public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
//resultOut = new ManifoldResult();
if (m_manifoldPtr == null)
{
return;
}
CollisionObject sphereObj = m_swapped ? body1 : body0;
CollisionObject triObj = m_swapped ? body0 : body1;
SphereShape sphere = sphereObj.GetCollisionShape() as SphereShape;
TriangleShape triangle = triObj.GetCollisionShape() as TriangleShape;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
using (SphereTriangleDetector detector = BulletGlobals.SphereTriangleDetectorPool.Get())
{
detector.Initialize(sphere, triangle, m_manifoldPtr.GetContactBreakingThreshold());
ClosestPointInput input = ClosestPointInput.Default();
input.m_maximumDistanceSquared = float.MaxValue;
sphereObj.GetWorldTransform(out input.m_transformA);
triObj.GetWorldTransform(out input.m_transformB);
bool swapResults = m_swapped;
detector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), swapResults);
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.getPersistentManifold().clearManifold();
ConvexShape min0 = body0.GetCollisionShape() as ConvexShape;
ConvexShape min1 = body1.GetCollisionShape() as ConvexShape;
IndexedVector3 normalOnB = IndexedVector3.Zero;
IndexedVector3 pointOnBWorld = IndexedVector3.Zero;
{
ClosestPointInput input = ClosestPointInput.Default();
using (GjkPairDetector gjkPairDetector = BulletGlobals.GjkPairDetectorPool.Get())
{
gjkPairDetector.Initialize(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
{
input.m_maximumDistanceSquared = min0.GetMargin() + min1.GetMargin() + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
gjkPairDetector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), false);
#if DEBUG
if (BulletGlobals.g_streamWriter != null)
{
BulletGlobals.g_streamWriter.WriteLine("c2dc2d processCollision");
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "transformA", input.m_transformA);
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "transformB", input.m_transformB);
}
#endif
}
//BulletGlobals.GjkPairDetectorPool.Free(gjkPairDetector);
//btVector3 v0,v1;
//btVector3 sepNormalWorldSpace;
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
return;
}
CollisionObject col0 = body0;
CollisionObject col1 = body1;
//resultOut = new ManifoldResult(body0, body1);
BoxShape box0 = col0.GetCollisionShape() as BoxShape;
BoxShape box1 = col1.GetCollisionShape() as BoxShape;
//if (((String)col0.getUserPointer()).Contains("Box") &&
// ((String)col1.getUserPointer()).Contains("Box") )
//{
// int ibreak = 0;
//}
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.SetPersistentManifold(m_manifoldPtr);
#if !USE_PERSISTENT_CONTACTS
m_manifoldPtr.ClearManifold();
#endif //USE_PERSISTENT_CONTACTS
ClosestPointInput input = ClosestPointInput.Default();
input.m_maximumDistanceSquared = float.MaxValue;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
BoxBoxDetector.GetClosestPoints(box0, box1, ref input, resultOut, dispatchInfo.getDebugDraw(), false);
#if USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
}
public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
{
if (!AabbUtil2.TestTriangleAgainstAabb2(triangle, ref m_aabbMin, ref m_aabbMax))
{
return;
}
//aabb filter is already applied!
