mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-28 14:47:13 +01:00
414 lines
16 KiB
C++
414 lines
16 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
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 "btCompoundCompoundCollisionAlgorithm.h"
|
|
#include "LinearMath/btQuickprof.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
|
|
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
|
|
#include "LinearMath/btIDebugDraw.h"
|
|
#include "LinearMath/btAabbUtil2.h"
|
|
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
|
|
|
|
//USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and MycollideTT
|
|
#define USE_LOCAL_STACK 1
|
|
|
|
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
|
|
|
|
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
|
|
: btCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, isSwapped)
|
|
{
|
|
void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache), 16);
|
|
m_childCollisionAlgorithmCache = new (ptr) btHashedSimplePairCache();
|
|
|
|
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
|
|
btAssert(col0ObjWrap->getCollisionShape()->isCompound());
|
|
|
|
const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
|
|
btAssert(col1ObjWrap->getCollisionShape()->isCompound());
|
|
|
|
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
|
|
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
|
|
|
|
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
|
|
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
|
|
}
|
|
|
|
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
|
|
{
|
|
removeChildAlgorithms();
|
|
m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
|
|
btAlignedFree(m_childCollisionAlgorithmCache);
|
|
}
|
|
|
|
void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
|
|
{
|
|
int i;
|
|
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
|
|
for (i = 0; i < pairs.size(); i++)
|
|
{
|
|
if (pairs[i].m_userPointer)
|
|
{
|
|
((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
|
|
}
|
|
}
|
|
}
|
|
|
|
void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
|
|
{
|
|
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
|
|
|
|
int numChildren = pairs.size();
|
|
int i;
|
|
for (i = 0; i < numChildren; i++)
|
|
{
|
|
if (pairs[i].m_userPointer)
|
|
{
|
|
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
|
|
algo->~btCollisionAlgorithm();
|
|
m_dispatcher->freeCollisionAlgorithm(algo);
|
|
}
|
|
}
|
|
m_childCollisionAlgorithmCache->removeAllPairs();
|
|
}
|
|
|
|
struct btCompoundCompoundLeafCallback : btDbvt::ICollide
|
|
{
|
|
int m_numOverlapPairs;
|
|
|
|
const btCollisionObjectWrapper* m_compound0ColObjWrap;
|
|
const btCollisionObjectWrapper* m_compound1ColObjWrap;
|
|
btDispatcher* m_dispatcher;
|
|
const btDispatcherInfo& m_dispatchInfo;
|
|
btManifoldResult* m_resultOut;
|
|
|
|
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
|
|
|
|
btPersistentManifold* m_sharedManifold;
|
|
|
|
btCompoundCompoundLeafCallback(const btCollisionObjectWrapper* compound1ObjWrap,
|
|
const btCollisionObjectWrapper* compound0ObjWrap,
|
|
btDispatcher* dispatcher,
|
|
const btDispatcherInfo& dispatchInfo,
|
|
btManifoldResult* resultOut,
|
|
btHashedSimplePairCache* childAlgorithmsCache,
|
|
btPersistentManifold* sharedManifold)
|
|
: m_numOverlapPairs(0), m_compound0ColObjWrap(compound1ObjWrap), m_compound1ColObjWrap(compound0ObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithmCache(childAlgorithmsCache), m_sharedManifold(sharedManifold)
|
|
{
|
|
}
|
|
|
|
void Process(const btDbvtNode* leaf0, const btDbvtNode* leaf1)
|
|
{
|
|
BT_PROFILE("btCompoundCompoundLeafCallback::Process");
|
|
m_numOverlapPairs++;
|
|
|
|
int childIndex0 = leaf0->dataAsInt;
|
|
int childIndex1 = leaf1->dataAsInt;
|
|
|
|
btAssert(childIndex0 >= 0);
|
|
btAssert(childIndex1 >= 0);
|
|
|
|
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
|
|
btAssert(childIndex0 < compoundShape0->getNumChildShapes());
|
|
|
|
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
|
|
btAssert(childIndex1 < compoundShape1->getNumChildShapes());
|
|
|
|
const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
|
|
const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
|
|
|
|
//backup
|
|
btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
|
|
const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
|
|
btTransform newChildWorldTrans0 = orgTrans0 * childTrans0;
|
|
|
|
btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
|
|
const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
|
|
btTransform newChildWorldTrans1 = orgTrans1 * childTrans1;
|
|
|
|
//perform an AABB check first
|
|
btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
|
|
childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
|
|
childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
|
|
|
|
btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
|
|
|
|
aabbMin0 -= thresholdVec;
|
|
aabbMax0 += thresholdVec;
|
|
|
|
if (gCompoundCompoundChildShapePairCallback)
|
|
{
|
|
if (!gCompoundCompoundChildShapePairCallback(childShape0, childShape1))
|
|
return;
|
|
}
|
|
|
|
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
|
|
{
|
|
btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap, childShape0, m_compound0ColObjWrap->getCollisionObject(), newChildWorldTrans0, -1, childIndex0);
|
|
btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap, childShape1, m_compound1ColObjWrap->getCollisionObject(), newChildWorldTrans1, -1, childIndex1);
|
|
|
|
btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0, childIndex1);
|
|
bool removePair = false;
|
|
btCollisionAlgorithm* colAlgo = 0;
|
|
if (m_resultOut->m_closestPointDistanceThreshold > 0)
|
|
{
|
|
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
|
|
removePair = true;
|
|
}
|
|
else
|
|
{
|
|
if (pair)
|
|
{
|
|
colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
|
|
}
|
|
else
|
|
{
|
|
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
|
|
pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1);
|
|
btAssert(pair);
|
|
pair->m_userPointer = colAlgo;
|
|
}
|
|
}
|
|
|
|
btAssert(colAlgo);
|
|
|
|
const btCollisionObjectWrapper* tmpWrap0 = 0;
|
|
const btCollisionObjectWrapper* tmpWrap1 = 0;
|
|
|
|
tmpWrap0 = m_resultOut->getBody0Wrap();
|
|
tmpWrap1 = m_resultOut->getBody1Wrap();
|
|
|
|
m_resultOut->setBody0Wrap(&compoundWrap0);
|
|
m_resultOut->setBody1Wrap(&compoundWrap1);
|
|
|
|
m_resultOut->setShapeIdentifiersA(-1, childIndex0);
|
|
m_resultOut->setShapeIdentifiersB(-1, childIndex1);
|
|
|
|
colAlgo->processCollision(&compoundWrap0, &compoundWrap1, m_dispatchInfo, m_resultOut);
|
|
|
|
m_resultOut->setBody0Wrap(tmpWrap0);
|
|
m_resultOut->setBody1Wrap(tmpWrap1);
|
|
|
|
if (removePair)
|
|
{
|
|
colAlgo->~btCollisionAlgorithm();
|
|
m_dispatcher->freeCollisionAlgorithm(colAlgo);
|
|
}
|
|
}
|
|
}
|
|
};
|
|
|
|
static DBVT_INLINE bool MyIntersect(const btDbvtAabbMm& a,
|
|
const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
|
|
{
|
|
btVector3 newmin, newmax;
|
|
btTransformAabb(b.Mins(), b.Maxs(), 0.f, xform, newmin, newmax);
|
|
newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
|
|
newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
|
|
btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin, newmax);
|
|
return Intersect(a, newb);
|
|
}
|
|
|
|
static inline void MycollideTT(const btDbvtNode* root0,
|
|
const btDbvtNode* root1,
|
|
const btTransform& xform,
|
|
btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold)
|
|
{
|
|
if (root0 && root1)
|
|
{
|
|
int depth = 1;
|
|
int treshold = btDbvt::DOUBLE_STACKSIZE - 4;
|
|
btAlignedObjectArray<btDbvt::sStkNN> stkStack;
|
|
#ifdef USE_LOCAL_STACK
|
|
ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);
|
|
stkStack.initializeFromBuffer(&localStack, btDbvt::DOUBLE_STACKSIZE, btDbvt::DOUBLE_STACKSIZE);
|
|
#else
|
|
stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
|
|
#endif
|
|
stkStack[0] = btDbvt::sStkNN(root0, root1);
|
|
do
|
|
{
|
|
btDbvt::sStkNN p = stkStack[--depth];
|
|
if (MyIntersect(p.a->volume, p.b->volume, xform, distanceThreshold))
|
|
{
|
|
if (depth > treshold)
|
|
{
|
|
stkStack.resize(stkStack.size() * 2);
|
|
treshold = stkStack.size() - 4;
|
|
}
|
|
if (p.a->isinternal())
|
|
{
|
|
if (p.b->isinternal())
|
|
{
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[0]);
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[0]);
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[1]);
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[1]);
|
|
}
|
|
else
|
|
{
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b);
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (p.b->isinternal())
|
|
{
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[0]);
|
|
stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[1]);
|
|
}
|
|
else
|
|
{
|
|
