcher;
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///debug drawing of the overlapping triangles
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if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
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{
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btVector3 color(1, 1, 0);
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const btTransform& tr = m_triBody->getWorldTransform();
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m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
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m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
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m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
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}
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btTriIndex triIndex(partId, triangleIndex, 0);
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btHashKey<btTriIndex> triKey(triIndex.getUid());
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btTriIndex* shapeIndex = m_shapeCache[triKey];
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if (shapeIndex)
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{
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btCollisionShape* tm = shapeIndex->m_childShape;
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btAssert(tm);
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//copy over user pointers to temporary shape
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tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
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btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
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//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
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btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);
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ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType); //m_manifoldPtr);
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colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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return;
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}
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//aabb filter is already applied!
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//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
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// if (m_softBody->getCollisionShape()->getShapeType()==
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{
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// btVector3 other;
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btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
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normal.normalize();
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normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
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// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
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// other+=normal*22.f;
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btVector3 pts[6] = {triangle[0] + normal,
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triangle[1] + normal,
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triangle[2] + normal,
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triangle[0] - normal,
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triangle[1] - normal,
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triangle[2] - normal};
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btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(), 6);
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// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
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//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
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// tm.setMargin(m_collisionMarginTriangle);
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//copy over user pointers to temporary shape
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tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
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btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
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btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex); //btTransform::getIdentity());//??
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ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType); //m_manifoldPtr);
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colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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triIndex.m_childShape = tm;
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m_shapeCache.insert(triKey, triIndex);
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}
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}
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void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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m_dispatchInfoPtr = &dispatchInfo;
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m_collisionMarginTriangle = collisionMarginTriangle + btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
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m_resultOut = resultOut;
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btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
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m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
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btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
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btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
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btTransform softTransform;
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softTransform.setIdentity();
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softTransform.setOrigin(softBodyCenter);
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btTransform convexInTriangleSpace;
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convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
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btTransformAabb(halfExtents, m_collisionMarginTriangle, convexInTriangleSpace, m_aabbMin, m_aabbMax);
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}
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void btSoftBodyConcaveCollisionAlgorithm::clearCache()
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{
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m_btSoftBodyTriangleCallback.clearCache();
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}
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void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
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const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
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if (triBody->getCollisionShape()->isConcave())
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{
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const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triBody->getCollisionShape());
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// if (convexBody->getCollisionShape()->isConvex())
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{
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btScalar collisionMarginTriangle = concaveShape->getMargin();
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// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
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m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, triBody, dispatchInfo, resultOut);
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concaveShape->processAllTriangles(&m_btSoftBodyTriangleCallback, m_btSoftBodyTriangleCallback.getAabbMin(), m_btSoftBodyTriangleCallback.getAabbMax());
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// resultOut->refreshContactPoints();
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}
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}
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}
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btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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(void)resultOut;
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(void)dispatchInfo;
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btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
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btCollisionObject* triBody = m_isSwapped ? body0 : body1;
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//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
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//only perform CCD above a certain threshold, this prevents blocking on the long run
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//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
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btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
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if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
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{
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return btScalar(1.);
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}
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//const btVector3& from = convexbody->m_worldTransform.getOrigin();
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//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
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//todo: only do if the motion exceeds the 'radius'
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btTransform triInv = triBody->getWorldTransform().inverse();
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btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
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btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
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struct LocalTriangleSphereCastCallback : public btTriangleCallback
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{
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btTransform m_ccdSphereFromTrans;
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btTransform m_ccdSphereToTrans;
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btTransform m_meshTransform;
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btScalar m_ccdSphereRadius;
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btScalar m_hitFraction;
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LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
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: m_ccdSphereFromTrans(from),
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m_ccdSphereToTrans(to),
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m_ccdSphereRadius(ccdSphereRadius),
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m_hitFraction(hitFraction)
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{
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}
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
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{
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(void)partId;
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(void)triangleIndex;
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//do a swept sphere for now
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btTransform ident;
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ident.setIdentity();
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btConvexCast::CastResult castResult;
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castResult.m_fraction = m_hitFraction;
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btSphereShape pointShape(m_ccdSphereRadius);
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btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
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btVoronoiSimplexSolver simplexSolver;
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btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
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//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
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//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
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//local space?
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if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
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ident, ident, castResult))
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{
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if (m_hitFraction > castResult.m_fraction)
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m_hitFraction = castResult.m_fraction;
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}
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}
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};
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if (triBody->getCollisionShape()->isConcave())
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{
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btVector3 rayAabbMin = convexFromLocal.getOrigin();
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rayAabbMin.setMin(convexToLocal.getOrigin());
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btVector3 rayAabbMax = convexFromLocal.getOrigin();
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rayAabbMax.setMax(convexToLocal.getOrigin());
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btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
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rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
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rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
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btScalar curHitFraction = btScalar(1.); //is this available?
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LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
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convexbody->getCcdSweptSphereRadius(), curHitFraction);
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raycastCallback.m_hitFraction = convexbody->getHitFraction();
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btCollisionObject* concavebody = triBody;
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btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
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if (triangleMesh)
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{
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triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
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}
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if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
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{
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convexbody->setHitFraction(raycastCallback.m_hitFraction);
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return raycastCallback.m_hitFraction;
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}
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}
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return btScalar(1.);
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}
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