CollisionAlgorithmConstructionInfo ci = new CollisionAlgorithmConstructionInfo();
ci.SetDispatcher(m_dispatcher);
CollisionObject ob = m_triBody as CollisionObject;
///debug drawing of the overlapping triangles
///
#if false
if (m_dispatchInfoPtr != null && m_dispatchInfoPtr.getDebugDraw() != null && ((m_dispatchInfoPtr.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawWireframe) > 0))
{
IndexedVector3 color = new IndexedVector3(1, 1, 0);
IndexedMatrix tr = ob.GetWorldTransform();
IndexedVector3[] transformedTriangles = new IndexedVector3[3];
IndexedVector3.Transform(triangle, ref tr, transformedTriangles);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[0], ref transformedTriangles[1], ref color);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[1], ref transformedTriangles[2], ref color);
m_dispatchInfoPtr.getDebugDraw().DrawLine(ref transformedTriangles[2], ref transformedTriangles[0], ref color);
}
#endif
if (m_convexBody.GetCollisionShape().IsConvex())
{
using (TriangleShape tm = BulletGlobals.TriangleShapePool.Get())
{
tm.Initialize(ref triangle[0], ref triangle[1], ref triangle[2]);
tm.SetMargin(m_collisionMarginTriangle);
CollisionShape tmpShape = ob.GetCollisionShape();
ob.InternalSetTemporaryCollisionShape(tm);
CollisionAlgorithm colAlgo = ci.GetDispatcher().FindAlgorithm(m_convexBody, m_triBody, m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
if (m_resultOut.GetBody0Internal() == m_triBody)
{
m_resultOut.SetShapeIdentifiersA(partId, triangleIndex);
}
else
{
m_resultOut.SetShapeIdentifiersB(partId, triangleIndex);
}
colAlgo.ProcessCollision(m_convexBody, m_triBody, m_dispatchInfoPtr, m_resultOut);
ci.GetDispatcher().FreeCollisionAlgorithm(colAlgo);
colAlgo = null;
ob.InternalSetTemporaryCollisionShape(tmpShape);
}
}
}
public override void ProcessCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.GetNewManifold(body0, body1);
m_ownManifold = true;
}
//resultOut = new ManifoldResult();
resultOut.SetPersistentManifold(m_manifoldPtr);
//comment-out next line to test multi-contact generation
//resultOut.GetPersistentManifold().ClearManifold();
ConvexShape min0 = body0.GetCollisionShape() as ConvexShape;
ConvexShape min1 = body1.GetCollisionShape() as ConvexShape;
IndexedVector3 normalOnB;
IndexedVector3 pointOnBWorld;
#if !BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
if ((min0.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.GetShapeType() == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = min0 as CapsuleShape;
CapsuleShape capsuleB = min1 as CapsuleShape;
//IndexedVector3 localScalingA = capsuleA.GetLocalScaling();
//IndexedVector3 localScalingB = capsuleB.GetLocalScaling();
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float dist = CapsuleCapsuleDistance(out normalOnB, out pointOnBWorld, capsuleA.GetHalfHeight(), capsuleA.GetRadius(),
capsuleB.GetHalfHeight(), capsuleB.GetRadius(), capsuleA.GetUpAxis(), capsuleB.GetUpAxis(),
body0.GetWorldTransform(), body1.GetWorldTransform(), threshold);
if (dist < threshold)
{
Debug.Assert(normalOnB.LengthSquared() >= (MathUtil.SIMD_EPSILON * MathUtil.SIMD_EPSILON));
resultOut.AddContactPoint(ref normalOnB, ref pointOnBWorld, dist);
}
resultOut.RefreshContactPoints();
return;
}
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0.getWorldTransform(), body1.getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance() <= 0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input = ClosestPointInput.Default();
using (GjkPairDetector gjkPairDetector = BulletGlobals.GjkPairDetectorPool.Get())
{
gjkPairDetector.Initialize(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.SetMinkowskiA(min0);
gjkPairDetector.SetMinkowskiB(min1);
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = float.MaxValue;
}
else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.GetMargin() + min1.GetMargin() + m_manifoldPtr.GetContactBreakingThreshold();
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
if (min0.IsPolyhedral() && min1.IsPolyhedral())
{
DummyResult dummy = new DummyResult();
PolyhedralConvexShape polyhedronA = min0 as PolyhedralConvexShape;
PolyhedralConvexShape polyhedronB = min1 as PolyhedralConvexShape;
