Remove Jamfiles and other unused files that stuck around during previous updates.
Add patches for local changes to the patches directory.
Update readme.txt, it had outdated infromation.
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
- src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
+ src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
+ src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btGhostObject.cpp
+ src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+ src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btUnionFind.cpp
+ src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
src/BulletCollision/CollisionShapes/btBoxShape.cpp
+ src/BulletCollision/CollisionShapes/btBox2dShape.cpp
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
src/BulletCollision/CollisionShapes/btCollisionShape.cpp
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
+ src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
src/BulletCollision/CollisionShapes/btConvexShape.cpp
+ src/BulletCollision/CollisionShapes/btConvex2dShape.cpp
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btCylinderShape.cpp
src/BulletCollision/CollisionShapes/btEmptyShape.cpp
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
- src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
+ src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
src/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
src/BulletCollision/Gimpact/btContactProcessing.cpp
+ src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
src/BulletCollision/Gimpact/btGImpactBvh.cpp
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
src/BulletCollision/Gimpact/btGImpactShape.cpp
- src/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
src/BulletCollision/Gimpact/btTriangleShapeEx.cpp
src/BulletCollision/Gimpact/gim_box_set.cpp
src/BulletCollision/Gimpact/gim_contact.cpp
src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
- src/BulletDynamics/Character/btKinematicCharacterController.cpp
+ src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.cpp
+
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+ src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
- src/BulletDynamics/Dynamics/Bullet-C-API.cpp
- src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
+ src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
src/BulletDynamics/Dynamics/btRigidBody.cpp
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
+ src/BulletDynamics/Dynamics/Bullet-C-API.cpp
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
src/BulletDynamics/Vehicle/btWheelInfo.cpp
- src/BulletSoftBody/btDefaultSoftBodySolver.cpp
+ src/BulletDynamics/Character/btKinematicCharacterController.cpp
+
src/BulletSoftBody/btSoftBody.cpp
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
src/BulletSoftBody/btSoftBodyHelpers.cpp
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp
+ src/BulletSoftBody/btDefaultSoftBodySolver.cpp
+
src/LinearMath/btAlignedAllocator.cpp
src/LinearMath/btConvexHull.cpp
+ src/LinearMath/btConvexHullComputer.cpp
src/LinearMath/btGeometryUtil.cpp
src/LinearMath/btQuickprof.cpp
src/LinearMath/btSerializer.cpp
- # UNUSED
- # src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
- # src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
- # src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
- # src/BulletCollision/CollisionShapes/btBox2dShape.cpp
- # src/BulletCollision/CollisionShapes/btConvex2dShape.cpp
- # src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
- # src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
-
- src/Bullet-C-Api.h
+
+
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
- src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+ src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+ src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btUnionFind.h
+ src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
src/BulletCollision/CollisionShapes/btBoxShape.h
+ src/BulletCollision/CollisionShapes/btBox2dShape.h
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
src/BulletCollision/CollisionShapes/btCapsuleShape.h
src/BulletCollision/CollisionShapes/btCollisionMargin.h
src/BulletCollision/CollisionShapes/btConvexHullShape.h
src/BulletCollision/CollisionShapes/btConvexInternalShape.h
src/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
+ src/BulletCollision/CollisionShapes/btConvexPolyhedron.h
src/BulletCollision/CollisionShapes/btConvexShape.h
+ src/BulletCollision/CollisionShapes/btConvex2dShape.h
src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
src/BulletCollision/CollisionShapes/btCylinderShape.h
src/BulletCollision/CollisionShapes/btEmptyShape.h
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
src/BulletCollision/CollisionShapes/btMaterial.h
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
- src/BulletCollision/CollisionShapes/btMultiSphereShape.h
src/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+ src/BulletCollision/CollisionShapes/btMultiSphereShape.h
src/BulletCollision/CollisionShapes/btOptimizedBvh.h
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
src/BulletCollision/Gimpact/btBoxCollision.h
src/BulletCollision/Gimpact/btClipPolygon.h
src/BulletCollision/Gimpact/btContactProcessing.h
+ src/BulletCollision/Gimpact/btGenericPoolAllocator.h
+ src/BulletCollision/Gimpact/btGeometryOperations.h
src/BulletCollision/Gimpact/btGImpactBvh.h
src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
src/BulletCollision/Gimpact/btGImpactMassUtil.h
src/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
src/BulletCollision/Gimpact/btGImpactShape.h
- src/BulletCollision/Gimpact/btGenericPoolAllocator.h
- src/BulletCollision/Gimpact/btGeometryOperations.h
src/BulletCollision/Gimpact/btQuantization.h
src/BulletCollision/Gimpact/btTriangleShapeEx.h
src/BulletCollision/Gimpact/gim_array.h
src/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h
src/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h
src/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h
- src/BulletDynamics/Character/btCharacterControllerInterface.h
- src/BulletDynamics/Character/btKinematicCharacterController.h
+ src/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h
+
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
src/BulletDynamics/ConstraintSolver/btContactConstraint.h
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+ src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
src/BulletDynamics/ConstraintSolver/btJacobianEntry.h
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
src/BulletDynamics/ConstraintSolver/btSolverBody.h
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
+ src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
src/BulletDynamics/Dynamics/btActionInterface.h
- src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
src/BulletDynamics/Dynamics/btDynamicsWorld.h
- src/BulletDynamics/Dynamics/btRigidBody.h
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h
+ src/BulletDynamics/Dynamics/btRigidBody.h
src/BulletDynamics/Vehicle/btRaycastVehicle.h
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
src/BulletDynamics/Vehicle/btWheelInfo.h
- src/BulletSoftBody/btDefaultSoftBodySolver.h
+ src/BulletDynamics/Character/btCharacterControllerInterface.h
+ src/BulletDynamics/Character/btKinematicCharacterController.h
+
src/BulletSoftBody/btSoftBody.h
- src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
src/BulletSoftBody/btSoftBodyData.h
+ src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
src/BulletSoftBody/btSoftBodyHelpers.h
- src/BulletSoftBody/btSoftBodyInternals.h
src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h
- src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
- src/BulletSoftBody/btSoftBodySolvers.h
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
src/BulletSoftBody/btSoftRigidDynamicsWorld.h
src/BulletSoftBody/btSoftSoftCollisionAlgorithm.h
src/BulletSoftBody/btSparseSDF.h
+ src/BulletSoftBody/btSoftBodySolvers.h
+ src/BulletSoftBody/btDefaultSoftBodySolver.h
+ src/BulletSoftBody/btSoftBodySolverVertexBuffer.h
+
src/LinearMath/btAabbUtil2.h
src/LinearMath/btAlignedAllocator.h
src/LinearMath/btAlignedObjectArray.h
src/LinearMath/btConvexHull.h
+ src/LinearMath/btConvexHullComputer.h
src/LinearMath/btDefaultMotionState.h
src/LinearMath/btGeometryUtil.h
+ src/LinearMath/btGrahamScan2dConvexHull.h
src/LinearMath/btHashMap.h
src/LinearMath/btIDebugDraw.h
src/LinearMath/btList.h
src/LinearMath/btMatrix3x3.h
src/LinearMath/btMinMax.h
src/LinearMath/btMotionState.h
- src/LinearMath/btPoint3.h
src/LinearMath/btPoolAllocator.h
src/LinearMath/btQuadWord.h
src/LinearMath/btQuaternion.h
src/LinearMath/btRandom.h
src/LinearMath/btScalar.h
src/LinearMath/btSerializer.h
- src/LinearMath/btSimdMinMax.h
src/LinearMath/btStackAlloc.h
src/LinearMath/btTransform.h
src/LinearMath/btTransformUtil.h
src/LinearMath/btVector3.h
+
+
src/btBulletCollisionCommon.h
src/btBulletDynamicsCommon.h
- # src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
- # src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
- # src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
- # src/BulletCollision/CollisionShapes/btBox2dShape.h
- # src/BulletCollision/CollisionShapes/btConvex2dShape.h
- # src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
- # src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
)
if(CMAKE_COMPILER_IS_GNUCXX)
--- /dev/null
+Index: extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
+===================================================================
+--- extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43904)
++++ extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43905)
+@@ -2780,21 +2780,23 @@
+ {
+ const RContact& c = psb->m_rcontacts[i];
+ const sCti& cti = c.m_cti;
+- btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
+
+- const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
+- const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
+- const btVector3 vr = vb-va;
+- const btScalar dn = btDot(vr, cti.m_normal);
+- if(dn<=SIMD_EPSILON)
+- {
+- const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
+- const btVector3 fv = vr - (cti.m_normal * dn);
+- // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
+- const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
+- c.m_node->m_x -= impulse * c.m_c2;
+- if (tmpRigid)
+- tmpRigid->applyImpulse(impulse,c.m_c1);
++ if (cti.m_colObj->hasContactResponse()) {
++ btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
++ const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
++ const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
++ const btVector3 vr = vb-va;
++ const btScalar dn = btDot(vr, cti.m_normal);
++ if(dn<=SIMD_EPSILON)
++ {
++ const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
++ const btVector3 fv = vr - (cti.m_normal * dn);
++ // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
++ const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
++ c.m_node->m_x -= impulse * c.m_c2;
++ if (tmpRigid)
++ tmpRigid->applyImpulse(impulse,c.m_c1);
++ }
+ }
+ }
+ }
--- /dev/null
+Index: extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
+===================================================================
+--- extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h (Revision 45907)
++++ extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h (Revision 45908)
+@@ -45,7 +45,9 @@
+ int getTriangleIndex() const
+ {
+ // Get only the lower bits where the triangle index is stored
+- return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
++ unsigned int x = 0;
++ unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
++ return (m_PartIdTriangleIndex&~(y));
+ }
+ int getPartId() const
+ {
+Index: extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+===================================================================
+--- extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h (Revision 45907)
++++ extern/bullet2/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h (Revision 45908)
+@@ -78,8 +78,10 @@
+ int getTriangleIndex() const
+ {
+ btAssert(isLeafNode());
++ unsigned int x=0;
++ unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
+ // Get only the lower bits where the triangle index is stored
+- return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
++ return (m_escapeIndexOrTriangleIndex&~(y));
+ }
+ int getPartId() const
+ {
-***
-Apply bullet_compound_raycast.patch if not already applied in Bullet source
-This patch is needed to return correct raycast results on compound shape.
-/ben
-
-
-*** These files in extern/bullet2 are NOT part of the Blender build yet ***
-
This is the new refactored version of Bullet physics library version 2.x
-Soon this will replace the old Bullet version in extern/bullet.
-First the integration in Blender Game Engine needs to be updated.
-Once that is done all build systems can be updated to use/build extern/bullet2 files.
-
Questions? mail blender at erwincoumans.com, or check the bf-blender mailing list.
Thanks,
Erwin
+Apply patches/ghost_softbody.patch to prevent softbodies being hit by ghost objects.
+Originally committed in blender svn revision: 43905.
+
+Apply patches/pvs_warning_fixes.patch to fix warnings reported by PVS-Studio.
+Originally committed in blender svn revision: 45908.
+
Apply patches/make_id.patch to prevent duplicated define of MAKE_ID macro in blender
side and bullet side.
Sergey
//
// 3. This notice may not be removed or altered from any source distribution.
-#ifndef AXIS_SWEEP_3_H
-#define AXIS_SWEEP_3_H
+#ifndef BT_AXIS_SWEEP_3_H
+#define BT_AXIS_SWEEP_3_H
#include "LinearMath/btVector3.h"
#include "btOverlappingPairCache.h"
/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
-/// It uses arrays rather than lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
+/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance.
class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
{
/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
/// This comes at the cost of more memory per handle, and a bit slower performance.
-/// It uses arrays rather than lists for storage of the 3 axis.
