protected void GImpactTrimeshpartVsPlaneCollision(
CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
StaticPlaneShape shape1, bool swapped)
{
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
IndexedVector4 plane;
PlaneShape.GetPlaneEquationTransformed(shape1, ref orgtrans1, out plane);
//test box against plane
AABB tribox = new AABB();
shape0.GetAabb(ref orgtrans0, out tribox.m_min, out tribox.m_max);
tribox.IncrementMargin(shape1.GetMargin());
if (tribox.PlaneClassify(ref plane) != BT_PLANE_INTERSECTION_TYPE.BT_CONST_COLLIDE_PLANE)
{
return;
}
shape0.LockChildShapes();
float margin = shape0.GetMargin() + shape1.GetMargin();
IndexedVector3 vertex;
int vi = shape0.GetVertexCount();
while (vi-- != 0)
{
shape0.GetVertex(vi, out vertex);
vertex = orgtrans0 * vertex;
float distance = IndexedVector3.Dot(vertex, MathUtil.Vector4ToVector3(ref plane)) - plane.W - margin;
if (distance < 0.0f)//add contact
{
if (swapped)
{
AddContactPoint(body1, body0,
vertex,
MathUtil.Vector4ToVector3(-plane),
distance);
}
else
{
AddContactPoint(body0, body1,
vertex,
MathUtil.Vector4ToVector3(ref plane),
distance);
}
}
}
shape0.UnlockChildShapes();
}
protected void BuildMeshParts(StridingMeshInterface meshInterface)
{
for (int i = 0; i < meshInterface.GetNumSubParts(); ++i)
{
GImpactMeshShapePart newpart = new GImpactMeshShapePart(meshInterface, i);
m_mesh_parts.Add(newpart);
}
}
//! Tells to this object that is needed to refit all the meshes
public override void PostUpdate()
{
int i = m_mesh_parts.Count;
while (i-- != 0)
{
GImpactMeshShapePart part = m_mesh_parts[i];
part.PostUpdate();
}
m_needs_update = true;
}
public override void SetMargin(float margin)
{
m_collisionMargin = margin;
int i = m_mesh_parts.Count;
while (i-- != 0)
{
GImpactMeshShapePart part = m_mesh_parts[i];
part.SetMargin(margin);
}
m_needs_update = true;
}
public override void SetLocalScaling(ref IndexedVector3 scaling)
{
localScaling = scaling;
int i = m_mesh_parts.Count;
while (i-- != 0)
{
GImpactMeshShapePart part = m_mesh_parts[i];
part.SetLocalScaling(ref scaling);
}
m_needs_update = true;
}
//! Collision routines
//!@{
protected void CollideGjkTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
ObjectArray <int> pairs, int pair_count)
{
TriangleShapeEx tri0 = new TriangleShapeEx();
TriangleShapeEx tri1 = new TriangleShapeEx();
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideGjkTriangles [{0}]", pair_count);
}
#endif
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer];
m_triface1 = pairs[pair_pointer + 1];
pair_pointer += 2;
shape0.GetBulletTriangle(m_triface0, tri0);
shape1.GetBulletTriangle(m_triface1, tri1);
//collide two convex shapes
if (tri0.OverlapTestConservative(tri1))
{
ConvexVsConvexCollision(body0, body1, tri0, tri1);
}
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
protected void GImpactTrimeshpartVsPlaneCollision(
CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
StaticPlaneShape shape1, bool swapped)
{
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
IndexedVector4 plane;
PlaneShape.GetPlaneEquationTransformed(shape1,ref orgtrans1, out plane);
//test box against plane
AABB tribox = new AABB();
shape0.GetAabb(ref orgtrans0, out tribox.m_min, out tribox.m_max);
tribox.IncrementMargin(shape1.GetMargin());
if (tribox.PlaneClassify(ref plane) != BT_PLANE_INTERSECTION_TYPE.BT_CONST_COLLIDE_PLANE) return;
shape0.LockChildShapes();
float margin = shape0.GetMargin() + shape1.GetMargin();
IndexedVector3 vertex;
int vi = shape0.GetVertexCount();
while (vi-- != 0)
{
shape0.GetVertex(vi, out vertex);
vertex = orgtrans0 * vertex;
float distance = IndexedVector3.Dot(vertex, MathUtil.Vector4ToVector3(ref plane)) - plane.W - margin;
if (distance < 0.0f)//add contact
{
if (swapped)
{
AddContactPoint(body1, body0,
vertex,
MathUtil.Vector4ToVector3(-plane),
distance);
}
else
{
AddContactPoint(body0, body1,
