Example #1
0
        public void ConvexSweepTest(ConvexShape castShape, ref IndexedMatrix convexFromWorld, ref IndexedMatrix convexToWorld, ConvexResultCallback resultCallback, float allowedCcdPenetration)
        {
            IndexedMatrix convexFromTrans = convexFromWorld;
            IndexedMatrix convexToTrans   = convexToWorld;

            IndexedVector3 castShapeAabbMin;
            IndexedVector3 castShapeAabbMax;
            /* Compute AABB that encompasses angular movement */
            IndexedVector3 linVel, angVel;

            TransformUtil.CalculateVelocity(ref convexFromTrans, ref convexToTrans, 1.0f, out linVel, out angVel);

            // FIXME MAN check this - should be a get/set rotation call, basis copy like this may break with scale?
            IndexedMatrix R = IndexedMatrix.Identity;

            R.SetRotation(convexFromTrans.GetRotation());


            castShape.CalculateTemporalAabb(ref R, ref linVel, ref angVel, 1.0f, out castShapeAabbMin, out castShapeAabbMax);

            /// go over all objects, and if the ray intersects their aabb + cast shape aabb,
            // do a ray-shape query using convexCaster (CCD)
            for (int i = 0; i < m_overlappingObjects.Count; i++)
            {
                CollisionObject collisionObject = m_overlappingObjects[i];
                //only perform raycast if filterMask matches
                if (resultCallback.NeedsCollision(collisionObject.GetBroadphaseHandle()))
                {
                    //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
                    IndexedVector3 collisionObjectAabbMin;
                    IndexedVector3 collisionObjectAabbMax;
                    IndexedMatrix  t = collisionObject.GetWorldTransform();
                    collisionObject.GetCollisionShape().GetAabb(ref t, out collisionObjectAabbMin, out collisionObjectAabbMax);
                    AabbUtil2.AabbExpand(ref collisionObjectAabbMin, ref collisionObjectAabbMax, ref castShapeAabbMin, ref castShapeAabbMax);
                    float          hitLambda = 1f; //could use resultCallback.m_closestHitFraction, but needs testing
                    IndexedVector3 hitNormal;

                    if (AabbUtil2.RayAabb(convexFromWorld._origin, convexToWorld._origin, ref collisionObjectAabbMin, ref collisionObjectAabbMax, ref hitLambda, out hitNormal))
                    {
                        IndexedMatrix wt = collisionObject.GetWorldTransform();
                        CollisionWorld.ObjectQuerySingle(castShape, ref convexFromTrans, ref convexToTrans,
                                                         collisionObject,
                                                         collisionObject.GetCollisionShape(),
                                                         ref wt,
                                                         resultCallback,
                                                         allowedCcdPenetration);
                    }
                }
            }
        }
Example #2
0
 public virtual void RemoveCollisionObject(CollisionObject collisionObject)
 {
     //bool removeFromBroadphase = false;
     {
         BroadphaseProxy bp = collisionObject.GetBroadphaseHandle();
         if (bp != null)
         {
             //
             // only clear the cached algorithms
             //
             GetBroadphase().GetOverlappingPairCache().CleanProxyFromPairs(bp, m_dispatcher1);
             GetBroadphase().DestroyProxy(bp, m_dispatcher1);
             collisionObject.SetBroadphaseHandle(null);
         }
     }
     //swapremove
     m_collisionObjects.Remove(collisionObject);
 }
Example #3
0
        public void UpdateSingleAabb(CollisionObject colObj)
        {
            IndexedVector3 minAabb;
            IndexedVector3 maxAabb;
            IndexedMatrix wt = colObj.GetWorldTransform();
            colObj.GetCollisionShape().GetAabb(ref wt, out minAabb, out maxAabb);
            //need to increase the aabb for contact thresholds
            IndexedVector3 contactThreshold = new IndexedVector3(BulletGlobals.gContactBreakingThreshold);
            minAabb -= contactThreshold;
            maxAabb += contactThreshold;

            if (GetDispatchInfo().m_useContinuous && colObj.GetInternalType() == CollisionObjectTypes.CO_RIGID_BODY && !colObj.IsStaticOrKinematicObject())
	        {
		        IndexedVector3 minAabb2,maxAabb2;
		        colObj.GetCollisionShape().GetAabb(colObj.GetInterpolationWorldTransform(),out minAabb2 ,out maxAabb2);
		        minAabb2 -= contactThreshold;
		        maxAabb2 += contactThreshold;
		        MathUtil.VectorMin(ref minAabb2,ref minAabb);
                MathUtil.VectorMax(ref maxAabb2, ref maxAabb);
            }

            if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugCollisionWorld)
            {
                MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMin", minAabb);
                MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "updateSingleAabbMax", maxAabb);
            }


            IBroadphaseInterface bp = m_broadphasePairCache as IBroadphaseInterface;

            //moving objects should be moderately sized, probably something wrong if not
            if (colObj.IsStaticObject() || ((maxAabb - minAabb).LengthSquared() < 1e12f))
            {
                bp.SetAabb(colObj.GetBroadphaseHandle(), ref minAabb, ref maxAabb, m_dispatcher1);
            }
            else
            {
                //something went wrong, investigate
                //this assert is unwanted in 3D modelers (danger of loosing work)
                colObj.SetActivationState(ActivationState.DISABLE_SIMULATION);

                //static bool reportMe = true;
                bool reportMe = true;
                if (reportMe && m_debugDrawer != null)
                {
                    reportMe = false;
                    m_debugDrawer.ReportErrorWarning("Overflow in AABB, object removed from simulation");
                    m_debugDrawer.ReportErrorWarning("If you can reproduce this, please email [email protected]\n");
                    m_debugDrawer.ReportErrorWarning("Please include above information, your Platform, version of OS.\n");
                    m_debugDrawer.ReportErrorWarning("Thanks.\n");
                }
            }
        }