callback->Process(p.a, p.b);
|
|
}
|
|
}
|
|
}
|
|
} while (depth);
|
|
}
|
|
}
|
|
|
|
void btCompoundCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
|
|
const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
|
|
|
|
btAssert(col0ObjWrap->getCollisionShape()->isCompound());
|
|
btAssert(col1ObjWrap->getCollisionShape()->isCompound());
|
|
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
|
|
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
|
|
|
|
const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
|
|
const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
|
|
if (!tree0 || !tree1)
|
|
{
|
|
return btCompoundCollisionAlgorithm::processCollision(body0Wrap, body1Wrap, dispatchInfo, resultOut);
|
|
}
|
|
///btCompoundShape might have changed:
|
|
////make sure the internal child collision algorithm caches are still valid
|
|
if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
|
|
{
|
|
///clear all
|
|
removeChildAlgorithms();
|
|
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
|
|
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
|
|
}
|
|
|
|
///we need to refresh all contact manifolds
|
|
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
|
|
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
|
|
{
|
|
int i;
|
|
btManifoldArray manifoldArray;
|
|
#ifdef USE_LOCAL_STACK
|
|
btPersistentManifold localManifolds[4];
|
|
manifoldArray.initializeFromBuffer(&localManifolds, 0, 4);
|
|
#endif
|
|
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
|
|
for (i = 0; i < pairs.size(); i++)
|
|
{
|
|
if (pairs[i].m_userPointer)
|
|
{
|
|
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
|
|
algo->getAllContactManifolds(manifoldArray);
|
|
for (int m = 0; m < manifoldArray.size(); m++)
|
|
{
|
|
if (manifoldArray[m]->getNumContacts())
|
|
{
|
|
resultOut->setPersistentManifold(manifoldArray[m]);
|
|
resultOut->refreshContactPoints();
|
|
resultOut->setPersistentManifold(0);
|
|
}
|
|
}
|
|
manifoldArray.resize(0);
|
|
}
|
|
}
|
|
}
|
|
|
|
btCompoundCompoundLeafCallback callback(col0ObjWrap, col1ObjWrap, this->m_dispatcher, dispatchInfo, resultOut, this->m_childCollisionAlgorithmCache, m_sharedManifold);
|
|
|
|
const btTransform xform = col0ObjWrap->getWorldTransform().inverse() * col1ObjWrap->getWorldTransform();
|
|
MycollideTT(tree0->m_root, tree1->m_root, xform, &callback, resultOut->m_closestPointDistanceThreshold);
|
|
|
|
//printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs);
|
|
|
|
//remove non-overlapping child pairs
|
|
|
|
{
|
|
btAssert(m_removePairs.size() == 0);
|
|
|
|
//iterate over all children, perform an AABB check inside ProcessChildShape
|
|
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
|
|
|
|
int i;
|
|
btManifoldArray manifoldArray;
|
|
|
|
btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
|
|
|
|
for (i = 0; i < pairs.size(); i++)
|
|
{
|
|
if (pairs[i].m_userPointer)
|
|
{
|
|
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
|
|
|
|
{
|
|
const btCollisionShape* childShape0 = 0;
|
|
|
|
btTransform newChildWorldTrans0;
|
|
childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
|
|
const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
|
|
newChildWorldTrans0 = col0ObjWrap->getWorldTransform() * childTrans0;
|
|
childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
|
|
}
|
|
btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
|
|
aabbMin0 -= thresholdVec;
|
|
aabbMax0 += thresholdVec;
|
|
{
|
|
const btCollisionShape* childShape1 = 0;
|
|
btTransform newChildWorldTrans1;
|
|
|
|
childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
|
|
const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
|
|
newChildWorldTrans1 = col1ObjWrap->getWorldTransform() * childTrans1;
|
|
childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
|
|
}
|
|
|
|
aabbMin1 -= thresholdVec;
|
|
aabbMax1 += thresholdVec;
|
|
|
|
if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
|
|
{
|
|
algo->~btCollisionAlgorithm();
|
|
m_dispatcher->freeCollisionAlgorithm(algo);
|
|
m_removePairs.push_back(btSimplePair(pairs[i].m_indexA, pairs[i].m_indexB));
|
|
}
|
|
}
|
|
}
|
|
for (int i = 0; i < m_removePairs.size(); i++)
|
|
{
|
|
m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA, m_removePairs[i].m_indexB);
|
|
}
|
|
m_removePairs.clear();
|
|
}
|
|
}
|
|
|
|
btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
btAssert(0);
|
|
return 0.f;
|
|
}
|