+/// It uses arrays rather then lists for storage of the 3 axis.
class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
{
public:
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BROADPHASE_INTERFACE_H
-#define BROADPHASE_INTERFACE_H
+#ifndef BT_BROADPHASE_INTERFACE_H
+#define BT_BROADPHASE_INTERFACE_H
};
-#endif //BROADPHASE_INTERFACE_H
+#endif //BT_BROADPHASE_INTERFACE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BROADPHASE_PROXY_H
-#define BROADPHASE_PROXY_H
+#ifndef BT_BROADPHASE_PROXY_H
+#define BT_BROADPHASE_PROXY_H
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
#include "LinearMath/btVector3.h"
{
public:
- bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
+ bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
{
const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
}
-#endif //BROADPHASE_PROXY_H
+#endif //BT_BROADPHASE_PROXY_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COLLISION_ALGORITHM_H
-#define COLLISION_ALGORITHM_H
+#ifndef BT_COLLISION_ALGORITHM_H
+#define BT_COLLISION_ALGORITHM_H
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
};
-#endif //COLLISION_ALGORITHM_H
+#endif //BT_COLLISION_ALGORITHM_H
btAlignedObjectArray<sStkNN> m_stkStack;
+ mutable btAlignedObjectArray<const btDbvtNode*> m_rayTestStack;
// Methods
int depth=1;
int treshold=DOUBLE_STACKSIZE-2;
- btAlignedObjectArray<const btDbvtNode*> stack;
+ btAlignedObjectArray<const btDbvtNode*>& stack = m_rayTestStack;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=root;
btVector3 bounds[2];
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef _DISPATCHER_H
-#define _DISPATCHER_H
-
+#ifndef BT_DISPATCHER_H
+#define BT_DISPATCHER_H
#include "LinearMath/btScalar.h"
class btCollisionAlgorithm;
class btPersistentManifold;
class btStackAlloc;
+class btPoolAllocator;
struct btDispatcherInfo
{
m_stepCount(0),
m_dispatchFunc(DISPATCH_DISCRETE),
m_timeOfImpact(btScalar(1.)),
- m_useContinuous(false),
+ m_useContinuous(true),
m_debugDraw(0),
m_enableSatConvex(false),
m_enableSPU(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
- m_convexMaxDistanceUseCPT(false),
m_stackAllocator(0)
{
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
- bool m_convexMaxDistanceUseCPT;
btStackAlloc* m_stackAllocator;
};
virtual btPersistentManifold** getInternalManifoldPointer() = 0;
+ virtual btPoolAllocator* getInternalManifoldPool() = 0;
+
+ virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
+
virtual void* allocateCollisionAlgorithm(int size) = 0;
virtual void freeCollisionAlgorithm(void* ptr) = 0;
};
-#endif //_DISPATCHER_H
+#endif //BT_DISPATCHER_H
{
public:
- bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
+ bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const
{
btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef OVERLAPPING_PAIR_CACHE_H
-#define OVERLAPPING_PAIR_CACHE_H
+#ifndef BT_OVERLAPPING_PAIR_CACHE_H
+#define BT_OVERLAPPING_PAIR_CACHE_H
#include "btBroadphaseInterface.h"
};
-#endif //OVERLAPPING_PAIR_CACHE_H
+#endif //BT_OVERLAPPING_PAIR_CACHE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef QUANTIZED_BVH_H
-#define QUANTIZED_BVH_H
+#ifndef BT_QUANTIZED_BVH_H
+#define BT_QUANTIZED_BVH_H
class btSerializer;
//for child nodes
int m_subPart;
int m_triangleIndex;
- int m_padding[5];//bad, due to alignment
-
+//pad the size to 64 bytes
+ char m_padding[20];
};
///***************************************** expert/internal use only *************************
- void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.5));
+ void setQuantizationValues(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,btScalar quantizationMargin=btScalar(1.0));
QuantizedNodeArray& getLeafNodeArray() { return m_quantizedLeafNodes; }
///buildInternal is expert use only: assumes that setQuantizationValues and LeafNodeArray are initialized
void buildInternal();
-#endif //QUANTIZED_BVH_H
+#endif //BT_QUANTIZED_BVH_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SIMPLE_BROADPHASE_H
-#define SIMPLE_BROADPHASE_H
+#ifndef BT_SIMPLE_BROADPHASE_H
+#define BT_SIMPLE_BROADPHASE_H
#include "btOverlappingPairCache.h"
-#endif //SIMPLE_BROADPHASE_H
+#endif //BT_SIMPLE_BROADPHASE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SPHERE_TRIANGLE_DETECTOR_H
-#define SPHERE_TRIANGLE_DETECTOR_H
+#ifndef BT_SPHERE_TRIANGLE_DETECTOR_H
+#define BT_SPHERE_TRIANGLE_DETECTOR_H
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
btScalar m_contactBreakingThreshold;
};
-#endif //SPHERE_TRIANGLE_DETECTOR_H
+#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
-#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#ifndef BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
};
-#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BOX_BOX__COLLISION_ALGORITHM_H
-#define BOX_BOX__COLLISION_ALGORITHM_H
+#ifndef BT_BOX_BOX__COLLISION_ALGORITHM_H
+#define BT_BOX_BOX__COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
};
-#endif //BOX_BOX__COLLISION_ALGORITHM_H
+#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H
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.
*/
-#ifndef BOX_BOX_DETECTOR_H
-#define BOX_BOX_DETECTOR_H
+#ifndef BT_BOX_BOX_DETECTOR_H
+#define BT_BOX_BOX_DETECTOR_H
class btBoxShape;
#ifndef BT_COLLISION_CONFIGURATION
#define BT_COLLISION_CONFIGURATION
+
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COLLISION_CREATE_FUNC
-#define COLLISION_CREATE_FUNC
+#ifndef BT_COLLISION_CREATE_FUNC
+#define BT_COLLISION_CREATE_FUNC
#include "LinearMath/btAlignedObjectArray.h"
class btCollisionAlgorithm;
return 0;
}
};
-#endif //COLLISION_CREATE_FUNC
+#endif //BT_COLLISION_CREATE_FUNC
mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
} else
{
- mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
-
+ //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
+ if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
+ {
+ mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
+ } else
+ {
+ btAssert(0);
+ //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
+ return 0;
+ }
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();
if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
- if ((body0->isStaticObject() || body0->isKinematicObject()) &&
- (body1->isStaticObject() || body1->isKinematicObject()))
+ if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
{
m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COLLISION__DISPATCHER_H
-#define COLLISION__DISPATCHER_H
+#ifndef BT_COLLISION__DISPATCHER_H
+#define BT_COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
- CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2
+ CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
+ CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
};
int getDispatcherFlags() const
btPersistentManifold** getInternalManifoldPointer()
{
- return &m_manifoldsPtr[0];
+ return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
}
btPersistentManifold* getManifoldByIndexInternal(int index)
m_collisionConfiguration = config;
}
+ virtual btPoolAllocator* getInternalManifoldPool()
+ {
+ return m_persistentManifoldPoolAllocator;
+ }
+
+ virtual const btPoolAllocator* getInternalManifoldPool() const
+ {
+ return m_persistentManifoldPoolAllocator;
+ }
+
};
-#endif //COLLISION__DISPATCHER_H
+#endif //BT_COLLISION__DISPATCHER_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COLLISION_OBJECT_H
-#define COLLISION_OBJECT_H
+#ifndef BT_COLLISION_OBJECT_H
+#define BT_COLLISION_OBJECT_H
#include "LinearMath/btTransform.h"
-#endif //COLLISION_OBJECT_H
+#endif //BT_COLLISION_OBJECT_H
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
+#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
minAabb -= contactThreshold;
maxAabb += contactThreshold;
- if(getDispatchInfo().m_convexMaxDistanceUseCPT)
+ if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
{
btVector3 minAabb2,maxAabb2;
colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
} else
{
- //BT_PROFILE("convexSweepConcave");
- btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
- btTransform worldTocollisionObject = colObjWorldTransform.inverse();
- btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
- btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
- // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
- btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
-
- //ConvexCast::CastResult
- struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
+ if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
- btCollisionWorld::ConvexResultCallback* m_resultCallback;
- btCollisionObject* m_collisionObject;
- btConcaveShape* m_triangleMesh;
-
- BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
- btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
- btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
- m_resultCallback(resultCallback),
- m_collisionObject(collisionObject),
- m_triangleMesh(triangleMesh)
+ btConvexCast::CastResult castResult;
+ castResult.m_allowedPenetration = allowedPenetration;
+ castResult.m_fraction = resultCallback.m_closestHitFraction;
+ btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;
+ btContinuousConvexCollision convexCaster1(castShape,planeShape);
+ btConvexCast* castPtr = &convexCaster1;
+
+ if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
+ //add hit
+ if (castResult.m_normal.length2() > btScalar(0.0001))
+ {
+ if (castResult.m_fraction < resultCallback.m_closestHitFraction)
+ {
+ castResult.m_normal.normalize();
+ btCollisionWorld::LocalConvexResult localConvexResult
+ (
+ collisionObject,
+ 0,
+ castResult.m_normal,
+ castResult.m_hitPoint,
+ castResult.m_fraction
+ );
+
+ bool normalInWorldSpace = true;
+ resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
+ }
+ }
}
-
- virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
+ } else
+ {
+ //BT_PROFILE("convexSweepConcave");
+ btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
+ btTransform worldTocollisionObject = colObjWorldTransform.inverse();
+ btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
+ btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
+ // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
+ btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
+
+ //ConvexCast::CastResult
+ struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
{
- btCollisionWorld::LocalShapeInfo shapeInfo;
- shapeInfo.m_shapePart = partId;
- shapeInfo.m_triangleIndex = triangleIndex;
- if (hitFraction <= m_resultCallback->m_closestHitFraction)
+ btCollisionWorld::ConvexResultCallback* m_resultCallback;
+ btCollisionObject* m_collisionObject;
+ btConcaveShape* m_triangleMesh;
+
+ BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,
+ btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape* triangleMesh, const btTransform& triangleToWorld):
+ btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),
+ m_resultCallback(resultCallback),
+ m_collisionObject(collisionObject),
+ m_triangleMesh(triangleMesh)
{
+ }
- btCollisionWorld::LocalConvexResult convexResult
- (m_collisionObject,
- &shapeInfo,
- hitNormalLocal,
- hitPointLocal,
- hitFraction);
- bool normalInWorldSpace = false;
+ virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )
+ {
+ btCollisionWorld::LocalShapeInfo shapeInfo;
+ shapeInfo.m_shapePart = partId;
+ shapeInfo.m_triangleIndex = triangleIndex;
+ if (hitFraction <= m_resultCallback->m_closestHitFraction)
+ {
- return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
- }
- return hitFraction;
- }
+ btCollisionWorld::LocalConvexResult convexResult
+ (m_collisionObject,
+ &shapeInfo,
+ hitNormalLocal,
+ hitPointLocal,
+ hitFraction);
- };
+ bool normalInWorldSpace = false;
- BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
- tccb.m_hitFraction = resultCallback.m_closestHitFraction;
- tccb.m_allowedPenetration = allowedPenetration;
- btVector3 boxMinLocal, boxMaxLocal;
- castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
+ return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
+ }
+ return hitFraction;
+ }
+
+ };
- btVector3 rayAabbMinLocal = convexFromLocal;
- rayAabbMinLocal.setMin(convexToLocal);
- btVector3 rayAabbMaxLocal = convexFromLocal;
- rayAabbMaxLocal.setMax(convexToLocal);
- rayAabbMinLocal += boxMinLocal;
- rayAabbMaxLocal += boxMaxLocal;
- concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
+ BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);
+ tccb.m_hitFraction = resultCallback.m_closestHitFraction;
+ tccb.m_allowedPenetration = allowedPenetration;
+ btVector3 boxMinLocal, boxMaxLocal;
+ castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
+
+ btVector3 rayAabbMinLocal = convexFromLocal;
+ rayAabbMinLocal.setMin(convexToLocal);
+ btVector3 rayAabbMaxLocal = convexFromLocal;
+ rayAabbMaxLocal.setMax(convexToLocal);
+ rayAabbMinLocal += boxMinLocal;
+ rayAabbMaxLocal += boxMaxLocal;
+ concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);
+ }
}
} else {
///@todo : use AABB tree or other BVH acceleration structure!