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetConvexPolyhedron() != null)
{
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
float minDist = float.MinValue;
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0);
bool foundSepAxis = true;
if (dispatchInfo.m_enableSatConvex)
{
foundSepAxis = PolyhedralContactClipping.FindSeparatingAxis(
polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(),
out sepNormalWorldSpace);
}
else
{
#if ZERO_MARGIN
gjkPairDetector.SetIgnoreMargin(true);
gjkPairDetector.GetClosestPoints(input, resultOut, dispatchInfo.m_debugDraw);
#else
gjkPairDetector.GetClosestPoints(ref input, dummy, dispatchInfo.m_debugDraw);
#endif
float l2 = gjkPairDetector.GetCachedSeparatingAxis().LengthSquared();
if (l2 > MathUtil.SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis() * (1.0f / l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = gjkPairDetector.GetCachedSeparatingDistance() - min0.GetMargin() - min1.GetMargin();
#if ZERO_MARGIN
foundSepAxis = true; //gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = gjkPairDetector.GetCachedSeparatingDistance() < (min0.GetMargin() + min1.GetMargin());
#endif
}
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
PolyhedralContactClipping.ClipHullAgainstHull(sepNormalWorldSpace, polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(), minDist - threshold, threshold, resultOut);
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
return;
}
else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA.GetConvexPolyhedron() != null && polyhedronB.GetShapeType() == BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE)
{
m_vertices.Clear();
TriangleShape tri = polyhedronB as TriangleShape;
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[0]);
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[1]);
m_vertices.Add(body1.GetWorldTransform() * tri.m_vertices1[2]);
float threshold = m_manifoldPtr.GetContactBreakingThreshold();
IndexedVector3 sepNormalWorldSpace = new IndexedVector3(0, 1, 0);;
float minDist = float.MinValue;
float maxDist = threshold;
bool foundSepAxis = false;
if (false)
{
polyhedronB.InitializePolyhedralFeatures();
foundSepAxis = PolyhedralContactClipping.FindSeparatingAxis(
polyhedronA.GetConvexPolyhedron(), polyhedronB.GetConvexPolyhedron(),
body0.GetWorldTransform(),
body1.GetWorldTransform(),
out sepNormalWorldSpace);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
}
else
{
#if ZERO_MARGIN
gjkPairDetector.SetIgnoreMargin(true);
gjkPairDetector.GetClosestPoints(input, resultOut, dispatchInfo.m_debugDraw);
#else
gjkPairDetector.GetClosestPoints(ref input, dummy, dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
float l2 = gjkPairDetector.GetCachedSeparatingAxis().LengthSquared();
if (l2 > MathUtil.SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis() * (1.0f / l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.GetCachedSeparatingDistance() - min0.GetMargin() - min1.GetMargin();
foundSepAxis = true;
}
}
if (foundSepAxis)
{
PolyhedralContactClipping.ClipFaceAgainstHull(sepNormalWorldSpace, polyhedronA.GetConvexPolyhedron(),
body0.GetWorldTransform(), m_vertices, minDist - threshold, maxDist, resultOut);
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
return;
}
}
}
gjkPairDetector.GetClosestPoints(ref input, resultOut, dispatchInfo.getDebugDraw(), false);
#if USE_SEPDISTANCE_UTIL2
float sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist > MathUtil.SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations > 0 && resultOut.GetPersistentManifold().GetNumContacts() < m_minimumPointsPerturbationThreshold)
{
IndexedVector3 v0, v1;
IndexedVector3 sepNormalWorldSpace = gjkPairDetector.GetCachedSeparatingAxis();
sepNormalWorldSpace.Normalize();
TransformUtil.PlaneSpace1(ref sepNormalWorldSpace, out v0, out v1);
bool perturbeA = true;
const float angleLimit = 0.125f * MathUtil.SIMD_PI;
float perturbeAngle;
float radiusA = min0.GetAngularMotionDisc();
float radiusB = min1.GetAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusA;
perturbeA = true;
}
else
{
perturbeAngle = BulletGlobals.gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if (perturbeAngle > angleLimit)
