예제 #1
0
        public virtual void ProcessTriangle(IndexedVector3[] triangle, int partId, int triangleIndex)
        {
            TriangleShape triangleShape = new TriangleShape(ref triangle[0], ref triangle[1], ref triangle[2]);

            triangleShape.SetMargin(m_triangleCollisionMargin);

            VoronoiSimplexSolver         simplexSolver           = BulletGlobals.VoronoiSimplexSolverPool.Get();
            GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();

            //#define  USE_SUBSIMPLEX_CONVEX_CAST 1
            //if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented ref code below
#if USE_SUBSIMPLEX_CONVEX_CAST
            SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(m_convexShape, triangleShape, simplexSolver);
#else
            //btGjkConvexCast	convexCaster(m_convexShape,&triangleShape,&simplexSolver);
            ContinuousConvexCollision convexCaster = BulletGlobals.ContinuousConvexCollisionPool.Get();
            convexCaster.Initialize(m_convexShape, triangleShape, simplexSolver, gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST

            CastResult castResult = BulletGlobals.CastResultPool.Get();
            castResult.m_fraction = 1f;
            if (convexCaster.CalcTimeOfImpact(ref m_convexShapeFrom, ref m_convexShapeTo, ref m_triangleToWorld, ref m_triangleToWorld, castResult))
            {
                //add hit
                if (castResult.m_normal.LengthSquared() > 0.0001f)
                {
                    if (castResult.m_fraction < m_hitFraction)
                    {
                        /* btContinuousConvexCast's normal is already in world space */

                        /*
                         #ifdef USE_SUBSIMPLEX_CONVEX_CAST
                         *                              //rotate normal into worldspace
                         *                              castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
                         #endif //USE_SUBSIMPLEX_CONVEX_CAST
                         */
                        castResult.m_normal.Normalize();

                        ReportHit(ref castResult.m_normal, ref castResult.m_hitPoint, castResult.m_fraction, partId, triangleIndex);
                    }
                }
            }

            BulletGlobals.ContinuousConvexCollisionPool.Free(convexCaster);
            BulletGlobals.VoronoiSimplexSolverPool.Free(simplexSolver);
            castResult.Cleanup();
        }
예제 #2
0
        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);
                }
            }
        }