wv1 = m_worldTrans*triangle[1];
wv2 = m_worldTrans*triangle[2];
btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);
-
- btVector3 normal = (wv1-wv0).cross(wv2-wv0);
- normal.normalize();
- btVector3 normalColor(1,1,0);
- m_debugDrawer->drawLine(center,center+normal,normalColor);
-
-
-
-
+
+ if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )
+ {
+ btVector3 normal = (wv1-wv0).cross(wv2-wv0);
+ normal.normalize();
+ btVector3 normalColor(1,1,0);
+ m_debugDrawer->drawLine(center,center+normal,normalColor);
+ }
m_debugDrawer->drawLine(wv0,wv1,m_color);
m_debugDrawer->drawLine(wv1,wv2,m_color);
m_debugDrawer->drawLine(wv2,wv0,m_color);
} else
{
- switch (shape->getShapeType())
- {
- case BOX_SHAPE_PROXYTYPE:
- {
- const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
- btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
- getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
- break;
- }
+ /// for polyhedral shapes
+ if (shape->isPolyhedral())
+ {
+ btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
- case SPHERE_SHAPE_PROXYTYPE:
+ int i;
+ if (polyshape->getConvexPolyhedron())
{
- const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
- btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
+ const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
+ for (i=0;i<poly->m_faces.size();i++)
+ {
+ btVector3 centroid(0,0,0);
+ int numVerts = poly->m_faces[i].m_indices.size();
+ if (numVerts)
+ {
+ int lastV = poly->m_faces[i].m_indices[numVerts-1];
+ for (int v=0;v<poly->m_faces[i].m_indices.size();v++)
+ {
+ int curVert = poly->m_faces[i].m_indices[v];
+ centroid+=poly->m_vertices[curVert];
+ getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);
+ lastV = curVert;
+ }
+ }
+ centroid*= btScalar(1.f)/btScalar(numVerts);
+ if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
+ {
+ btVector3 normalColor(1,1,0);
+ btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);
+ getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);
+ }
+
+ }
- getDebugDrawer()->drawSphere(radius, worldTransform, color);
- break;
- }
- case MULTI_SPHERE_SHAPE_PROXYTYPE:
+
+ } else
{
- const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
-
- btTransform childTransform;
- childTransform.setIdentity();
-
- for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+ for (i=0;i<polyshape->getNumEdges();i++)
{
- childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
- getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
+ btVector3 a,b;
+ polyshape->getEdge(i,a,b);
+ btVector3 wa = worldTransform * a;
+ btVector3 wb = worldTransform * b;
+ getDebugDrawer()->drawLine(wa,wb,color);
}
-
- break;
}
- case CAPSULE_SHAPE_PROXYTYPE:
- {
- const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
- btScalar radius = capsuleShape->getRadius();
- btScalar halfHeight = capsuleShape->getHalfHeight();
- int upAxis = capsuleShape->getUpAxis();
- getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
- break;
- }
- case CONE_SHAPE_PROXYTYPE:
+ }
+ else
+ {
+ switch (shape->getShapeType())
{
- const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
- btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
- btScalar height = coneShape->getHeight();//+coneShape->getMargin();
- int upAxis= coneShape->getConeUpIndex();
- getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
- break;
+ case BOX_SHAPE_PROXYTYPE:
+ {
+ const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
+ btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
+ getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);
+ break;
+ }
- }
- case CYLINDER_SHAPE_PROXYTYPE:
- {
- const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
- int upAxis = cylinder->getUpAxis();
- btScalar radius = cylinder->getRadius();
- btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
- getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
- break;
- }
+ case SPHERE_SHAPE_PROXYTYPE:
+ {
+ const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
+ btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin
- case STATIC_PLANE_PROXYTYPE:
- {
- const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
- btScalar planeConst = staticPlaneShape->getPlaneConstant();
- const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
- getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
- break;
+ getDebugDrawer()->drawSphere(radius, worldTransform, color);
+ break;
+ }
+ case MULTI_SPHERE_SHAPE_PROXYTYPE:
+ {
+ const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
- }
- default:
- {
+ btTransform childTransform;
+ childTransform.setIdentity();
- if (shape->isConcave())
- {
- btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+ for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)
+ {
+ childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
+ getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);
+ }
- ///@todo pass camera, for some culling? no -> we are not a graphics lib
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ break;
+ }
+ case CAPSULE_SHAPE_PROXYTYPE:
+ {
+ const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
- DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
- concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
+ btScalar radius = capsuleShape->getRadius();
+ btScalar halfHeight = capsuleShape->getHalfHeight();
+ int upAxis = capsuleShape->getUpAxis();
+ getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
+ break;
}
+ case CONE_SHAPE_PROXYTYPE:
+ {
+ const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
+ btScalar radius = coneShape->getRadius();//+coneShape->getMargin();
+ btScalar height = coneShape->getHeight();//+coneShape->getMargin();
- if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+ int upAxis= coneShape->getConeUpIndex();
+ getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
+ break;
+
+ }
+ case CYLINDER_SHAPE_PROXYTYPE:
{
- btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
- //todo: pass camera for some culling
- btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
- btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
- //DebugDrawcallback drawCallback;
- DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
- convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+ const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
+ int upAxis = cylinder->getUpAxis();
+ btScalar radius = cylinder->getRadius();
+ btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
+ getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
+ break;
}
+ case STATIC_PLANE_PROXYTYPE:
+ {
+ const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
+ btScalar planeConst = staticPlaneShape->getPlaneConstant();
+ const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
+ getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);
+ break;
- /// for polyhedral shapes
- if (shape->isPolyhedral())
+ }
+ default:
{
- btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;
- int i;
- for (i=0;i<polyshape->getNumEdges();i++)
+ if (shape->isConcave())
{
- btVector3 a,b;
- polyshape->getEdge(i,a,b);
- btVector3 wa = worldTransform * a;
- btVector3 wb = worldTransform * b;
- getDebugDrawer()->drawLine(wa,wb,color);
+ btConcaveShape* concaveMesh = (btConcaveShape*) shape;
+
+ ///@todo pass camera, for some culling? no -> we are not a graphics lib
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+
+ DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+ concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);
}
+ if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)
+ {
+ btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;
+ //todo: pass camera for some culling
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
+ btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
+ //DebugDrawcallback drawCallback;
+ DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);
+ convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);
+ }
+
+
}
}
}
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
{
int numManifolds = getDispatcher()->getNumManifolds();
- btVector3 color(0,0,0);
+ btVector3 color(1,0.65,0);
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
}
}
- if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb))
+ if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))
{
int i;
btCollisionObject* colObj = m_collisionObjects[i];
if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)
{
- if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe)
+ if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
{
btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));
switch(colObj->getActivationState())
btVector3 minAabb2,maxAabb2;
- colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
- minAabb2 -= contactThreshold;
- maxAabb2 += contactThreshold;
-
- minAabb.setMin(minAabb2);
- maxAabb.setMax(maxAabb2);
+ if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
+ {
+ colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);
+ minAabb2 -= contactThreshold;
+ maxAabb2 += contactThreshold;
+ minAabb.setMin(minAabb2);
+ maxAabb.setMax(maxAabb2);
+ }
m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);
}
-#ifndef COLLISION_WORLD_H
-#define COLLISION_WORLD_H
+#ifndef BT_COLLISION_WORLD_H
+#define BT_COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
};
-#endif //COLLISION_WORLD_H
+#endif //BT_COLLISION_WORLD_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COMPOUND_COLLISION_ALGORITHM_H
-#define COMPOUND_COLLISION_ALGORITHM_H
+#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
+#define BT_COMPOUND_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
};
-#endif //COMPOUND_COLLISION_ALGORITHM_H
+#endif //BT_COMPOUND_COLLISION_ALGORITHM_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H
-#define CONVEX_2D_CONVEX_2D_ALGORITHM_H
+#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
+#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
};
-#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H
+#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
-
+#if 0
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
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);
-
- //btVector3 center = triangle[0] + triangle[1]+triangle[2];
- //center *= btScalar(0.333333);
- //m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
- //m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
- //m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
-
}
-
-
- //btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
+#endif
if (m_convexBody->getCollisionShape()->isConvex())
{
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( &tm );
-
+
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
if (m_resultOut->getBody0Internal() == m_triBody)
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
-#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
};
-#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
+#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
///with reproduction case
//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
+//#define ZERO_MARGIN
#include "btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
+#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-
+#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
///////////
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
+
+
#ifdef USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
} else
#endif //USE_SEPDISTANCE_UTIL2
{
- if (dispatchInfo.m_convexMaxDistanceUseCPT)
- {
- input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
- } else
- {
- input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
- }
+ //if (dispatchInfo.m_convexMaxDistanceUseCPT)
+ //{
+ // input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
+ //} else
+ //{
+ input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
+// }
+
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
- gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
}
#endif //USE_SEPDISTANCE_UTIL2
+ if (min0->isPolyhedral() && min1->isPolyhedral())
+ {
+
+
+ struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
+ {
+ virtual void setShapeIdentifiersA(int partId0,int index0){}
+ virtual void setShapeIdentifiersB(int partId1,int index1){}
+ virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+ {
+ }
+ };
+
+ btDummyResult dummy;
+
+
+ btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
+ btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
+ if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
+ {
+
+
+
+
+ btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+
+ btScalar minDist = -1e30f;
+ btVector3 sepNormalWorldSpace;
+ bool foundSepAxis = true;
+
+ if (dispatchInfo.m_enableSatConvex)
+ {
+ foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
+ *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+ body0->getWorldTransform(),
+ body1->getWorldTransform(),
+ sepNormalWorldSpace);
+ } else
+ {
+#ifdef ZERO_MARGIN
+ gjkPairDetector.setIgnoreMargin(true);
+ gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+#else
+ //gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+ gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+#endif //ZERO_MARGIN
+ btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
+ if (l2>SIMD_EPSILON)
+ {
+ sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
+ //minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
+ minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
+
+#ifdef ZERO_MARGIN
+ foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
+#else
+ foundSepAxis = gjkPairDetector.getCachedSeparatingDistance()<(min0->getMargin()+min1->getMargin());
+#endif
+ }
+ }
+ if (foundSepAxis)
+ {
+// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
+
+ btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+ body0->getWorldTransform(),
+ body1->getWorldTransform(), minDist-threshold, threshold, *resultOut);
+
+ }
+ if (m_ownManifold)
+ {
+ resultOut->refreshContactPoints();
+ }
+ return;
+
+ } else
+ {
+ //we can also deal with convex versus triangle (without connectivity data)
+ if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
+ {
+
+ btVertexArray vertices;
+ btTriangleShape* tri = (btTriangleShape*)polyhedronB;
+ vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[0]);
+ vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[1]);
+ vertices.push_back( body1->getWorldTransform()*tri->m_vertices1[2]);
+
+ //tri->initializePolyhedralFeatures();
+
+ btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
+
+ btVector3 sepNormalWorldSpace;
+ btScalar minDist =-1e30f;
+ btScalar maxDist = threshold;
+
+ bool foundSepAxis = false;
+ if (0)
+ {
+ polyhedronB->initializePolyhedralFeatures();
+ foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
+ *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+ body0->getWorldTransform(),
+ body1->getWorldTransform(),
+ sepNormalWorldSpace);
+ // printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
+
+ } else
+ {
+#ifdef ZERO_MARGIN
+ gjkPairDetector.setIgnoreMargin(true);
+ gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+#else
+ gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
+#endif//ZERO_MARGIN
+
+ btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
+ if (l2>SIMD_EPSILON)
+ {
+ sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
+ //minDist = gjkPairDetector.getCachedSeparatingDistance();
+ //maxDist = threshold;
+ minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
+ foundSepAxis = true;
+ }
+ }
+
+
+ if (foundSepAxis)
+ {
+ btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
+ body0->getWorldTransform(), vertices, minDist-threshold, maxDist, *resultOut);
+ }
+
+
+ if (m_ownManifold)
+ {
+ resultOut->refreshContactPoints();
+ }
+
+ return;
+ }
+
+ }
+
+
+ }
+
+ gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
int i;
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
+ btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
- sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
- btPlaneSpace1(sepNormalWorldSpace,v0,v1);
-
-
- bool perturbeA = true;
- const btScalar angleLimit = 0.125f * SIMD_PI;
- btScalar perturbeAngle;
- btScalar radiusA = min0->getAngularMotionDisc();
- btScalar radiusB = min1->getAngularMotionDisc();
- if (radiusA < radiusB)
- {
- perturbeAngle = gContactBreakingThreshold /radiusA;
- perturbeA = true;
- } else
+ if (l2>SIMD_EPSILON)
{
- perturbeAngle = gContactBreakingThreshold / radiusB;
