375 lines
14 KiB
C++
375 lines
14 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 "btConvexConcaveCollisionAlgorithm.h"
|
|
#include "LinearMath/btQuickprof.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
|
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
|
|
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
|
|
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
|
|
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
|
|
#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
|
|
|
|
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
|
|
: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
|
|
m_btConvexTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped),
|
|
m_isSwapped(isSwapped)
|
|
{
|
|
}
|
|
|
|
btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
|
|
{
|
|
}
|
|
|
|
void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
|
|
{
|
|
if (m_btConvexTriangleCallback.m_manifoldPtr)
|
|
{
|
|
manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr);
|
|
}
|
|
}
|
|
|
|
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
|
|
m_dispatchInfoPtr(0)
|
|
{
|
|
m_convexBodyWrap = isSwapped ? body1Wrap : body0Wrap;
|
|
m_triBodyWrap = isSwapped ? body0Wrap : body1Wrap;
|
|
|
|
//
|
|
// create the manifold from the dispatcher 'manifold pool'
|
|
//
|
|
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(), m_triBodyWrap->getCollisionObject());
|
|
|
|
clearCache();
|
|
}
|
|
|
|
btConvexTriangleCallback::~btConvexTriangleCallback()
|
|
{
|
|
clearCache();
|
|
m_dispatcher->releaseManifold(m_manifoldPtr);
|
|
}
|
|
|
|
void btConvexTriangleCallback::clearCache()
|
|
{
|
|
m_dispatcher->clearManifold(m_manifoldPtr);
|
|
}
|
|
|
|
void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
|
{
|
|
BT_PROFILE("btConvexTriangleCallback::processTriangle");
|
|
|
|
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
|
|
{
|
|
return;
|
|
}
|
|
|
|
//just for debugging purposes
|
|
//printf("triangle %d",m_triangleCount++);
|
|
|
|
btCollisionAlgorithmConstructionInfo ci;
|
|
ci.m_dispatcher1 = m_dispatcher;
|
|
|
|
#if 0
|
|
|
|
///debug drawing of the overlapping triangles
|
|
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
|
|
{
|
|
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
|
|
btVector3 color(1,1,0);
|
|
btTransform& tr = ob->getWorldTransform();
|
|
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
|
|
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
|
|
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
|
|
}
|
|
#endif
|
|
|
|
if (m_convexBodyWrap->getCollisionShape()->isConvex())
|
|
{
|
|
btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
|
|
tm.setMargin(m_collisionMarginTriangle);
|
|
|
|
btCollisionObjectWrapper triObWrap(m_triBodyWrap, &tm, m_triBodyWrap->getCollisionObject(), m_triBodyWrap->getWorldTransform(), partId, triangleIndex); //correct transform?
|
|
btCollisionAlgorithm* colAlgo = 0;
|
|
|
|
if (m_resultOut->m_closestPointDistanceThreshold > 0)
|
|
{
|
|
colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
|
|
}
|
|
else
|
|
{
|
|
colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr, BT_CONTACT_POINT_ALGORITHMS);
|
|
}
|
|
const btCollisionObjectWrapper* tmpWrap = 0;
|
|
|
|
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
|
|
{
|
|
tmpWrap = m_resultOut->getBody0Wrap();
|
|
m_resultOut->setBody0Wrap(&triObWrap);
|
|
m_resultOut->setShapeIdentifiersA(partId, triangleIndex);
|
|
}
|
|
else
|
|
{
|
|
tmpWrap = m_resultOut->getBody1Wrap();
|
|
m_resultOut->setBody1Wrap(&triObWrap);
|
|
m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
|
|
}
|
|
|
|
colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
|
|
|
|
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
|
|
{
|
|
m_resultOut->setBody0Wrap(tmpWrap);
|
|
}
|
|
else
|
|
{
|
|
m_resultOut->setBody1Wrap(tmpWrap);
|
|
}
|
|
|
|
colAlgo->~btCollisionAlgorithm();
|
|
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
|
}
|
|
}
|
|
|
|
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
|
|
{
|
|
m_convexBodyWrap = convexBodyWrap;
|
|
m_triBodyWrap = triBodyWrap;
|
|
|
|
m_dispatchInfoPtr = &dispatchInfo;
|
|
m_collisionMarginTriangle = collisionMarginTriangle;
|
|
m_resultOut = resultOut;
|
|
|
|
//recalc aabbs
|
|
btTransform convexInTriangleSpace;
|
|
convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
|
|
const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
|
|
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
|
|
convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax);
|
|
btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold;
|
|
|
|
btVector3 extra(extraMargin, extraMargin, extraMargin);
|
|
|
|
m_aabbMax += extra;
|
|
m_aabbMin -= extra;
|
|
}
|
|
|
|
void btConvexConcaveCollisionAlgorithm::clearCache()
|
|
{
|
|
m_btConvexTriangleCallback.clearCache();
|
|
}
|
|
|
|
void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
|
|
|
|
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
|
|
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
|
|
|
|
if (triBodyWrap->getCollisionShape()->isConcave())
|
|
{
|
|
if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE)
|
|
{
|
|
btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
|
|
if (convexBodyWrap->getCollisionShape()->isConvex())
|
|
{
|
|
btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
|
|
btAlignedObjectArray<btVector3> queryVertices;
|
|
|
|
if (convex->isPolyhedral())
|
|
{
|
|
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
|
|
for (int v = 0; v < poly->getNumVertices(); v++)
|
|
{
|
|
