//! Collides two gimpact shapes
/*!
* \pre shape0 and shape1 couldn't be btGImpactMeshShape objects
*/
public void GImpactVsGImpact(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
GImpactShapeInterface shape1)
{
if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE)
{
GImpactMeshShape meshshape0 = shape0 as GImpactMeshShape;
m_part0 = meshshape0.GetMeshPartCount();
while (m_part0-- != 0)
{
GImpactVsGImpact(body0, body1, meshshape0.GetMeshPart(m_part0), shape1);
}
return;
}
if (shape1.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE)
{
GImpactMeshShape meshshape1 = shape1 as GImpactMeshShape;
m_part1 = meshshape1.GetMeshPartCount();
while (m_part1-- != 0)
{
GImpactVsGImpact(body0, body1, shape0, meshshape1.GetMeshPart(m_part1));
}
return;
}
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
PairSet pairset = new PairSet();
GImpactVsGImpactFindPairs(ref orgtrans0, ref orgtrans1, shape0, shape1, pairset);
if (pairset.Count == 0)
{
return;
}
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsGImpact [{0}]", pairset.Count);
}
if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE_PART)
{
GImpactMeshShapePart shapepart0 = shape0 as GImpactMeshShapePart;
GImpactMeshShapePart shapepart1 = shape1 as GImpactMeshShapePart;
//specialized function
#if BULLET_TRIANGLE_COLLISION
CollideGjkTriangles(body0, body1, shapepart0, shapepart1, &pairset[0].m_index1, pairset.size());
#else
CollideSatTriangles(body0, body1, shapepart0, shapepart1, pairset, pairset.Count);
#endif
return;
}
//general function
shape0.LockChildShapes();
shape1.LockChildShapes();
using (GIM_ShapeRetriever retriever0 = BulletGlobals.GIM_ShapeRetrieverPool.Get())
using (GIM_ShapeRetriever retriever1 = BulletGlobals.GIM_ShapeRetrieverPool.Get())
{
retriever0.Initialize(shape0);
retriever1.Initialize(shape1);
bool child_has_transform0 = shape0.ChildrenHasTransform();
bool child_has_transform1 = shape1.ChildrenHasTransform();
int i = pairset.Count;
while (i-- != 0)
{
GIM_PAIR pair = pairset[i];
m_triface0 = pair.m_index1;
m_triface1 = pair.m_index2;
CollisionShape colshape0 = retriever0.GetChildShape(m_triface0);
CollisionShape colshape1 = retriever1.GetChildShape(m_triface1);
if (child_has_transform0)
{
body0.SetWorldTransform(orgtrans0 * shape0.GetChildTransform(m_triface0));
}
if (child_has_transform1)
{
body1.SetWorldTransform(orgtrans1 * shape1.GetChildTransform(m_triface1));
}
//collide two convex shapes
ConvexVsConvexCollision(body0, body1, colshape0, colshape1);
if (child_has_transform0)
{
body0.SetWorldTransform(ref orgtrans0);
}
if (child_has_transform1)
{
body1.SetWorldTransform(ref orgtrans1);
}
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
}
public void GImpactVsShape(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
CollisionShape shape1, bool swapped)
{
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsShape");
}
if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE)
{
GImpactMeshShape meshshape0 = shape0 as GImpactMeshShape;
// check this...