- perturbeA = false;
- }
- if ( perturbeAngle > angleLimit )
- perturbeAngle = angleLimit;
+ sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
+
+ btPlaneSpace1(sepNormalWorldSpace,v0,v1);
- btTransform unPerturbedTransform;
- if (perturbeA)
- {
- unPerturbedTransform = input.m_transformA;
- } else
- {
- unPerturbedTransform = input.m_transformB;
- }
-
- for ( i=0;i<m_numPerturbationIterations;i++)
- {
- if (v0.length2()>SIMD_EPSILON)
+
+ bool perturbeA = true;
+ const btScalar angleLimit = 0.125f * SIMD_PI;
+ btScalar perturbeAngle;
+ btScalar radiusA = min0->getAngularMotionDisc();
+ btScalar radiusB = min1->getAngularMotionDisc();
+ if (radiusA < radiusB)
{
- btQuaternion perturbeRot(v0,perturbeAngle);
- btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
- btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
-
-
+ perturbeAngle = gContactBreakingThreshold /radiusA;
+ perturbeA = true;
+ } else
+ {
+ perturbeAngle = gContactBreakingThreshold / radiusB;
+ perturbeA = false;
+ }
+ if ( perturbeAngle > angleLimit )
+ perturbeAngle = angleLimit;
+
+ btTransform unPerturbedTransform;
if (perturbeA)
{
- input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
- input.m_transformB = body1->getWorldTransform();
-#ifdef DEBUG_CONTACTS
- dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
-#endif //DEBUG_CONTACTS
+ unPerturbedTransform = input.m_transformA;
} else
{
- input.m_transformA = body0->getWorldTransform();
- input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
-#ifdef DEBUG_CONTACTS
- dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
-#endif
+ unPerturbedTransform = input.m_transformB;
}
- btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
- gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
+ for ( i=0;i<m_numPerturbationIterations;i++)
+ {
+ if (v0.length2()>SIMD_EPSILON)
+ {
+ btQuaternion perturbeRot(v0,perturbeAngle);
+ btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
+ btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
+
+
+ if (perturbeA)
+ {
+ input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
+ input.m_transformB = body1->getWorldTransform();
+ #ifdef DEBUG_CONTACTS
+ dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
+ #endif //DEBUG_CONTACTS
+ } else
+ {
+ input.m_transformA = body0->getWorldTransform();
+ input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
+ #ifdef DEBUG_CONTACTS
+ dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
+ #endif
+ }
+
+ btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
+ gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
+ }
}
-
}
}
{
(void)resultOut;
(void)dispatchInfo;
- ///rather than checking ALL pairs, only calculate TOI when motion exceeds threshold
+ ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
///col0->m_worldTransform,
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONVEX_CONVEX_ALGORITHM_H
-#define CONVEX_CONVEX_ALGORITHM_H
+#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
+#define BT_CONVEX_CONVEX_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
};
-#endif //CONVEX_CONVEX_ALGORITHM_H
+#endif //BT_CONVEX_CONVEX_ALGORITHM_H
if (!m_manifoldPtr)
return;
- btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+ btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
-
+ bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
- //const btScalar& planeConstant = planeShape->getPlaneConstant();
+ const btScalar& planeConstant = planeShape->getPlaneConstant();
+ btTransform planeInConvex;
+ planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
+ btTransform convexInPlaneTrans;
+ convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+
+ btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+ btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+ btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+ btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+ btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
- //first perform a collision query with the non-perturbated collision objects
+ hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
+ resultOut->setPersistentManifold(m_manifoldPtr);
+ if (hasCollision)
{
- btQuaternion rotq(0,0,0,1);
- collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
+ /// report a contact. internally this will be kept persistent, and contact reduction is done
+ btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
+ btVector3 pOnB = vtxInPlaneWorld;
+ resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
- if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
+ //the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
+ //they keep on rolling forever because of the additional off-center contact points
+ //so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
+ if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
{
btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1);
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
-#define CONVEX_PLANE_COLLISION_ALGORITHM_H
+#ifndef BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
+#define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
CreateFunc()
: m_numPerturbationIterations(1),
- m_minimumPointsPerturbationThreshold(1)
+ m_minimumPointsPerturbationThreshold(0)
{
}
};
-#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
+#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
convexConvex->m_numPerturbationIterations = numPerturbationIterations;
convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
+
+void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
+{
+ btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF;
+ cpCF->m_numPerturbationIterations = numPerturbationIterations;
+ cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
+
+ btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
+ pcCF->m_numPerturbationIterations = numPerturbationIterations;
+ pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
+}
///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
+ void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
+
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef EMPTY_ALGORITH
-#define EMPTY_ALGORITH
+#ifndef BT_EMPTY_ALGORITH
+#define BT_EMPTY_ALGORITH
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
} ATTRIBUTE_ALIGNED(16);
-#endif //EMPTY_ALGORITH
+#endif //BT_EMPTY_ALGORITH
#include "btInternalEdgeUtility.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
//#define DEBUG_INTERNAL_EDGE
-
#ifdef DEBUG_INTERNAL_EDGE
#include <stdio.h>
#endif //DEBUG_INTERNAL_EDGE
if (colObj0->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
- btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
- btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
+ btBvhTriangleMeshShape* trimesh = 0;
+
+ if( colObj0->getRootCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
+ trimesh = ((btScaledBvhTriangleMeshShape*)colObj0->getRootCollisionShape())->getChildShape();
+ else
+ trimesh = (btBvhTriangleMeshShape*)colObj0->getRootCollisionShape();
+
+ btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
btVector3 localContactNormalOnB = colObj0->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
-
- if ((info->m_edgeV0V1Angle)< SIMD_2_PI)
+
+ // Get closest edge
+ int bestedge=-1;
+ btScalar disttobestedge=BT_LARGE_FLOAT;
+ //
+ // Edge 0 -> 1
+ if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+ {
+ btVector3 nearest;
+ btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
+ btScalar len=(contact-nearest).length();
+ //
+ if( len < disttobestedge )
+ {
+ bestedge=0;
+ disttobestedge=len;
+ }
+ }
+ // Edge 1 -> 2
+ if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+ {
+ btVector3 nearest;
+ btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
+ btScalar len=(contact-nearest).length();
+ //
+ if( len < disttobestedge )
+ {
+ bestedge=1;
+ disttobestedge=len;
+ }
+ }
+ // Edge 2 -> 0
+ if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
+ {
+ btVector3 nearest;
+ btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
+ btScalar len=(contact-nearest).length();
+ //
+ if( len < disttobestedge )
+ {
+ bestedge=2;
+ disttobestedge=len;
+ }
+ }
+
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
+ btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
+#endif
+ if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+ if( bestedge==0 )
{
btVector3 edge(v0-v1);
isNearEdge = true;
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
- if ((info->m_edgeV1V2Angle)< SIMD_2_PI)
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green );
+#endif
+
+ if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+ if( bestedge==1 )
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
+#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
+ btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
+#endif
- if ((info->m_edgeV2V0Angle)< SIMD_2_PI)
+ if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
+ if( bestedge==2 )
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis()*tri_normal;
} else
{
+ btVector3 newNormal = tri_normal *frontFacing;
+ //if the tri_normal is pointing opposite direction as the current local contact normal, skip it
+ btScalar d = newNormal.dot(localContactNormalOnB) ;
+ if (d< 0)
+ {
+ return;
+ }
//modify the normal to be the triangle normal (or backfacing normal)
- cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *(tri_normal *frontFacing);
+ cp.m_normalWorldOnB = colObj0->getWorldTransform().getBasis() *newNormal;
}
-
-
+
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0->getWorldTransform().invXform(cp.m_positionWorldOnB);
btAssert(m_manifoldPtr);
//order in manifold needs to match
-// if (depth > m_manifoldPtr->getContactBreakingThreshold())
- if (depth > m_manifoldPtr->getContactProcessingThreshold())
+ if (depth > m_manifoldPtr->getContactBreakingThreshold())
+// if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
*/
-#ifndef MANIFOLD_RESULT_H
-#define MANIFOLD_RESULT_H
+#ifndef BT_MANIFOLD_RESULT_H
+#define BT_MANIFOLD_RESULT_H
class btCollisionObject;
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
};
-#endif //MANIFOLD_RESULT_H
+#endif //BT_MANIFOLD_RESULT_H
{
btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
+ if (numOverlappingPairs)
+ {
btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
for (int i=0;i<numOverlappingPairs;i++)
(colObj1)->getIslandTag());
}
}
+ }
}
}
{
public:
- SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
+ SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) const
{
return getIslandId(lhs) < getIslandId(rhs);
}
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
- colObj1->activate();
+ if (colObj0->hasContactResponse())
+ colObj1->activate();
}
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
- colObj0->activate();
+ if (colObj1->hasContactResponse())
+ colObj0->activate();
}
if(m_splitIslands)
{
{
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
int maxNumManifolds = dispatcher->getNumManifolds();
- callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
+ callback->processIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
}
else
{
int numManifolds = int (m_islandmanifold.size());
- //we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
+ //tried a radix sort, but quicksort/heapsort seems still faster
+ //@todo rewrite island management
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+ //m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
if (!islandSleeping)
{
- callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
+ callback->processIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SIMULATION_ISLAND_MANAGER_H
-#define SIMULATION_ISLAND_MANAGER_H
+#ifndef BT_SIMULATION_ISLAND_MANAGER_H
+#define BT_SIMULATION_ISLAND_MANAGER_H
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
#include "btCollisionCreateFunc.h"
{
virtual ~IslandCallback() {};
- virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
+ virtual void processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
};
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
};
-#endif //SIMULATION_ISLAND_MANAGER_H
+#endif //BT_SIMULATION_ISLAND_MANAGER_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
-#define SPHERE_BOX_COLLISION_ALGORITHM_H
+#ifndef BT_SPHERE_BOX_COLLISION_ALGORITHM_H
+#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
};
-#endif //SPHERE_BOX_COLLISION_ALGORITHM_H
+#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
-#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
+#ifndef BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
+#define BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
};
-#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H
+#endif //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
-#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+#ifndef BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+#define BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
};
-#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
+#endif //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
{
public:
- bool operator() ( const btElement& lhs, const btElement& rhs )
+ bool operator() ( const btElement& lhs, const btElement& rhs ) const
{
return lhs.m_id < rhs.m_id;
}
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef UNION_FIND_H
-#define UNION_FIND_H
+#ifndef BT_UNION_FIND_H
+#define BT_UNION_FIND_H
#include "LinearMath/btAlignedObjectArray.h"
};
-#endif //UNION_FIND_H
+#endif //BT_UNION_FIND_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef OBB_BOX_2D_SHAPE_H
-#define OBB_BOX_2D_SHAPE_H
+#ifndef BT_OBB_BOX_2D_SHAPE_H
+#define BT_OBB_BOX_2D_SHAPE_H
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
}
+ ///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
btBox2dShape( const btVector3& boxHalfExtents)
: btPolyhedralConvexShape(),
m_centroid(0,0,0)
m_normals[2].setValue(0,1,0);
m_normals[3].setValue(-1,0,0);
+ btScalar minDimension = boxHalfExtents.getX();
+ if (minDimension>boxHalfExtents.getY())
+ minDimension = boxHalfExtents.getY();
+ setSafeMargin(minDimension);
+
m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
-#endif //OBB_BOX_2D_SHAPE_H
+#endif //BT_OBB_BOX_2D_SHAPE_H
*/
#include "btBoxShape.h"
+btBoxShape::btBoxShape( const btVector3& boxHalfExtents)
+: btPolyhedralConvexShape()
+{
+ m_shapeType = BOX_SHAPE_PROXYTYPE;
+
+ setSafeMargin(boxHalfExtents);
+
+ btVector3 margin(getMargin(),getMargin(),getMargin());
+ m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
+};
+
-//{
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef OBB_BOX_MINKOWSKI_H
-#define OBB_BOX_MINKOWSKI_H
+#ifndef BT_OBB_BOX_MINKOWSKI_H
+#define BT_OBB_BOX_MINKOWSKI_H
#include "btPolyhedralConvexShape.h"
#include "btCollisionMargin.h"
}
- btBoxShape( const btVector3& boxHalfExtents)
- : btPolyhedralConvexShape()
- {
- m_shapeType = BOX_SHAPE_PROXYTYPE;
- btVector3 margin(getMargin(),getMargin(),getMargin());
- m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
- };
+ btBoxShape( const btVector3& boxHalfExtents);
virtual void setMargin(btScalar collisionMargin)
{
virtual void getVertex(int i,btVector3& vtx) const
{
- btVector3 halfExtents = getHalfExtentsWithoutMargin();
+ btVector3 halfExtents = getHalfExtentsWithMargin();
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
};
-#endif //OBB_BOX_MINKOWSKI_H
+#endif //BT_OBB_BOX_MINKOWSKI_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BVH_TRIANGLE_MESH_SHAPE_H
-#define BVH_TRIANGLE_MESH_SHAPE_H
+#ifndef BT_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MESH_SHAPE_H
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
+#endif //BT_BVH_TRIANGLE_MESH_SHAPE_H
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
- vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+ vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
- vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+ vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
- vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+ vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
- vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+ vtx = pos +vec*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COLLISION_MARGIN_H
-#define COLLISION_MARGIN_H
-
-//used by Gjk and some other algorithms
+#ifndef BT_COLLISION_MARGIN_H
+#define BT_COLLISION_MARGIN_H
+///The CONVEX_DISTANCE_MARGIN is a default collision margin for convex collision shapes derived from btConvexInternalShape.
