public void GImpactVsCompoundshape(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
CompoundShape shape1, bool swapped)
{
IndexedMatrix orgtrans1 = body1.GetWorldTransform();
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsCompoundshape");
}
#endif
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 void GImpactVsConcave(
CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
ConcaveShape shape1, bool swapped)
{
GImpactTriangleCallback tricallback = new GImpactTriangleCallback();
tricallback.algorithm = this;
tricallback.body0 = body0;
tricallback.body1 = body1;
tricallback.gimpactshape0 = shape0;
tricallback.swapped = swapped;
tricallback.margin = shape1.GetMargin();
//getting the trimesh AABB
IndexedMatrix gimpactInConcaveSpace;
gimpactInConcaveSpace = body1.GetWorldTransform().Inverse() * body0.GetWorldTransform();
IndexedVector3 minAABB, maxAABB;
shape0.GetAabb(gimpactInConcaveSpace, out minAABB, out maxAABB);
shape1.ProcessAllTriangles(tricallback, ref minAABB, ref maxAABB);
}
public void GImpactVsShapeFindPairs(
ref IndexedMatrix trans0,
ref IndexedMatrix trans1,
GImpactShapeInterface shape0,
CollisionShape shape1,
ObjectArray <int> collided_primitives)
{
AABB boxshape = new AABB();
if (shape0.HasBoxSet())
{
IndexedMatrix trans1to0 = trans0.Inverse();
//trans1to0 *= trans1;
trans1to0 = trans1to0 * trans1;
//trans1to0 = MathUtil.BulletMatrixMultiply(trans1,trans1to0);
shape1.GetAabb(ref trans1to0, out boxshape.m_min, out boxshape.m_max);
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
MathUtil.PrintMatrix(BulletGlobals.g_streamWriter, "GImpactAglo::GImpactVsShapeFindPairs trans1to0", trans1to0);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "box min", boxshape.m_min);
MathUtil.PrintVector3(BulletGlobals.g_streamWriter, "box max", boxshape.m_max);
}
#endif
shape0.GetBoxSet().BoxQuery(ref boxshape, collided_primitives);
}
else
{
shape1.GetAabb(ref trans1, out boxshape.m_min, out boxshape.m_max);
AABB boxshape0 = new AABB();
int i = shape0.GetNumChildShapes();
while (i-- != 0)
{
shape0.GetChildAabb(i, ref trans0, out boxshape0.m_min, out boxshape0.m_max);
if (boxshape.HasCollision(ref boxshape0))
{
collided_primitives.Add(i);
}
}
}
}
public void Initialize(GImpactShapeInterface gim_shape)
{
m_gim_shape = gim_shape;
//select retriever
if (m_gim_shape.NeedsRetrieveTriangles())
{
m_current_retriever = m_tri_retriever;
}
else if (m_gim_shape.NeedsRetrieveTetrahedrons())
{
m_current_retriever = m_tetra_retriever;
}
else
{
m_current_retriever = m_child_retriever;
}
m_current_retriever.m_parent = this;
}
public void GImpactVsGImpactFindPairs(
ref IndexedMatrix trans0,
ref IndexedMatrix trans1,
GImpactShapeInterface shape0,
GImpactShapeInterface shape1, PairSet pairset)
{
if (shape0.HasBoxSet() && shape1.HasBoxSet())
{
GImpactQuantizedBvh.FindCollision(shape0.GetBoxSet(), ref trans0, shape1.GetBoxSet(), ref trans1, pairset);
}
else
{
AABB boxshape0 = new AABB();
AABB boxshape1 = new AABB();
int i = shape0.GetNumChildShapes();
while (i-- != 0)
{
shape0.GetChildAabb(i, ref trans0, out boxshape0.m_min, out boxshape0.m_max);
int j = shape1.GetNumChildShapes();
while (j-- != 0)
{
shape1.GetChildAabb(i, ref trans1, out boxshape1.m_min, out boxshape1.m_max);
if (boxshape1.HasCollision(ref boxshape0))
{
pairset.PushPair(i, j);
}
}
}
}
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsGImpactFindPairs [{0}]", pairset.Count);
}
#endif
}
public void GImpactVsShape(CollisionObject body0,
CollisionObject body1,
GImpactShapeInterface shape0,
CollisionShape shape1, bool swapped)
{
#if DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsShape");
}
#endif
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 DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsShape [{0}]", collided_results.Count);
}
#endif
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 DEBUG
if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
{
BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::GImpactVsGImpact [{0}]", pairset.Count);
}
#endif
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();
}
}