//! 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); }