+///This collision margin is used by Gjk and some other algorithms
+///Note that when creating small objects, you need to make sure to set a smaller collision margin, using the 'setMargin' API
#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
-#endif //COLLISION_MARGIN_H
+#endif //BT_COLLISION_MARGIN_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COLLISION_SHAPE_H
-#define COLLISION_SHAPE_H
+#ifndef BT_COLLISION_SHAPE_H
+#define BT_COLLISION_SHAPE_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
-#endif //COLLISION_SHAPE_H
+#endif //BT_COLLISION_SHAPE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef COMPOUND_SHAPE_H
-#define COMPOUND_SHAPE_H
+#ifndef BT_COMPOUND_SHAPE_H
+#define BT_COMPOUND_SHAPE_H
#include "btCollisionShape.h"
-#endif //COMPOUND_SHAPE_H
+#endif //BT_COMPOUND_SHAPE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONCAVE_SHAPE_H
-#define CONCAVE_SHAPE_H
+#ifndef BT_CONCAVE_SHAPE_H
+#define BT_CONCAVE_SHAPE_H
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
};
-#endif //CONCAVE_SHAPE_H
+#endif //BT_CONCAVE_SHAPE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONE_MINKOWSKI_H
-#define CONE_MINKOWSKI_H
+#ifndef BT_CONE_MINKOWSKI_H
+#define BT_CONE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
public:
btConeShapeZ(btScalar radius,btScalar height);
};
-#endif //CONE_MINKOWSKI_H
+#endif //BT_CONE_MINKOWSKI_H
return "btConvexHullShapeData";
}
+void btConvexHullShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+{
+#if 1
+ min = FLT_MAX;
+ max = -FLT_MAX;
+ btVector3 witnesPtMin;
+ btVector3 witnesPtMax;
+
+ int numVerts = m_unscaledPoints.size();
+ for(int i=0;i<numVerts;i++)
+ {
+ btVector3 vtx = m_unscaledPoints[i] * m_localScaling;
+ btVector3 pt = trans * vtx;
+ btScalar dp = pt.dot(dir);
+ if(dp < min)
+ {
+ min = dp;
+ witnesPtMin = pt;
+ }
+ if(dp > max)
+ {
+ max = dp;
+ witnesPtMax=pt;
+ }
+ }
+#else
+ btVector3 localAxis = dir*trans.getBasis();
+ btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
+ btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+
+ min = vtx1.dot(dir);
+ max = vtx2.dot(dir);
+#endif
+
+ if(min>max)
+ {
+ btScalar tmp = min;
+ min = max;
+ max = tmp;
+ }
+
+
+}
+
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONVEX_HULL_SHAPE_H
-#define CONVEX_HULL_SHAPE_H
+#ifndef BT_CONVEX_HULL_SHAPE_H
+#define BT_CONVEX_HULL_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+ virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+
//debugging
virtual const char* getName()const {return "Convex";}
}
-#endif //CONVEX_HULL_SHAPE_H
+#endif //BT_CONVEX_HULL_SHAPE_H
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
+///The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN.
+///This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h
+///Note that when creating small shapes (derived from btConvexInternalShape),
+///you need to make sure to set a smaller collision margin, using the 'setMargin' API
+///There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape
class btConvexInternalShape : public btConvexShape
{
m_implicitShapeDimensions = dimensions;
}
+ void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier = 0.1f)
+ {
+ btScalar safeMargin = defaultMarginMultiplier*minDimension;
+ if (safeMargin < getMargin())
+ {
+ setMargin(safeMargin);
+ }
+ }
+ void setSafeMargin(const btVector3& halfExtents, btScalar defaultMarginMultiplier = 0.1f)
+ {
+ //see http://code.google.com/p/bullet/issues/detail?id=349
+ //this margin check could could be added to other collision shapes too,
+ //or add some assert/warning somewhere
+ btScalar minDimension=halfExtents[halfExtents.minAxis()];
+ setSafeMargin(minDimension, defaultMarginMultiplier);
+ }
+
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
--- /dev/null
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc. 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.
+*/
+
+
+///This file was written by Erwin Coumans
+///Separating axis rest based on work from Pierre Terdiman, see
+///And contact clipping based on work from Simon Hobbs
+
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btHashMap.h"
+
+btConvexPolyhedron::btConvexPolyhedron()
+{
+
+}
+btConvexPolyhedron::~btConvexPolyhedron()
+{
+
+}
+
+
+inline bool IsAlmostZero(const btVector3& v)
+{
+ if(fabsf(v.x())>1e-6 || fabsf(v.y())>1e-6 || fabsf(v.z())>1e-6) return false;
+ return true;
+}
+
+struct btInternalVertexPair
+{
+ btInternalVertexPair(short int v0,short int v1)
+ :m_v0(v0),
+ m_v1(v1)
+ {
+ if (m_v1>m_v0)
+ btSwap(m_v0,m_v1);
+ }
+ short int m_v0;
+ short int m_v1;
+ int getHash() const
+ {
+ return m_v0+(m_v1<<16);
+ }
+ bool equals(const btInternalVertexPair& other) const
+ {
+ return m_v0==other.m_v0 && m_v1==other.m_v1;
+ }
+};
+
+struct btInternalEdge
+{
+ btInternalEdge()
+ :m_face0(-1),
+ m_face1(-1)
+ {
+ }
+ short int m_face0;
+ short int m_face1;
+};
+
+//
+
+#ifdef TEST_INTERNAL_OBJECTS
+bool btConvexPolyhedron::testContainment() const
+{
+ for(int p=0;p<8;p++)
+ {
+ btVector3 LocalPt;
+ if(p==0) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], m_extents[2]);
+ else if(p==1) LocalPt = m_localCenter + btVector3(m_extents[0], m_extents[1], -m_extents[2]);
+ else if(p==2) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], m_extents[2]);
+ else if(p==3) LocalPt = m_localCenter + btVector3(m_extents[0], -m_extents[1], -m_extents[2]);
+ else if(p==4) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], m_extents[2]);
+ else if(p==5) LocalPt = m_localCenter + btVector3(-m_extents[0], m_extents[1], -m_extents[2]);
+ else if(p==6) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], m_extents[2]);
+ else if(p==7) LocalPt = m_localCenter + btVector3(-m_extents[0], -m_extents[1], -m_extents[2]);
+
+ for(int i=0;i<m_faces.size();i++)
+ {
+ const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+ const btScalar d = LocalPt.dot(Normal) + m_faces[i].m_plane[3];
+ if(d>0.0f)
+ return false;
+ }
+ }
+ return true;
+}
+#endif
+
+void btConvexPolyhedron::initialize()
+{
+
+ btHashMap<btInternalVertexPair,btInternalEdge> edges;
+
+ btScalar TotalArea = 0.0f;
+
+ m_localCenter.setValue(0, 0, 0);
+ for(int i=0;i<m_faces.size();i++)
+ {
+ int numVertices = m_faces[i].m_indices.size();
+ int NbTris = numVertices;
+ for(int j=0;j<NbTris;j++)
+ {
+ int k = (j+1)%numVertices;
+ btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+ btInternalEdge* edptr = edges.find(vp);
+ btVector3 edge = m_vertices[vp.m_v1]-m_vertices[vp.m_v0];
+ edge.normalize();
+
+ bool found = false;
+
+ for (int p=0;p<m_uniqueEdges.size();p++)
+ {
+
+ if (IsAlmostZero(m_uniqueEdges[p]-edge) ||
+ IsAlmostZero(m_uniqueEdges[p]+edge))
+ {
+ found = true;
+ break;
+ }
+ }
+
+ if (!found)
+ {
+ m_uniqueEdges.push_back(edge);
+ }
+
+ if (edptr)
+ {
+ btAssert(edptr->m_face0>=0);
+ btAssert(edptr->m_face1<0);
+ edptr->m_face1 = i;
+ } else
+ {
+ btInternalEdge ed;
+ ed.m_face0 = i;
+ edges.insert(vp,ed);
+ }
+ }
+ }
+
+#ifdef USE_CONNECTED_FACES
+ for(int i=0;i<m_faces.size();i++)
+ {
+ int numVertices = m_faces[i].m_indices.size();
+ m_faces[i].m_connectedFaces.resize(numVertices);
+
+ for(int j=0;j<numVertices;j++)
+ {
+ int k = (j+1)%numVertices;
+ btInternalVertexPair vp(m_faces[i].m_indices[j],m_faces[i].m_indices[k]);
+ btInternalEdge* edptr = edges.find(vp);
+ btAssert(edptr);
+ btAssert(edptr->m_face0>=0);
+ btAssert(edptr->m_face1>=0);
+
+ int connectedFace = (edptr->m_face0==i)?edptr->m_face1:edptr->m_face0;
+ m_faces[i].m_connectedFaces[j] = connectedFace;
+ }
+ }
+#endif//USE_CONNECTED_FACES
+
+ for(int i=0;i<m_faces.size();i++)
+ {
+ int numVertices = m_faces[i].m_indices.size();
+ int NbTris = numVertices-2;
+
+ const btVector3& p0 = m_vertices[m_faces[i].m_indices[0]];
+ for(int j=1;j<=NbTris;j++)
+ {
+ int k = (j+1)%numVertices;
+ const btVector3& p1 = m_vertices[m_faces[i].m_indices[j]];
+ const btVector3& p2 = m_vertices[m_faces[i].m_indices[k]];
+ btScalar Area = ((p0 - p1).cross(p0 - p2)).length() * 0.5f;
+ btVector3 Center = (p0+p1+p2)/3.0f;
+ m_localCenter += Area * Center;
+ TotalArea += Area;
+ }
+ }
+ m_localCenter /= TotalArea;
+
+
+
+
+#ifdef TEST_INTERNAL_OBJECTS
+ if(1)
+ {
+ m_radius = FLT_MAX;
+ for(int i=0;i<m_faces.size();i++)
+ {
+ const btVector3 Normal(m_faces[i].m_plane[0], m_faces[i].m_plane[1], m_faces[i].m_plane[2]);
+ const btScalar dist = btFabs(m_localCenter.dot(Normal) + m_faces[i].m_plane[3]);
+ if(dist<m_radius)
+ m_radius = dist;
+ }
+
+
+ btScalar MinX = FLT_MAX;
+ btScalar MinY = FLT_MAX;
+ btScalar MinZ = FLT_MAX;
+ btScalar MaxX = -FLT_MAX;
+ btScalar MaxY = -FLT_MAX;
+ btScalar MaxZ = -FLT_MAX;
+ for(int i=0; i<m_vertices.size(); i++)
+ {
+ const btVector3& pt = m_vertices[i];
+ if(pt.x()<MinX) MinX = pt.x();
+ if(pt.x()>MaxX) MaxX = pt.x();
+ if(pt.y()<MinY) MinY = pt.y();
+ if(pt.y()>MaxY) MaxY = pt.y();
+ if(pt.z()<MinZ) MinZ = pt.z();
+ if(pt.z()>MaxZ) MaxZ = pt.z();
+ }
+ mC.setValue(MaxX+MinX, MaxY+MinY, MaxZ+MinZ);
+ mE.setValue(MaxX-MinX, MaxY-MinY, MaxZ-MinZ);
+
+
+
+// const btScalar r = m_radius / sqrtf(2.0f);
+ const btScalar r = m_radius / sqrtf(3.0f);
+ const int LargestExtent = mE.maxAxis();
+ const btScalar Step = (mE[LargestExtent]*0.5f - r)/1024.0f;
+ m_extents[0] = m_extents[1] = m_extents[2] = r;
+ m_extents[LargestExtent] = mE[LargestExtent]*0.5f;
+ bool FoundBox = false;
+ for(int j=0;j<1024;j++)
+ {
+ if(testContainment())
+ {
+ FoundBox = true;
+ break;
+ }
+
+ m_extents[LargestExtent] -= Step;
+ }
+ if(!FoundBox)
+ {
+ m_extents[0] = m_extents[1] = m_extents[2] = r;
+ }
+ else
+ {
+ // Refine the box
+ const btScalar Step = (m_radius - r)/1024.0f;
+ const int e0 = (1<<LargestExtent) & 3;
+ const int e1 = (1<<e0) & 3;
+
+ for(int j=0;j<1024;j++)
+ {
+ const btScalar Saved0 = m_extents[e0];
+ const btScalar Saved1 = m_extents[e1];
+ m_extents[e0] += Step;
+ m_extents[e1] += Step;
+
+ if(!testContainment())
+ {
+ m_extents[e0] = Saved0;
+ m_extents[e1] = Saved1;
+ break;
+ }
+ }
+ }
+ }
+#endif
+}
+
+
+void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+{
+ min = FLT_MAX;
+ max = -FLT_MAX;
+ int numVerts = m_vertices.size();
+ for(int i=0;i<numVerts;i++)
+ {
+ btVector3 pt = trans * m_vertices[i];
+ btScalar dp = pt.dot(dir);
+ if(dp < min) min = dp;
+ if(dp > max) max = dp;
+ }
+ if(min>max)
+ {
+ btScalar tmp = min;
+ min = max;
+ max = tmp;
+ }
+}
\ No newline at end of file
--- /dev/null
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2011 Advanced Micro Devices, Inc. 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.
