public void GImpactVsCompoundshape(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
CompoundShape shape1, bool swapped)
{
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsCompoundshape");
}
int i = shape1.GetNumChildShapes();
while (i-- != 0)
{
CollisionShape colshape1 = shape1.GetChildShape(i);
IndexedMatrix childtrans1 = orgtrans1 * shape1.GetChildTransform(i);
body1.SetWorldTransform(ref childtrans1);
//collide child shape
GImpactVsShape(body0, body1,
shape0, colshape1, swapped);
//restore transforms
body1.SetWorldTransform(ref orgtrans1);
}
}
private void PreallocateChildAlgorithms(CollisionObject body0, CollisionObject body1)
{
CollisionObject colObj = m_isSwapped ? body1 : body0;
CollisionObject otherObj = m_isSwapped ? body0 : body1;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
int numChildren = compoundShape.GetNumChildShapes();
int i;
//m_childCollisionAlgorithms.resize(numChildren);
m_childCollisionAlgorithms.Clear();
for (i = 0; i < numChildren; i++)
{
if (compoundShape.GetDynamicAabbTree() != null)
{
m_childCollisionAlgorithms.Add(null);
}
else
{
CollisionShape tmpShape = colObj.GetCollisionShape();
CollisionShape childShape = compoundShape.GetChildShape(i);
colObj.InternalSetTemporaryCollisionShape(childShape);
CollisionAlgorithm ca = m_dispatcher.FindAlgorithm(colObj, otherObj, m_sharedManifold);
m_childCollisionAlgorithms.Add(ca);
colObj.InternalSetTemporaryCollisionShape(tmpShape);
}
}
}
public override float CalculateTimeOfImpact(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
resultOut = null;
CollisionObject colObj = m_isSwapped ? body1 : body0;
CollisionObject otherObj = m_isSwapped ? body0 : body1;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
float hitFraction = 1f;
int numChildren = m_childCollisionAlgorithms.Count;
IndexedMatrix orgTrans;
float frac;
for (int i = 0; i < numChildren; i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
CollisionShape childShape = compoundShape.GetChildShape(i);
//backup
orgTrans = colObj.GetWorldTransform();
IndexedMatrix childTrans = compoundShape.GetChildTransform(i);
IndexedMatrix newChildWorldTrans = orgTrans * childTrans;
colObj.SetWorldTransform(ref newChildWorldTrans);
CollisionShape tmpShape = colObj.GetCollisionShape();
colObj.InternalSetTemporaryCollisionShape(childShape);
frac = m_childCollisionAlgorithms[i].CalculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
if (frac < hitFraction)
{
hitFraction = frac;
}
//revert back
colObj.InternalSetTemporaryCollisionShape(tmpShape);
colObj.SetWorldTransform(ref orgTrans);
}
return(hitFraction);
}
public override void Process(DbvtNode leaf)
{
int index = leaf.dataAsInt;
CompoundShape compoundShape = (CompoundShape)(m_compoundColObj.GetCollisionShape());
CollisionShape childShape = compoundShape.GetChildShape(index);
if (m_dispatchInfo.getDebugDraw() != null && (((m_dispatchInfo.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawAabb)) != 0))
{
IndexedVector3 worldAabbMin;
IndexedVector3 worldAabbMax;
IndexedMatrix orgTrans = m_compoundColObj.GetWorldTransform();
AabbUtil2.TransformAabb(leaf.volume.Mins(), leaf.volume.Maxs(), 0f, ref orgTrans, out worldAabbMin, out worldAabbMax);
m_dispatchInfo.getDebugDraw().DrawAabb(worldAabbMin, worldAabbMax, new IndexedVector3(1, 0, 0));
}
ProcessChildShape(childShape, index);
}
public void GImpactVsCompoundshape(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
CompoundShape shape1, bool swapped)
{
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsCompoundshape");
}
int i = shape1.GetNumChildShapes();
while (i-- != 0)