{
perturbeAngle = angleLimit;
}
IndexedMatrix unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
}
else
{
unPerturbedTransform = input.m_transformB;
}
for (int i = 0; i < m_numPerturbationIterations; i++)
{
if (v0.LengthSquared() > MathUtil.SIMD_EPSILON)
{
IndexedQuaternion perturbeRot = new IndexedQuaternion(v0, perturbeAngle);
float iterationAngle = i * (MathUtil.SIMD_2_PI / (float)m_numPerturbationIterations);
IndexedQuaternion rotq = new IndexedQuaternion(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
input.m_transformA._basis = (new IndexedBasisMatrix(MathUtil.QuaternionInverse(rotq) * perturbeRot * rotq) * body0.GetWorldTransform()._basis);
input.m_transformB = body1.GetWorldTransform();
input.m_transformB = body1.GetWorldTransform();
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformA, 10.0f);
#endif //DEBUG_CONTACTS
}
else
{
input.m_transformA = body0.GetWorldTransform();
input.m_transformB._basis = (new IndexedBasisMatrix(MathUtil.QuaternionInverse(rotq) * perturbeRot * rotq) * body1.GetWorldTransform()._basis);
#if DEBUG_CONTACTS
dispatchInfo.m_debugDraw.DrawTransform(ref input.m_transformB, 10.0f);
#endif
}
PerturbedContactResult perturbedResultOut = new PerturbedContactResult(resultOut, ref input.m_transformA, ref input.m_transformB, ref unPerturbedTransform, perturbeA, dispatchInfo.getDebugDraw());
gjkPairDetector.GetClosestPoints(ref input, perturbedResultOut, dispatchInfo.getDebugDraw(), false);
}
}
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist > MathUtil.SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(), sepDist, body0.getWorldTransform(), body1.getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
}
if (m_ownManifold)
{
resultOut.RefreshContactPoints();
}
}
public void ProcessChildShape(CollisionShape childShape, int index)
{
Debug.Assert(index >= 0);
CompoundShape compoundShape = (CompoundShape)(m_compoundColObj.GetCollisionShape());
Debug.Assert(index < compoundShape.GetNumChildShapes());
//backup
IndexedMatrix orgTrans = m_compoundColObj.GetWorldTransform();
IndexedMatrix orgInterpolationTrans = m_compoundColObj.GetInterpolationWorldTransform();
IndexedMatrix childTrans = compoundShape.GetChildTransform(index);
IndexedMatrix newChildWorldTrans = orgTrans * childTrans;
//perform an AABB check first
IndexedVector3 aabbMin0;
IndexedVector3 aabbMax0;
IndexedVector3 aabbMin1;
IndexedVector3 aabbMax1;
childShape.GetAabb(ref newChildWorldTrans, out aabbMin0, out aabbMax0);
m_otherObj.GetCollisionShape().GetAabb(m_otherObj.GetWorldTransform(), out aabbMin1, out aabbMax1);
if (AabbUtil2.TestAabbAgainstAabb2(ref aabbMin0, ref aabbMax0, ref aabbMin1, ref aabbMax1))
{
m_compoundColObj.SetWorldTransform(ref newChildWorldTrans);
m_compoundColObj.SetInterpolationWorldTransform(ref newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
CollisionShape tmpShape = m_compoundColObj.GetCollisionShape();
m_compoundColObj.InternalSetTemporaryCollisionShape(childShape);
if (m_childCollisionAlgorithms[index] == null)
{
m_childCollisionAlgorithms[index] = m_dispatcher.FindAlgorithm(m_compoundColObj, m_otherObj, m_sharedManifold);
if (m_childCollisionAlgorithms[index] == m_parent)
{
int ibreak = 0;
}
}
///detect swapping case
if (m_resultOut.GetBody0Internal() == m_compoundColObj)
{
m_resultOut.SetShapeIdentifiersA(-1, index);
}
else
{
m_resultOut.SetShapeIdentifiersB(-1, index);
}
m_childCollisionAlgorithms[index].ProcessCollision(m_compoundColObj, m_otherObj, m_dispatchInfo, m_resultOut);
if (m_dispatchInfo.getDebugDraw() != null && (((m_dispatchInfo.getDebugDraw().GetDebugMode() & DebugDrawModes.DBG_DrawAabb)) != 0))
{
IndexedVector3 worldAabbMin = IndexedVector3.Zero, worldAabbMax = IndexedVector3.Zero;
m_dispatchInfo.getDebugDraw().DrawAabb(aabbMin0, aabbMax0, new IndexedVector3(1, 1, 1));
m_dispatchInfo.getDebugDraw().DrawAabb(aabbMin1, aabbMax1, new IndexedVector3(1, 1, 1));
}
//revert back transform
m_compoundColObj.InternalSetTemporaryCollisionShape(tmpShape);
m_compoundColObj.SetWorldTransform(ref orgTrans);
m_compoundColObj.SetInterpolationWorldTransform(ref orgInterpolationTrans);
}
}