+*/
+
+
+///This file was written by Erwin Coumans
+
+
+#ifndef _BT_POLYHEDRAL_FEATURES_H
+#define _BT_POLYHEDRAL_FEATURES_H
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+#define TEST_INTERNAL_OBJECTS 1
+
+
+struct btFace
+{
+ btAlignedObjectArray<int> m_indices;
+// btAlignedObjectArray<int> m_connectedFaces;
+ btScalar m_plane[4];
+};
+
+
+class btConvexPolyhedron
+{
+ public:
+ btConvexPolyhedron();
+ virtual ~btConvexPolyhedron();
+
+ btAlignedObjectArray<btVector3> m_vertices;
+ btAlignedObjectArray<btFace> m_faces;
+ btAlignedObjectArray<btVector3> m_uniqueEdges;
+
+ btVector3 m_localCenter;
+ btVector3 m_extents;
+ btScalar m_radius;
+ btVector3 mC;
+ btVector3 mE;
+
+ void initialize();
+ bool testContainment() const;
+
+ void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+};
+
+
+#endif //_BT_POLYHEDRAL_FEATURES_H
+
+
}
+void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const
+{
+ btVector3 localAxis = dir*trans.getBasis();
+ btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
+ btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
+
+ min = vtx1.dot(dir);
+ max = vtx2.dot(dir);
+
+ if(min>max)
+ {
+ btScalar tmp = min;
+ min = max;
+ max = tmp;
+ }
+}
+
static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
{
pos[capsuleUpAxis] = halfHeight;
//vtx = pos +vec*(radius);
- vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+ vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx);
pos[capsuleUpAxis] = -halfHeight;
//vtx = pos +vec*(radius);
- vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+ vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CONVEX_SHAPE_INTERFACE1
-#define CONVEX_SHAPE_INTERFACE1
+#ifndef BT_CONVEX_SHAPE_INTERFACE1
+#define BT_CONVEX_SHAPE_INTERFACE1
#include "btCollisionShape.h"
btScalar getMarginNonVirtual () const;
void getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
+ virtual void project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const;
+
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
-#endif //CONVEX_SHAPE_INTERFACE1
+#endif //BT_CONVEX_SHAPE_INTERFACE1
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.
*/
-#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
-#define CONVEX_TRIANGLEMESH_SHAPE_H
+#ifndef BT_CONVEX_TRIANGLEMESH_SHAPE_H
+#define BT_CONVEX_TRIANGLEMESH_SHAPE_H
#include "btPolyhedralConvexShape.h"
-#endif //CONVEX_TRIANGLEMESH_SHAPE_H
+#endif //BT_CONVEX_TRIANGLEMESH_SHAPE_H
:btConvexInternalShape(),
m_upAxis(1)
{
+ setSafeMargin(halfExtents);
+
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef CYLINDER_MINKOWSKI_H
-#define CYLINDER_MINKOWSKI_H
+#ifndef BT_CYLINDER_MINKOWSKI_H
+#define BT_CYLINDER_MINKOWSKI_H
#include "btBoxShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-#endif //CYLINDER_MINKOWSKI_H
+#endif //BT_CYLINDER_MINKOWSKI_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef EMPTY_SHAPE_H
-#define EMPTY_SHAPE_H
+#ifndef BT_EMPTY_SHAPE_H
+#define BT_EMPTY_SHAPE_H
#include "btConcaveShape.h"
-#endif //EMPTY_SHAPE_H
+#endif //BT_EMPTY_SHAPE_H
btHeightfieldTerrainShape::btHeightfieldTerrainShape
(
-int heightStickWidth, int heightStickLength, void* heightfieldData,
+int heightStickWidth, int heightStickLength, const void* heightfieldData,
btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges
)
-btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
+btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
{
// legacy constructor: support only float or unsigned char,
// and min height is zero
void btHeightfieldTerrainShape::initialize
(
-int heightStickWidth, int heightStickLength, void* heightfieldData,
+int heightStickWidth, int heightStickLength, const void* heightfieldData,
btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType hdt, bool flipQuadEdges
)
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
-#define HEIGHTFIELD_TERRAIN_SHAPE_H
+#ifndef BT_HEIGHTFIELD_TERRAIN_SHAPE_H
+#define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
btScalar m_heightScale;
union
{
- unsigned char* m_heightfieldDataUnsignedChar;
- short* m_heightfieldDataShort;
- btScalar* m_heightfieldDataFloat;
- void* m_heightfieldDataUnknown;
+ const unsigned char* m_heightfieldDataUnsignedChar;
+ const short* m_heightfieldDataShort;
+ const btScalar* m_heightfieldDataFloat;
+ const void* m_heightfieldDataUnknown;
};
PHY_ScalarType m_heightDataType;
backwards-compatible without a lot of copy/paste.
*/
void initialize(int heightStickWidth, int heightStickLength,
- void* heightfieldData, btScalar heightScale,
+ const void* heightfieldData, btScalar heightScale,
btScalar minHeight, btScalar maxHeight, int upAxis,
PHY_ScalarType heightDataType, bool flipQuadEdges);
heightScale is needed for any integer-based heightfield data types.
*/
btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
- void* heightfieldData, btScalar heightScale,
+ const void* heightfieldData, btScalar heightScale,
btScalar minHeight, btScalar maxHeight,
int upAxis, PHY_ScalarType heightDataType,
bool flipQuadEdges);
compatibility reasons, heightScale is calculated as maxHeight / 65535
(and is only used when useFloatData = false).
*/
- btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
+ btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();
};
-#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
+#endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
/// This file was created by Alex Silverman
-#ifndef MATERIAL_H
-#define MATERIAL_H
+#ifndef BT_MATERIAL_H
+#define BT_MATERIAL_H
// Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
class btMaterial
btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
};
-#endif // MATERIAL_H
+#endif // BT_MATERIAL_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef MINKOWSKI_SUM_SHAPE_H
-#define MINKOWSKI_SUM_SHAPE_H
+#ifndef BT_MINKOWSKI_SUM_SHAPE_H
+#define BT_MINKOWSKI_SUM_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
}
};
-#endif //MINKOWSKI_SUM_SHAPE_H
+#endif //BT_MINKOWSKI_SUM_SHAPE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef MULTI_SPHERE_MINKOWSKI_H
-#define MULTI_SPHERE_MINKOWSKI_H
+#ifndef BT_MULTI_SPHERE_MINKOWSKI_H
+#define BT_MULTI_SPHERE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
-#endif //MULTI_SPHERE_MINKOWSKI_H
+#endif //BT_MULTI_SPHERE_MINKOWSKI_H
/// This file was created by Alex Silverman
-#ifndef BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
-#define BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#ifndef BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#define BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
#include "btBvhTriangleMeshShape.h"
#include "btMaterial.h"
}
;
-#endif //BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
+#endif //BT_BVH_TRIANGLE_MATERIAL_MESH_SHAPE_H
NodeTriangleCallback& operator=(NodeTriangleCallback& other)
{
- m_triangleNodes = other.m_triangleNodes;
+ m_triangleNodes.copyFromArray(other.m_triangleNodes);
return *this;
}
QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
{
- m_triangleNodes = other.m_triangleNodes;
+ m_triangleNodes.copyFromArray(other.m_triangleNodes);
m_optimizedTree = other.m_optimizedTree;
return *this;
}
///Contains contributions from Disney Studio's
-#ifndef OPTIMIZED_BVH_H
-#define OPTIMIZED_BVH_H
+#ifndef BT_OPTIMIZED_BVH_H
+#define BT_OPTIMIZED_BVH_H
#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
};
-#endif //OPTIMIZED_BVH_H
+#endif //BT_OPTIMIZED_BVH_H
*/
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
+#include "btConvexPolyhedron.h"
+#include "LinearMath/btConvexHullComputer.h"
+#include <new>
+#include "LinearMath/btGeometryUtil.h"
+#include "LinearMath/btGrahamScan2dConvexHull.h"
-btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape()
+
+btPolyhedralConvexShape::btPolyhedralConvexShape() :btConvexInternalShape(),
+m_polyhedron(0)
+{
+
+}
+
+btPolyhedralConvexShape::~btPolyhedralConvexShape()
+{
+ if (m_polyhedron)
+ {
+ btAlignedFree(m_polyhedron);
+ }
+}
+
+
+bool btPolyhedralConvexShape::initializePolyhedralFeatures()
{
+ if (m_polyhedron)
+ btAlignedFree(m_polyhedron);
+
+ void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+ m_polyhedron = new (mem) btConvexPolyhedron;
+
+ btAlignedObjectArray<btVector3> orgVertices;
+
+ for (int i=0;i<getNumVertices();i++)
+ {
+ btVector3& newVertex = orgVertices.expand();
+ getVertex(i,newVertex);
+ }
+
+#if 0
+ btAlignedObjectArray<btVector3> planeEquations;
+ btGeometryUtil::getPlaneEquationsFromVertices(orgVertices,planeEquations);
+
+ btAlignedObjectArray<btVector3> shiftedPlaneEquations;
+ for (int p=0;p<planeEquations.size();p++)
+ {
+ btVector3 plane = planeEquations[p];
+ plane[3] -= getMargin();
+ shiftedPlaneEquations.push_back(plane);
+ }
+
+ btAlignedObjectArray<btVector3> tmpVertices;
+
+ btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,tmpVertices);
+ btConvexHullComputer conv;
+ conv.compute(&tmpVertices[0].getX(), sizeof(btVector3),tmpVertices.size(),0.f,0.f);
+
+#else
+ btConvexHullComputer conv;
+ conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
+
+#endif
+
+
+
+ btAlignedObjectArray<btVector3> faceNormals;
+ int numFaces = conv.faces.size();
+ faceNormals.resize(numFaces);
+ btConvexHullComputer* convexUtil = &conv;
+
+
+ btAlignedObjectArray<btFace> tmpFaces;
+ tmpFaces.resize(numFaces);
+
+ int numVertices = convexUtil->vertices.size();
+ m_polyhedron->m_vertices.resize(numVertices);
+ for (int p=0;p<numVertices;p++)
+ {
+ m_polyhedron->m_vertices[p] = convexUtil->vertices[p];
+ }
+
+
+ for (int i=0;i<numFaces;i++)
+ {
+ int face = convexUtil->faces[i];
+ //printf("face=%d\n",face);
+ const btConvexHullComputer::Edge* firstEdge = &convexUtil->edges[face];
+ const btConvexHullComputer::Edge* edge = firstEdge;
+
+ btVector3 edges[3];
+ int numEdges = 0;
+ //compute face normals
+
+ btScalar maxCross2 = 0.f;
+ int chosenEdge = -1;
+
+ do
+ {
+
+ int src = edge->getSourceVertex();
+ tmpFaces[i].m_indices.push_back(src);
+ int targ = edge->getTargetVertex();
+ btVector3 wa = convexUtil->vertices[src];
+
+ btVector3 wb = convexUtil->vertices[targ];
+ btVector3 newEdge = wb-wa;
+ newEdge.normalize();
+ if (numEdges<2)
+ edges[numEdges++] = newEdge;
+
+ edge = edge->getNextEdgeOfFace();
+ } while (edge!=firstEdge);
+
+ btScalar planeEq = 1e30f;
+
+
+ if (numEdges==2)
+ {
+ faceNormals[i] = edges[0].cross(edges[1]);
+ faceNormals[i].normalize();
+ tmpFaces[i].m_plane[0] = faceNormals[i].getX();
+ tmpFaces[i].m_plane[1] = faceNormals[i].getY();
+ tmpFaces[i].m_plane[2] = faceNormals[i].getZ();
+ tmpFaces[i].m_plane[3] = planeEq;
+
+ }
+ else
+ {
+ btAssert(0);//degenerate?