{
CollisionShape colshape1 = shape1.GetChildShape(i);
IndexedMatrix childtrans1 = orgtrans1 * shape1.GetChildTransform(i);
body1.SetWorldTransform(ref childtrans1);
//collide child shape
GImpactVsShape(body0, body1,
shape0, colshape1, swapped);
//restore transforms
body1.SetWorldTransform(ref orgtrans1);
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//resultOut = null;
CollisionObject colObj = m_isSwapped ? body1 : body0;
CollisionObject otherObj = m_isSwapped ? body0 : body1;
Debug.Assert(colObj.GetCollisionShape().IsCompound());
CompoundShape compoundShape = (CompoundShape)(colObj.GetCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
if (compoundShape.GetUpdateRevision() != m_compoundShapeRevision)
{
///clear and update all
RemoveChildAlgorithms();
PreallocateChildAlgorithms(body0, body1);
}
Dbvt tree = compoundShape.GetDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
using (CompoundLeafCallback callback = BulletGlobals.CompoundLeafCallbackPool.Get())
{
callback.Initialize(colObj, otherObj, m_dispatcher, dispatchInfo, resultOut, this, m_childCollisionAlgorithms, m_sharedManifold);
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
m_manifoldArray.Clear();
for (int i = 0; i < m_childCollisionAlgorithms.Count; i++)
{
if (m_childCollisionAlgorithms[i] != null)
{
m_childCollisionAlgorithms[i].GetAllContactManifolds(m_manifoldArray);
for (int m = 0; m < m_manifoldArray.Count; m++)
{
if (m_manifoldArray[m].GetNumContacts() > 0)
{
resultOut.SetPersistentManifold(m_manifoldArray[m]);
resultOut.RefreshContactPoints();
resultOut.SetPersistentManifold(null);//??necessary?
}
}
m_manifoldArray.Clear();
}
}
}
if (tree != null)
{
IndexedVector3 localAabbMin;
IndexedVector3 localAabbMax;
IndexedMatrix otherInCompoundSpace;
//otherInCompoundSpace = MathUtil.BulletMatrixMultiply(colObj.GetWorldTransform(),otherObj.GetWorldTransform());
otherInCompoundSpace = colObj.GetWorldTransform().Inverse() * otherObj.GetWorldTransform();
otherObj.GetCollisionShape().GetAabb(ref otherInCompoundSpace, out localAabbMin, out localAabbMax);
DbvtAabbMm bounds = DbvtAabbMm.FromMM(ref localAabbMin, ref localAabbMax);
//process all children, that overlap with the given AABB bounds
Dbvt.CollideTV(tree.m_root, ref bounds, callback, tree.CollideTVStack, ref tree.CollideTVCount);
}
else
{
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.Count;
for (int i = 0; i < numChildren; i++)
{
callback.ProcessChildShape(compoundShape.GetChildShape(i), i);
}
}
{
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.Count;
m_manifoldArray.Clear();
CollisionShape childShape = null;
IndexedMatrix orgTrans;
IndexedMatrix orgInterpolationTrans;
IndexedMatrix newChildWorldTrans;
for (int i = 0; i < numChildren; i++)
{
if (m_childCollisionAlgorithms[i] != null)
{
childShape = compoundShape.GetChildShape(i);
//if not longer overlapping, remove the algorithm
orgTrans = colObj.GetWorldTransform();
orgInterpolationTrans = colObj.GetInterpolationWorldTransform();
IndexedMatrix childTrans = compoundShape.GetChildTransform(i);
newChildWorldTrans = orgTrans * childTrans;
//perform an AABB check first
IndexedVector3 aabbMin0;
IndexedVector3 aabbMax0;
IndexedVector3 aabbMin1;
IndexedVector3 aabbMax1;
childShape.GetAabb(ref newChildWorldTrans, out aabbMin0, out aabbMax0);
otherObj.GetCollisionShape().GetAabb(otherObj.GetWorldTransform(), out aabbMin1, out aabbMax1);
if (!AabbUtil2.TestAabbAgainstAabb2(ref aabbMin0, ref aabbMax0, ref aabbMin1, ref aabbMax1))
{
m_dispatcher.FreeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = null;
}
}
}
}
}
}
