static bool QuantizedNodeCollision(
GImpactQuantizedBvh boxset0, GImpactQuantizedBvh boxset1,
BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0,
int node0, int node1, bool complete_primitive_tests)
{
AABB box0;
boxset0.GetNodeBound(node0, out box0);
AABB box1;
boxset1.GetNodeBound(node1, out box1);
return(box0.OverlappingTransCache(ref box1, ref trans_cache_1to0, complete_primitive_tests));
// box1.appy_transform_trans_cache(trans_cache_1to0);
// return box0.has_collision(box1);
}
public void GImpactVsGImpactFindPairs(
ref IndexedMatrix trans0,
ref IndexedMatrix trans1,
GImpactShapeInterface shape0,
GImpactShapeInterface shape1, PairSet pairset)
{
if (shape0.HasBoxSet() && shape1.HasBoxSet())
{
GImpactQuantizedBvh.FindCollision(shape0.GetBoxSet(), ref trans0, shape1.GetBoxSet(), ref trans1, pairset);
}
else
{
AABB boxshape0 = new AABB();
AABB boxshape1 = new AABB();
int i = shape0.GetNumChildShapes();
while (i-- != 0)
{
shape0.GetChildAabb(i, ref trans0, out boxshape0.m_min, out boxshape0.m_max);
int j = shape1.GetNumChildShapes();
while (j-- != 0)
{
shape1.GetChildAabb(i, ref trans1, out boxshape1.m_min, out boxshape1.m_max);
if (boxshape1.HasCollision(ref boxshape0))
{
pairset.PushPair(i, j);
}
}
}
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsGImpactFindPairs [{0}]", pairset.Count);
}
#endif
}
public static void FindCollision(GImpactQuantizedBvh boxset0, ref IndexedMatrix trans0,
GImpactQuantizedBvh boxset1, ref IndexedMatrix trans1,
PairSet collision_pairs)
{
if (boxset0.GetNodeCount() == 0 || boxset1.GetNodeCount() == 0)
{
return;
}
BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0 = new BT_BOX_BOX_TRANSFORM_CACHE();
trans_cache_1to0.CalcFromHomogenic(ref trans0, ref trans1);
#if TRI_COLLISION_PROFILING
BulletGlobals.StartProfile("GIMPACT-TRIMESH");
#endif //TRI_COLLISION_PROFILING
FindQuantizedCollisionPairsRecursive(boxset0, boxset1, collision_pairs, ref trans_cache_1to0, 0, 0, true);
#if TRI_COLLISION_PROFILING
BulletGlobals.StopProfile();
#endif //TRI_COLLISION_PROFILING
}
public static void FindQuantizedCollisionPairsRecursive(
GImpactQuantizedBvh boxset0, GImpactQuantizedBvh boxset1,
PairSet collision_pairs,
ref BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0,
int node0, int node1, bool complete_primitive_tests)
{
if (QuantizedNodeCollision(
boxset0, boxset1, trans_cache_1to0,
node0, node1, complete_primitive_tests) == false)
{
return; //avoid colliding internal nodes
}
if (boxset0.IsLeafNode(node0))
{
if (boxset1.IsLeafNode(node1))
{
// collision result
collision_pairs.PushPair(boxset0.GetNodeData(node0), boxset1.GetNodeData(node1));
return;
}
else
{
//collide left recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
node0, boxset1.GetLeftNode(node1), false);
//collide right recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
node0, boxset1.GetRightNode(node1), false);
}
}
else
{
if (boxset1.IsLeafNode(node1))
{
//collide left recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetLeftNode(node0), node1, false);
//collide right recursive
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetRightNode(node0), node1, false);
}
else
{
//collide left0 left1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetLeftNode(node0), boxset1.GetLeftNode(node1), false);
//collide left0 right1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetLeftNode(node0), boxset1.GetRightNode(node1), false);
//collide right0 left1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetRightNode(node0), boxset1.GetLeftNode(node1), false);
//collide right0 right1
FindQuantizedCollisionPairsRecursive(
boxset0, boxset1,
collision_pairs, ref trans_cache_1to0,
boxset0.GetRightNode(node0), boxset1.GetRightNode(node1), false);
} // else if node1 is not a leaf
} // else if node0 is not a leaf
}