+ faceNormals[i].setZero();
+ }
+
+ for (int v=0;v<tmpFaces[i].m_indices.size();v++)
+ {
+ btScalar eq = m_polyhedron->m_vertices[tmpFaces[i].m_indices[v]].dot(faceNormals[i]);
+ if (planeEq>eq)
+ {
+ planeEq=eq;
+ }
+ }
+ tmpFaces[i].m_plane[3] = -planeEq;
+ }
+
+ //merge coplanar faces and copy them to m_polyhedron
+
+ btScalar faceWeldThreshold= 0.999f;
+ btAlignedObjectArray<int> todoFaces;
+ for (int i=0;i<tmpFaces.size();i++)
+ todoFaces.push_back(i);
+
+ while (todoFaces.size())
+ {
+ btAlignedObjectArray<int> coplanarFaceGroup;
+ int refFace = todoFaces[todoFaces.size()-1];
+
+ coplanarFaceGroup.push_back(refFace);
+ btFace& faceA = tmpFaces[refFace];
+ todoFaces.pop_back();
+
+ btVector3 faceNormalA(faceA.m_plane[0],faceA.m_plane[1],faceA.m_plane[2]);
+ for (int j=todoFaces.size()-1;j>=0;j--)
+ {
+ int i = todoFaces[j];
+ btFace& faceB = tmpFaces[i];
+ btVector3 faceNormalB(faceB.m_plane[0],faceB.m_plane[1],faceB.m_plane[2]);
+ if (faceNormalA.dot(faceNormalB)>faceWeldThreshold)
+ {
+ coplanarFaceGroup.push_back(i);
+ todoFaces.remove(i);
+ }
+ }
+
+
+ bool did_merge = false;
+ if (coplanarFaceGroup.size()>1)
+ {
+ //do the merge: use Graham Scan 2d convex hull
+
+ btAlignedObjectArray<GrahamVector2> orgpoints;
+
+ for (int i=0;i<coplanarFaceGroup.size();i++)
+ {
+// m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+
+ btFace& face = tmpFaces[coplanarFaceGroup[i]];
+ btVector3 faceNormal(face.m_plane[0],face.m_plane[1],face.m_plane[2]);
+ btVector3 xyPlaneNormal(0,0,1);
+
+ btQuaternion rotationArc = shortestArcQuat(faceNormal,xyPlaneNormal);
+
+ for (int f=0;f<face.m_indices.size();f++)
+ {
+ int orgIndex = face.m_indices[f];
+ btVector3 pt = m_polyhedron->m_vertices[orgIndex];
+ btVector3 rotatedPt = quatRotate(rotationArc,pt);
+ rotatedPt.setZ(0);
+ bool found = false;
+
+ for (int i=0;i<orgpoints.size();i++)
+ {
+ //if ((orgpoints[i].m_orgIndex == orgIndex) || ((rotatedPt-orgpoints[i]).length2()<0.0001))
+ if (orgpoints[i].m_orgIndex == orgIndex)
+ {
+ found=true;
+ break;
+ }
+ }
+ if (!found)
+ orgpoints.push_back(GrahamVector2(rotatedPt,orgIndex));
+ }
+ }
+
+ btFace combinedFace;
+ for (int i=0;i<4;i++)
+ combinedFace.m_plane[i] = tmpFaces[coplanarFaceGroup[0]].m_plane[i];
+
+ btAlignedObjectArray<GrahamVector2> hull;
+ GrahamScanConvexHull2D(orgpoints,hull);
+
+ for (int i=0;i<hull.size();i++)
+ {
+ combinedFace.m_indices.push_back(hull[i].m_orgIndex);
+ for(int k = 0; k < orgpoints.size(); k++) {
+ if(orgpoints[k].m_orgIndex == hull[i].m_orgIndex) {
+ orgpoints[k].m_orgIndex = -1; // invalidate...
+ break;
+ }
+ }
+ }
+ // are there rejected vertices?
+ bool reject_merge = false;
+ for(int i = 0; i < orgpoints.size(); i++) {
+ if(orgpoints[i].m_orgIndex == -1)
+ continue; // this is in the hull...
+ // this vertex is rejected -- is anybody else using this vertex?
+ for(int j = 0; j < tmpFaces.size(); j++) {
+ btFace& face = tmpFaces[j];
+ // is this a face of the current coplanar group?
+ bool is_in_current_group = false;
+ for(int k = 0; k < coplanarFaceGroup.size(); k++) {
+ if(coplanarFaceGroup[k] == j) {
+ is_in_current_group = true;
+ break;
+ }
+ }
+ if(is_in_current_group) // ignore this face...
+ continue;
+ // does this face use this rejected vertex?
+ for(int v = 0; v < face.m_indices.size(); v++) {
+ if(face.m_indices[v] == orgpoints[i].m_orgIndex) {
+ // this rejected vertex is used in another face -- reject merge
+ reject_merge = true;
+ break;
+ }
+ }
+ if(reject_merge)
+ break;
+ }
+ if(reject_merge)
+ break;
+ }
+ if(!reject_merge) {
+ // do this merge!
+ did_merge = true;
+ m_polyhedron->m_faces.push_back(combinedFace);
+ }
+ }
+ if(!did_merge)
+ {
+ for (int i=0;i<coplanarFaceGroup.size();i++)
+ {
+ m_polyhedron->m_faces.push_back(tmpFaces[coplanarFaceGroup[i]]);
+ }
+
+ }
+
+
+
+ }
+
+ m_polyhedron->initialize();
+
+ return true;
}
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 tmp = localGetSupportingVertex(vec);
- m_localAabbMax[i] = tmp[i]+m_collisionMargin;
+ m_localAabbMax[i] = tmp[i];
vec[i] = btScalar(-1.);
tmp = localGetSupportingVertex(vec);
- m_localAabbMin[i] = tmp[i]-m_collisionMargin;
+ m_localAabbMin[i] = tmp[i];
}
#endif
}
+
+
+
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BU_SHAPE
-#define BU_SHAPE
+#ifndef BT_POLYHEDRAL_CONVEX_SHAPE_H
+#define BT_POLYHEDRAL_CONVEX_SHAPE_H
#include "LinearMath/btMatrix3x3.h"
#include "btConvexInternalShape.h"
+class btConvexPolyhedron;
///The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
class btPolyhedralConvexShape : public btConvexInternalShape
{
+
protected:
+ btConvexPolyhedron* m_polyhedron;
+
public:
btPolyhedralConvexShape();
+ virtual ~btPolyhedralConvexShape();
+
+ ///optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges)
+ virtual bool initializePolyhedralFeatures();
+
+ const btConvexPolyhedron* getConvexPolyhedron() const
+ {
+ return m_polyhedron;
+ }
+
//brute force implementations
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
};
-#endif //BU_SHAPE
+#endif //BT_POLYHEDRAL_CONVEX_SHAPE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef SCALED_BVH_TRIANGLE_MESH_SHAPE_H
-#define SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#ifndef BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
+#define BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
}
-#endif //BVH_TRIANGLE_MESH_SHAPE_H
+#endif //BT_SCALED_BVH_TRIANGLE_MESH_SHAPE_H
///btShapeHull implemented by John McCutchan.
-#ifndef _SHAPE_HULL_H
-#define _SHAPE_HULL_H
+#ifndef BT_SHAPE_HULL_H
+#define BT_SHAPE_HULL_H
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
}
};
-#endif //_SHAPE_HULL_H
+#endif //BT_SHAPE_HULL_H
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.
*/
-#ifndef SPHERE_MINKOWSKI_H
-#define SPHERE_MINKOWSKI_H
+#ifndef BT_SPHERE_MINKOWSKI_H
+#define BT_SPHERE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
};
-#endif //SPHERE_MINKOWSKI_H
+#endif //BT_SPHERE_MINKOWSKI_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef STATIC_PLANE_SHAPE_H
-#define STATIC_PLANE_SHAPE_H
+#ifndef BT_STATIC_PLANE_SHAPE_H
+#define BT_STATIC_PLANE_SHAPE_H
#include "btConcaveShape.h"
}
-#endif //STATIC_PLANE_SHAPE_H
+#endif //BT_STATIC_PLANE_SHAPE_H
memPtr->m_indices16 = 0;
memPtr->m_indices32 = 0;
memPtr->m_3indices16 = 0;
+ memPtr->m_3indices8 = 0;
memPtr->m_vertices3f = 0;
memPtr->m_vertices3d = 0;
+
switch (gfxindextype)
{
case PHY_INTEGER:
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef STRIDING_MESHINTERFACE_H
-#define STRIDING_MESHINTERFACE_H
+#ifndef BT_STRIDING_MESHINTERFACE_H
+#define BT_STRIDING_MESHINTERFACE_H
#include "LinearMath/btVector3.h"
#include "btTriangleCallback.h"
-#endif //STRIDING_MESHINTERFACE_H
+#endif //BT_STRIDING_MESHINTERFACE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BU_SIMPLEX_1TO4_SHAPE
-#define BU_SIMPLEX_1TO4_SHAPE
+#ifndef BT_SIMPLEX_1TO4_SHAPE
+#define BT_SIMPLEX_1TO4_SHAPE
#include "btPolyhedralConvexShape.h"
};
-#endif //BU_SIMPLEX_1TO4_SHAPE
+#endif //BT_SIMPLEX_1TO4_SHAPE
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef TRIANGLE_CALLBACK_H
-#define TRIANGLE_CALLBACK_H
+#ifndef BT_TRIANGLE_CALLBACK_H
+#define BT_TRIANGLE_CALLBACK_H
#include "LinearMath/btVector3.h"
-#endif //TRIANGLE_CALLBACK_H
+#endif //BT_TRIANGLE_CALLBACK_H
int m_numTriangles;
const unsigned char * m_triangleIndexBase;
+ // Size in byte of the indices for one triangle (3*sizeof(index_type) if the indices are tightly packed)
int m_triangleIndexStride;
int m_numVertices;
const unsigned char * m_vertexBase;
+ // Size of a vertex, in bytes
int m_vertexStride;
// The index type is set when adding an indexed mesh to the
btScalar m_planarEpsilon; ///used to determine if a triangle edge is planar with zero angle
btScalar m_equalVertexThreshold; ///used to compute connectivity: if the distance between two vertices is smaller than m_equalVertexThreshold, they are considered to be 'shared'
btScalar m_edgeDistanceThreshold; ///used to determine edge contacts: if the closest distance between a contact point and an edge is smaller than this distance threshold it is considered to "hit the edge"
+ btScalar m_maxEdgeAngleThreshold; //ignore edges that connect triangles at an angle larger than this m_maxEdgeAngleThreshold
btScalar m_zeroAreaThreshold; ///used to determine if a triangle is degenerate (length squared of cross product of 2 triangle edges < threshold)
m_equalVertexThreshold = btScalar(0.0001)*btScalar(0.0001);
m_edgeDistanceThreshold = btScalar(0.1);
m_zeroAreaThreshold = btScalar(0.0001)*btScalar(0.0001);
+ m_maxEdgeAngleThreshold = SIMD_2_PI;
}
virtual ~btTriangleInfoMap() {}
};
+///those fields have to be float and not btScalar for the serialization to work properly
struct btTriangleInfoData
{
int m_flags;
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef TRIANGLE_MESH_H
-#define TRIANGLE_MESH_H
+#ifndef BT_TRIANGLE_MESH_H
+#define BT_TRIANGLE_MESH_H
#include "btTriangleIndexVertexArray.h"
#include "LinearMath/btVector3.h"
};
-#endif //TRIANGLE_MESH_H
+#endif //BT_TRIANGLE_MESH_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef TRIANGLE_MESH_SHAPE_H
-#define TRIANGLE_MESH_SHAPE_H
+#ifndef BT_TRIANGLE_MESH_SHAPE_H
+#define BT_TRIANGLE_MESH_SHAPE_H
#include "btConcaveShape.h"
#include "btStridingMeshInterface.h"
-#endif //TRIANGLE_MESH_SHAPE_H
+#endif //BT_TRIANGLE_MESH_SHAPE_H
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef OBB_TRIANGLE_MINKOWSKI_H
-#define OBB_TRIANGLE_MINKOWSKI_H
+#ifndef BT_OBB_TRIANGLE_MINKOWSKI_H
+#define BT_OBB_TRIANGLE_MINKOWSKI_H
#include "btConvexShape.h"
#include "btBoxShape.h"
};
-#endif //OBB_TRIANGLE_MINKOWSKI_H
+#endif //BT_OBB_TRIANGLE_MINKOWSKI_H
{
public:
- bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b )
+ bool operator() ( const CONTACT_KEY_TOKEN& a, const CONTACT_KEY_TOKEN& b ) const
{
return ( a < b );