btVector3 vtx;
|
|
poly->getVertex(v, vtx);
|
|
queryVertices.push_back(vtx);
|
|
}
|
|
}
|
|
btScalar maxDist = SIMD_EPSILON;
|
|
|
|
if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
|
|
{
|
|
queryVertices.push_back(btVector3(0, 0, 0));
|
|
btSphereShape* sphere = (btSphereShape*)convex;
|
|
maxDist = sphere->getRadius() + SIMD_EPSILON;
|
|
}
|
|
if (queryVertices.size())
|
|
{
|
|
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
|
|
//m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
|
|
|
|
btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
|
|
for (int v = 0; v < queryVertices.size(); v++)
|
|
{
|
|
const btVector3& vtx = queryVertices[v];
|
|
btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform() * vtx;
|
|
btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
|
|
|
|
btVector3 normalLocal;
|
|
btScalar dist;
|
|
if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal))
|
|
{
|
|
if (dist <= maxDist)
|
|
{
|
|
normalLocal.safeNormalize();
|
|
btVector3 normal = triBodyWrap->getWorldTransform().getBasis() * normalLocal;
|
|
|
|
if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
|
|
{
|
|
btSphereShape* sphere = (btSphereShape*)convex;
|
|
dist -= sphere->getRadius();
|
|
vtxWorldSpace -= sphere->getRadius() * normal;
|
|
}
|
|
resultOut->addContactPoint(normal, vtxWorldSpace - normal * dist, dist);
|
|
}
|
|
}
|
|
}
|
|
resultOut->refreshContactPoints();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triBodyWrap->getCollisionShape());
|
|
|
|
if (convexBodyWrap->getCollisionShape()->isConvex())
|
|
{
|
|
btScalar collisionMarginTriangle = concaveShape->getMargin();
|
|
|
|
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
|
|
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, convexBodyWrap, triBodyWrap, resultOut);
|
|
|
|
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(), triBodyWrap->getCollisionObject());
|
|
|
|
concaveShape->processAllTriangles(&m_btConvexTriangleCallback, m_btConvexTriangleCallback.getAabbMin(), m_btConvexTriangleCallback.getAabbMax());
|
|
|
|
resultOut->refreshContactPoints();
|
|
|
|
m_btConvexTriangleCallback.clearWrapperData();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
(void)resultOut;
|
|
(void)dispatchInfo;
|
|
btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
|
|
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
|
|
|
|
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
|
|
|
|
//only perform CCD above a certain threshold, this prevents blocking on the long run
|
|
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
|
|
btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
|
|
if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
|
|
{
|
|
return btScalar(1.);
|
|
}
|
|
|
|
//const btVector3& from = convexbody->m_worldTransform.getOrigin();
|
|
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
|
|
//todo: only do if the motion exceeds the 'radius'
|
|
|
|
btTransform triInv = triBody->getWorldTransform().inverse();
|
|
btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
|
|
btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
|
|
|
|
struct LocalTriangleSphereCastCallback : public btTriangleCallback
|
|
{
|
|
btTransform m_ccdSphereFromTrans;
|
|
btTransform m_ccdSphereToTrans;
|
|
btTransform m_meshTransform;
|
|
|
|
btScalar m_ccdSphereRadius;
|
|
btScalar m_hitFraction;
|
|
|
|
LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
|
|
: m_ccdSphereFromTrans(from),
|
|
m_ccdSphereToTrans(to),
|
|
m_ccdSphereRadius(ccdSphereRadius),
|
|
m_hitFraction(hitFraction)
|
|
{
|
|
}
|
|
|
|
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
|
{
|
|
BT_PROFILE("processTriangle");
|
|
(void)partId;
|
|
(void)triangleIndex;
|
|
//do a swept sphere for now
|
|
btTransform ident;
|
|
ident.setIdentity();
|
|
btConvexCast::CastResult castResult;
|
|
castResult.m_fraction = m_hitFraction;
|
|
btSphereShape pointShape(m_ccdSphereRadius);
|
|
btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
|
|
btVoronoiSimplexSolver simplexSolver;
|
|
btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
|
|
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
|
|
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
|
|
//local space?
|
|
|
|
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
|
|
ident, ident, castResult))
|
|
{
|
|
if (m_hitFraction > castResult.m_fraction)
|
|
m_hitFraction = castResult.m_fraction;
|
|
}
|
|
}
|
|
};
|
|
|
|
if (triBody->getCollisionShape()->isConcave())
|
|
{
|
|
btVector3 rayAabbMin = convexFromLocal.getOrigin();
|
|
rayAabbMin.setMin(convexToLocal.getOrigin());
|
|
btVector3 rayAabbMax = convexFromLocal.getOrigin();
|
|
rayAabbMax.setMax(convexToLocal.getOrigin());
|
|
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
|
|
rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
|
|
rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
|
|
|
|
btScalar curHitFraction = btScalar(1.); //is this available?
|
|
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
|
|
convexbody->getCcdSweptSphereRadius(), curHitFraction);
|
|
|
|
raycastCallback.m_hitFraction = convexbody->getHitFraction();
|
|
|
|
btCollisionObject* concavebody = triBody;
|
|
|
|
btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
|
|
|
|
if (triangleMesh)
|
|
{
|
|
triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
|
|
}
|
|
|
|
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
|
{
|
|
convexbody->setHitFraction(raycastCallback.m_hitFraction);
|
|
return raycastCallback.m_hitFraction;
|
|
}
|
|
}
|
|
|
|
return btScalar(1.);
|
|
}
|