390 lines
15 KiB
C++
390 lines
15 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 "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/BroadphaseCollision/btDbvt.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "btManifoldResult.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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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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{
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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 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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}
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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 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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{
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if (compoundShape->getDynamicAabbTree())
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{
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m_childCollisionAlgorithms[i] = 0;
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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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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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{
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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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{
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if (m_childCollisionAlgorithms[i])
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{
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m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
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}
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}
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}
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btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
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{
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removeChildAlgorithms();
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}
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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), 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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{
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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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if (gCompoundChildShapePairCallback)
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{
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if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
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return;
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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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btTransform preTransform = childTrans;
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if (this->m_compoundColObjWrap->m_preTransform)
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{
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preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
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}
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btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
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btCollisionAlgorithm* algo = 0;
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bool allocatedAlgorithm = false;
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if (m_resultOut->m_closestPointDistanceThreshold > 0)
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{
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algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
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allocatedAlgorithm = true;
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}
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else
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{
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//the contactpoint is still projected back using the original inverted worldtrans
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if (!m_childCollisionAlgorithms[index])
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{
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m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
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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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if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
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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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}
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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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}
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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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{
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btVector3 worldAabbMin,worldAabbMax;
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m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
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m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
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}
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#endif
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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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}
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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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{
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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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void Process(const btDbvtNode* leaf)
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{
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int index = leaf->dataAsInt;
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const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
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const btCollisionShape* childShape = compoundShape->getChildShape(index);
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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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{
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btVector3 worldAabbMin,worldAabbMax;
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btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
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btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
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m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
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}
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#endif
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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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{
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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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///btCompoundShape might have changed:
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////make sure the internal child collision algorithm caches are still valid
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if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
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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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m_compoundShapeRevision = compoundShape->getUpdateRevision();
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}
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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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///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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///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
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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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{
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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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{
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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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}
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}
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manifoldArray.resize(0);
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}
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}
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}
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if (tree)
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{
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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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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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//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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}
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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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{
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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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//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);
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const btCollisionShape* childShape = 0;
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btTransform orgTrans;
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btTransform newChildWorldTrans;
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btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
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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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childShape = compoundShape->getChildShape(i);
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//if not longer overlapping, remove the algorithm
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orgTrans = colObjWrap->getWorldTransform();
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const btTransform& childTrans = compoundShape->getChildTransform(i);
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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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if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
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{
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m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
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m_childCollisionAlgorithms[i] = 0;
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}
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}
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}
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}
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}
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btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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btAssert(0);
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//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
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btCollisionObject* colObj = m_isSwapped ? body1 : body0;
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btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
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btAssert(colObj->getCollisionShape()->isCompound());
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btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
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//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
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//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
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//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
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//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
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//then use each overlapping node AABB against Tree0
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//and vise versa.
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btScalar hitFraction = btScalar(1.);
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int numChildren = m_childCollisionAlgorithms.size();
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int i;
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btTransform orgTrans;
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btScalar frac;
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for (i = 0; i < numChildren; i++)
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{
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//btCollisionShape* childShape = compoundShape->getChildShape(i);
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//backup
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orgTrans = colObj->getWorldTransform();
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const btTransform& childTrans = compoundShape->getChildTransform(i);
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//btTransform newChildWorldTrans = orgTrans*childTrans ;
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colObj->setWorldTransform(orgTrans * childTrans);
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//btCollisionShape* tmpShape = colObj->getCollisionShape();
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//colObj->internalSetTemporaryCollisionShape( childShape );
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frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
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if (frac < hitFraction)
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{
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hitFraction = frac;
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}
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//revert back
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//colObj->internalSetTemporaryCollisionShape( tmpShape);
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colObj->setWorldTransform(orgTrans);
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}
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return hitFraction;
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}
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