}
3. This notice may not be removed or altered from any source distribution.
*/
-#ifndef BVH_CONCAVE_COLLISION_ALGORITHM_H
-#define BVH_CONCAVE_COLLISION_ALGORITHM_H
+#ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
+#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#endif //BVH_CONCAVE_COLLISION_ALGORITHM_H
+#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
-#ifndef BT_QUANTIZATION_H_INCLUDED
-#define BT_QUANTIZATION_H_INCLUDED
+#ifndef BT_GIMPACT_QUANTIZATION_H_INCLUDED
+#define BT_GIMPACT_QUANTIZATION_H_INCLUDED
/*! \file btQuantization.h
*\author Francisco Leon Najera
-#endif // GIM_VECTOR_H_INCLUDED
+#endif // BT_GIMPACT_QUANTIZATION_H_INCLUDED
*/
-#ifndef TRIANGLE_SHAPE_EX_H
-#define TRIANGLE_SHAPE_EX_H
+#ifndef GIMPACT_TRIANGLE_SHAPE_EX_H
+#define GIMPACT_TRIANGLE_SHAPE_EX_H
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
};
-#endif //TRIANGLE_MESH_SHAPE_H
+#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H
#include "btGjkPairDetector.h"
#include "btPointCollector.h"
+#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
btContinuousConvexCollision::btContinuousConvexCollision ( const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver)
:m_simplexSolver(simplexSolver),
m_penetrationDepthSolver(penetrationDepthSolver),
-m_convexA(convexA),m_convexB(convexB)
+m_convexA(convexA),m_convexB1(convexB),m_planeShape(0)
{
}
+
+btContinuousConvexCollision::btContinuousConvexCollision( const btConvexShape* convexA,const btStaticPlaneShape* plane)
+:m_simplexSolver(0),
+m_penetrationDepthSolver(0),
+m_convexA(convexA),m_convexB1(0),m_planeShape(plane)
+{
+}
+
+
/// This maximum should not be necessary. It allows for untested/degenerate cases in production code.
/// You don't want your game ever to lock-up.
#define MAX_ITERATIONS 64
+void btContinuousConvexCollision::computeClosestPoints( const btTransform& transA, const btTransform& transB,btPointCollector& pointCollector)
+{
+ if (m_convexB1)
+ {
+ m_simplexSolver->reset();
+ btGjkPairDetector gjk(m_convexA,m_convexB1,m_convexA->getShapeType(),m_convexB1->getShapeType(),m_convexA->getMargin(),m_convexB1->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
+ btGjkPairDetector::ClosestPointInput input;
+ input.m_transformA = transA;
+ input.m_transformB = transB;
+ gjk.getClosestPoints(input,pointCollector,0);
+ } else
+ {
+ //convex versus plane
+ const btConvexShape* convexShape = m_convexA;
+ const btStaticPlaneShape* planeShape = m_planeShape;
+
+ bool hasCollision = false;
+ const btVector3& planeNormal = planeShape->getPlaneNormal();
+ const btScalar& planeConstant = planeShape->getPlaneConstant();
+
+ btTransform convexWorldTransform = transA;
+ btTransform convexInPlaneTrans;
+ convexInPlaneTrans= transB.inverse() * convexWorldTransform;
+ btTransform planeInConvex;
+ planeInConvex= convexWorldTransform.inverse() * transB;
+
+ btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
+
+ btVector3 vtxInPlane = convexInPlaneTrans(vtx);
+ btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
+
+ btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
+ btVector3 vtxInPlaneWorld = transB * vtxInPlaneProjected;
+ btVector3 normalOnSurfaceB = transB.getBasis() * planeNormal;
+
+ pointCollector.addContactPoint(
+ normalOnSurfaceB,
+ vtxInPlaneWorld,
+ distance);
+ }
+}
+
bool btContinuousConvexCollision::calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
CastResult& result)
{
- m_simplexSolver->reset();
/// compute linear and angular velocity for this interval, to interpolate
btVector3 linVelA,angVelA,linVelB,angVelB;
btScalar boundingRadiusA = m_convexA->getAngularMotionDisc();
- btScalar boundingRadiusB = m_convexB->getAngularMotionDisc();
+ btScalar boundingRadiusB = m_convexB1?m_convexB1->getAngularMotionDisc():0.f;
btScalar maxAngularProjectedVelocity = angVelA.length() * boundingRadiusA + angVelB.length() * boundingRadiusB;
btVector3 relLinVel = (linVelB-linVelA);
return false;
- btScalar radius = btScalar(0.001);
btScalar lambda = btScalar(0.);
btVector3 v(1,0,0);
//first solution, using GJK
- btTransform identityTrans;
- identityTrans.setIdentity();
-
- btSphereShape raySphere(btScalar(0.0));
- raySphere.setMargin(btScalar(0.));
-
-
+ btScalar radius = 0.001f;
// result.drawCoordSystem(sphereTr);
btPointCollector pointCollector1;
{
-
- btGjkPairDetector gjk(m_convexA,m_convexB,m_convexA->getShapeType(),m_convexB->getShapeType(),m_convexA->getMargin(),m_convexB->getMargin(),m_simplexSolver,m_penetrationDepthSolver);
- btGjkPairDetector::ClosestPointInput input;
- //we don't use margins during CCD
- // gjk.setIgnoreMargin(true);
-
- input.m_transformA = fromA;
- input.m_transformB = fromB;
- gjk.getClosestPoints(input,pointCollector1,0);
+ computeClosestPoints(fromA,fromB,pointCollector1);
hasResult = pointCollector1.m_hasResult;
c = pointCollector1.m_pointInWorld;
if (hasResult)
{
btScalar dist;
- dist = pointCollector1.m_distance;
+ dist = pointCollector1.m_distance + result.m_allowedPenetration;
n = pointCollector1.m_normalOnBInWorld;
-
btScalar projectedLinearVelocity = relLinVel.dot(n);
-
+ if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
+ return false;
+
//not close enough
while (dist > radius)
{
{
result.m_debugDrawer->drawSphere(c,0.2f,btVector3(1,1,1));
}
- numIter++;
- if (numIter > maxIter)
- {
- return false; //todo: report a failure
- }
btScalar dLambda = btScalar(0.);
projectedLinearVelocity = relLinVel.dot(n);
- //calculate safe moving fraction from distance / (linear+rotational velocity)
-
- //btScalar clippedDist = GEN_min(angularConservativeRadius,dist);
- //btScalar clippedDist = dist;
//don't report time of impact for motion away from the contact normal (or causes minor penetration)
if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=SIMD_EPSILON)
result.DebugDraw( lambda );
btPointCollector pointCollector;
- btGjkPairDetector gjk(m_convexA,m_convexB,m_simplexSolver,m_penetrationDepthSolver);
- btGjkPairDetector::ClosestPointInput input;
- input.m_transformA = interpolatedTransA;
- input.m_transformB = interpolatedTransB;
- gjk.getClosestPoints(input,pointCollector,0);
+ computeClosestPoints(interpolatedTransA,interpolatedTransB,pointCollector);
+
if (pointCollector.m_hasResult)
{
- if (pointCollector.m_distance < btScalar(0.))
- {
- //degenerate ?!
- result.m_fraction = lastLambda;
- n = pointCollector.m_normalOnBInWorld;
- result.m_normal=n;//.setValue(1,1,1);// = n;
- result.m_hitPoint = pointCollector.m_pointInWorld;
- return true;
- }
+ dist = pointCollector.m_distance+result.m_allowedPenetration;
c = pointCollector.m_pointInWorld;
n = pointCollector.m_normalOnBInWorld;
- dist = pointCollector.m_distance;
} else
{
- //??
+ result.reportFailure(-1, numIter);
return false;
}
-
+ numIter++;
+ if (numIter > maxIter)
+ {
+ result.reportFailure(-2, numIter);
+ return false;
+ }
}
- if ((projectedLinearVelocity+ maxAngularProjectedVelocity)<=result.m_allowedPenetration)//SIMD_EPSILON)
- return false;
-
result.m_fraction = lambda;
result.m_normal = n;
result.m_hitPoint = c;
return false;
-/*
-//todo:
- //if movement away from normal, discard result
- btVector3 move = transBLocalTo.getOrigin() - transBLocalFrom.getOrigin();
- if (result.m_fraction < btScalar(1.))
- {
- if (move.dot(result.m_normal) <= btScalar(0.))
- {
- }
- }
-*/
-
}
+
*/
-#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
-#define CONTINUOUS_COLLISION_CONVEX_CAST_H
+#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
+#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
#include "btConvexCast.h"
#include "btSimplexSolverInterface.h"
class btConvexPenetrationDepthSolver;
class btConvexShape;
+class btStaticPlaneShape;
/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
const btConvexShape* m_convexA;
- const btConvexShape* m_convexB;
+ //second object is either a convex or a plane (code sharing)
+ const btConvexShape* m_convexB1;
+ const btStaticPlaneShape* m_planeShape;
+ void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
public:
btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
+ btContinuousConvexCollision(const btConvexShape* shapeA,const btStaticPlaneShape* plane );
+
virtual bool calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
};
-#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
+
+#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
*/
-#ifndef CONVEX_CAST_H
-#define CONVEX_CAST_H
+#ifndef BT_CONVEX_CAST_H
+#define BT_CONVEX_CAST_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
virtual void DebugDraw(btScalar fraction) {(void)fraction;}
virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
-
+ virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
CastResult()
:m_fraction(btScalar(BT_LARGE_FLOAT)),
m_debugDrawer(0),
CastResult& result) = 0;
};
-#endif //CONVEX_CAST_H
+#endif //BT_CONVEX_CAST_H
*/
-#ifndef __CONVEX_PENETRATION_DEPTH_H
-#define __CONVEX_PENETRATION_DEPTH_H
+#ifndef BT_CONVEX_PENETRATION_DEPTH_H
+#define BT_CONVEX_PENETRATION_DEPTH_H
class btStackAlloc;
class btVector3;
};
-#endif //CONVEX_PENETRATION_DEPTH_H
+#endif //BT_CONVEX_PENETRATION_DEPTH_H
*/
-#ifndef DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
-#define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+#ifndef BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
class btStackAlloc;
}
};
-#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE1_H
+#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+
-#ifndef GJK_CONVEX_CAST_H
-#define GJK_CONVEX_CAST_H
+#ifndef BT_GJK_CONVEX_CAST_H
+#define BT_GJK_CONVEX_CAST_H
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
};
-#endif //GJK_CONVEX_CAST_H
+#endif //BT_GJK_CONVEX_CAST_H
{
btVector3 n;
btScalar d;
- btScalar p;
sSV* c[3];
sFace* f[3];
sFace* l[2];
remove(m_hull,best);
append(m_stock,best);
best=findbest();
- if(best->p>=outer.p) outer=*best;
+ outer=*best;
} else { m_status=eStatus::InvalidHull;break; }
} else { m_status=eStatus::AccuraryReached;break; }
} else { m_status=eStatus::OutOfVertices;break; }
m_result.p[0]=1;
return(m_status);
}
+ bool getedgedist(sFace* face, sSV* a, sSV* b, btScalar& dist)
+ {
+ const btVector3 ba = b->w - a->w;
+ const btVector3 n_ab = btCross(ba, face->n); // Outward facing edge normal direction, on triangle plane
+ const btScalar a_dot_nab = btDot(a->w, n_ab); // Only care about the sign to determine inside/outside, so not normalization required
+
+ if(a_dot_nab < 0)
+ {
+ // Outside of edge a->b
+
+ const btScalar ba_l2 = ba.length2();
+ const btScalar a_dot_ba = btDot(a->w, ba);
+ const btScalar b_dot_ba = btDot(b->w, ba);
+
+ if(a_dot_ba > 0)
+ {
+ // Pick distance vertex a
+ dist = a->w.length();
+ }
+ else if(b_dot_ba < 0)
+ {
+ // Pick distance vertex b
+ dist = b->w.length();
+ }
+ else
+ &nbs
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