vertex,
MathUtil.Vector4ToVector3(ref plane),
distance);
}
}
}
shape0.UnlockChildShapes();
}
protected void CollideSatTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
PairSet pairs, int pair_count)
{
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
PrimitiveTriangle ptri0 = new PrimitiveTriangle();
PrimitiveTriangle ptri1 = new PrimitiveTriangle();
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideSatTriangles [{0}]", pair_count);
}
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer].m_index1;
m_triface1 = pairs[pair_pointer].m_index2;
pair_pointer += 1;
shape0.GetPrimitiveTriangle(m_triface0, ptri0);
shape1.GetPrimitiveTriangle(m_triface1, ptri1);
#if TRI_COLLISION_PROFILING
BulletGlobal.StartProfile("gim02_tri_time");
#endif
ptri0.ApplyTransform(ref orgtrans0);
ptri1.ApplyTransform(ref orgtrans1);
//build planes
ptri0.BuildTriPlane();
ptri1.BuildTriPlane();
// test conservative
if (ptri0.OverlapTestConservative(ptri1))
{
if (ptri0.FindTriangleCollisionClipMethod(ptri1, m_contact_data))
{
int j = m_contact_data.m_point_count;
while (j-- != 0)
{
AddContactPoint(body0, body1,
m_contact_data.m_points[j],
MathUtil.Vector4ToVector3(ref m_contact_data.m_separating_normal),
-m_contact_data.m_penetration_depth);
}
}
}
#if TRI_COLLISION_PROFILING
BulletGlobals.StopProfile();
#endif
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
//! Collision routines
//!@{
protected void CollideGjkTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
ObjectArray<int> pairs, int pair_count)
{
TriangleShapeEx tri0 = new TriangleShapeEx();
TriangleShapeEx tri1 = new TriangleShapeEx();
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideGjkTriangles [{0}]", pair_count);
}
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer];
m_triface1 = pairs[pair_pointer + 1];
pair_pointer += 2;
shape0.GetBulletTriangle(m_triface0, tri0);
shape1.GetBulletTriangle(m_triface1, tri1);
//collide two convex shapes
if (tri0.OverlapTestConservative(tri1))
{
ConvexVsConvexCollision(body0, body1, tri0, tri1);
}
}
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();
}
}
//! 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();
}
}
protected void CollideSatTriangles(CollisionObject body0,
CollisionObject body1,
GImpactMeshShapePart shape0,
GImpactMeshShapePart shape1,
PairSet pairs, int pair_count)
{
IndexedMatrix orgtrans0 = body0.GetWorldTransform();
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
PrimitiveTriangle ptri0 = new PrimitiveTriangle();
PrimitiveTriangle ptri1 = new PrimitiveTriangle();
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideSatTriangles [{0}]", pair_count);
}
shape0.LockChildShapes();
shape1.LockChildShapes();
int pair_pointer = 0;
while (pair_count-- != 0)
{
m_triface0 = pairs[pair_pointer].m_index1;
m_triface1 = pairs[pair_pointer].m_index2;
pair_pointer += 1;
shape0.GetPrimitiveTriangle(m_triface0, ptri0);
shape1.GetPrimitiveTriangle(m_triface1, ptri1);
#if TRI_COLLISION_PROFILING
BulletGlobal.StartProfile("gim02_tri_time");
#endif
ptri0.ApplyTransform(ref orgtrans0);
ptri1.ApplyTransform(ref orgtrans1);
//build planes
ptri0.BuildTriPlane();
ptri1.BuildTriPlane();
// test conservative
if (ptri0.OverlapTestConservative(ptri1))
{
if (ptri0.FindTriangleCollisionClipMethod(ptri1, m_contact_data))
{
int j = m_contact_data.m_point_count;
while (j-- != 0)
{
AddContactPoint(body0, body1,
m_contact_data.m_points[j],
MathUtil.Vector4ToVector3(ref m_contact_data.m_separating_normal),
-m_contact_data.m_penetration_depth);
}
}
}
#if TRI_COLLISION_PROFILING
BulletGlobals.StopProfile();
#endif
}
shape0.UnlockChildShapes();
shape1.UnlockChildShapes();
}
protected void BuildMeshParts(StridingMeshInterface meshInterface)
{
for (int i = 0; i < meshInterface.GetNumSubParts(); ++i)
{
GImpactMeshShapePart newpart = new GImpactMeshShapePart(meshInterface, i);
m_mesh_parts.Add(newpart);
}
}