//int& part = swapped ? m_part1 : m_part0;
//part = meshshape0.GetMeshPartCount();
int part = meshshape0.GetMeshPartCount();
while (part-- != 0)
{
GImpactVsShape(body0,
body1,
meshshape0.GetMeshPart(part),
shape1, swapped);
}
if (swapped)
{
m_part1 = part;
}
else
{
m_part0 = part;
}
return;
}
#if GIMPACT_VS_PLANE_COLLISION
if (shape0.GetGImpactShapeType() == GIMPACT_SHAPE_TYPE.CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1.GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE)
{
GImpactMeshShapePart shapepart = shape0 as GImpactMeshShapePart;
StaticPlaneShape planeshape = shape1 as StaticPlaneShape;
GImpactTrimeshpartVsPlaneCollision(body0, body1, shapepart, planeshape, swapped);
return;
}
#endif
if (shape1.IsCompound())
{
CompoundShape compoundshape = shape1 as CompoundShape;
GImpactVsCompoundshape(body0, body1, shape0, compoundshape, swapped);
return;
}
else if (shape1.IsConcave())
{
ConcaveShape concaveshape = shape1 as ConcaveShape;
GImpactVsConcave(body0, body1, shape0, concaveshape, swapped);
return;
}
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
ObjectArray <int> collided_results = new ObjectArray <int>(64);
GImpactVsShapeFindPairs(ref orgtrans0, ref orgtrans1, shape0, shape1, collided_results);
if (collided_results.Count == 0)
{
return;
}
shape0.LockChildShapes();
using (GIM_ShapeRetriever retriever0 = BulletGlobals.GIM_ShapeRetrieverPool.Get())
{
retriever0.Initialize(shape0);
bool child_has_transform0 = shape0.ChildrenHasTransform();
int i = collided_results.Count;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsShape [{0}]", collided_results.Count);
}
while (i-- != 0)
{
int child_index = collided_results[i];
if (swapped)
{
m_triface1 = child_index;
}
else
{
m_triface0 = child_index;
}
CollisionShape colshape0 = retriever0.GetChildShape(child_index);
if (child_has_transform0)
{
body0.SetWorldTransform(orgtrans0 * shape0.GetChildTransform(child_index));
}
//collide two shapes
if (swapped)
{
ShapeVsShapeCollision(body1, body0, shape1, colshape0);
}
else
{
ShapeVsShapeCollision(body0, body1, colshape0, shape1);
}
//restore transforms
if (child_has_transform0)
{
body0.SetWorldTransform(ref orgtrans0);
}
}
shape0.UnlockChildShapes();
}
}
public void InitGImpactCollision()
{
/// Create Torus Shape
{
m_indexVertexArrays = new TriangleIndexVertexArray(DemoMeshes.TORUS_NUM_TRIANGLES, DemoMeshes.gTorusIndices, 3, DemoMeshes.TORUS_NUM_VERTICES, DemoMeshes.gTorusVertices, 3);
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
btGImpactConvexDecompositionShape * trimesh = new
btGImpactConvexDecompositionShape(
m_indexVertexArrays, IndexedVector3(1.f,1.f,1.f),btScalar(0.01));
trimesh->setMargin(0.07);
trimesh->updateBound();
#else
//GImpactMeshShape trimesh = new GImpactMeshShape(m_indexVertexArrays);
//IndexedVector3 scaling = IndexedVector3.One;
//trimesh.SetLocalScaling(ref scaling);
//trimesh.SetMargin(0.07f); ///?????
//trimesh.UpdateBound();
#endif
//m_trimeshShape = trimesh;
}
/// Create Bunny Shape
{
m_indexVertexArrays2 = new TriangleIndexVertexArray(DemoMeshes.BUNNY_NUM_TRIANGLES, DemoMeshes.gBunnyIndices, 3, DemoMeshes.BUNNY_NUM_VERTICES, DemoMeshes.gBunnyVertices, 3);
#if BULLET_GIMPACT_CONVEX_DECOMPOSITION
btGImpactConvexDecompositionShape * trimesh2 = new
btGImpactConvexDecompositionShape(
m_indexVertexArrays2, IndexedVector3(4.f,4.f,4.f),btScalar(0.01));
trimesh2->setMargin(0.07);
trimesh2->updateBound();
#else
GImpactMeshShape trimesh2 = new GImpactMeshShape(m_indexVertexArrays2);
IndexedVector3 scaling = new IndexedVector3(4.0f, 4.0f, 4.0f);
trimesh2.SetLocalScaling(ref scaling);
//trimesh2.SetMargin(0.07f); ///?????
trimesh2.UpdateBound();
#endif
m_trimeshShape2 = trimesh2;
}
///register GIMPACT algorithm
CollisionDispatcher dispatcher = m_dynamicsWorld.GetDispatcher() as CollisionDispatcher;
GImpactCollisionAlgorithm.RegisterAlgorithm(dispatcher);
}
