/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
public static void ObjectQuerySingle(ConvexShape castShape,ref Matrix convexFromTrans,ref Matrix convexToTrans,
CollisionObject collisionObject,CollisionShape collisionShape,
ref Matrix colObjWorldTransform,
ConvexResultCallback resultCallback, float allowedPenetration)
{
if (collisionShape.IsConvex())
{
//BT_PROFILE("convexSweepConvex");
CastResult castResult = new CastResult();
castResult.m_allowedPenetration = allowedPenetration;
castResult.m_fraction = resultCallback.m_closestHitFraction;//float(1.);//??
ConvexShape convexShape = (ConvexShape) collisionShape;
VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
ContinuousConvexCollision convexCaster1 = new ContinuousConvexCollision(castShape,convexShape,simplexSolver, gjkEpaPenetrationSolver);
//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
IConvexCast castPtr = convexCaster1;
if (castPtr.CalcTimeOfImpact(ref convexFromTrans,ref convexToTrans,ref colObjWorldTransform,ref colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.LengthSquared() > 0.0001f)
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
castResult.m_normal.Normalize();
LocalConvexResult localConvexResult = new LocalConvexResult
(
collisionObject,
null,
ref castResult.m_normal,
ref castResult.m_hitPoint,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.AddSingleResult(localConvexResult, normalInWorldSpace);
}
}
}
}
else
{
if (collisionShape.IsConcave())
{
if (collisionShape.ShapeType==BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
//BT_PROFILE("convexSweepbtBvhTriangleMesh");
BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape)collisionShape;
Matrix worldTocollisionObject = Matrix.Invert(colObjWorldTransform);
Vector3 convexFromLocal = Vector3.Transform(convexFromTrans.Translation,worldTocollisionObject);
Vector3 convexToLocal = Vector3.Transform(convexToTrans.Translation,worldTocollisionObject);
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
Matrix rotationXform = MathUtil.BasisMatrix(ref worldTocollisionObject) * MathUtil.BasisMatrix(ref convexToTrans);
BridgeTriangleConvexcastCallback tccb = new BridgeTriangleConvexcastCallback(castShape, ref convexFromTrans,ref convexToTrans,resultCallback,collisionObject,triangleMesh, ref colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
Vector3 boxMinLocal = new Vector3();
Vector3 boxMaxLocal = new Vector3();
castShape.GetAabb(ref rotationXform, ref boxMinLocal, ref boxMaxLocal);
triangleMesh.PerformConvexCast(tccb,ref convexFromLocal,ref convexToLocal,ref boxMinLocal, ref boxMaxLocal);
}
else
{
//BT_PROFILE("convexSweepConcave");
ConcaveShape concaveShape = (ConcaveShape)collisionShape;
Matrix worldTocollisionObject = Matrix.Invert(colObjWorldTransform);
Vector3 convexFromLocal = Vector3.Transform(convexFromTrans.Translation,worldTocollisionObject);
Vector3 convexToLocal = Vector3.Transform(convexToTrans.Translation,worldTocollisionObject);
// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
Matrix rotationXform = MathUtil.BasisMatrix(ref worldTocollisionObject) * MathUtil.BasisMatrix(ref convexToTrans);
BridgeTriangleConvexcastCallback2 tccb = new BridgeTriangleConvexcastCallback2(castShape, ref convexFromTrans, ref convexToTrans, resultCallback, collisionObject, concaveShape, ref colObjWorldTransform);
tccb.m_hitFraction = resultCallback.m_closestHitFraction;
Vector3 boxMinLocal = new Vector3();
Vector3 boxMaxLocal = new Vector3();
castShape.GetAabb(ref rotationXform, ref boxMinLocal, ref boxMaxLocal);
Vector3 rayAabbMinLocal = convexFromLocal;
MathUtil.VectorMin(ref convexToLocal,ref rayAabbMinLocal);
//rayAabbMinLocal.setMin(convexToLocal);
Vector3 rayAabbMaxLocal = convexFromLocal;
//rayAabbMaxLocal.setMax(convexToLocal);
MathUtil.VectorMax(ref convexToLocal,ref rayAabbMaxLocal);
rayAabbMinLocal += boxMinLocal;
rayAabbMaxLocal += boxMaxLocal;
concaveShape.ProcessAllTriangles(tccb,ref rayAabbMinLocal,ref rayAabbMaxLocal);
}
}
else
{
///@todo : use AABB tree or other BVH acceleration structure!
if (collisionShape.IsCompound())
{
//BT_PROFILE("convexSweepCompound");
CompoundShape compoundShape = (CompoundShape)collisionShape;
for (int i=0;i<compoundShape.GetNumChildShapes();i++)
{
Matrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape childCollisionShape = compoundShape.GetChildShape(i);
Matrix childWorldTrans = MathUtil.BulletMatrixMultiply(colObjWorldTransform,childTrans);
// replace collision shape so that callback can determine the triangle
CollisionShape saveCollisionShape = collisionObject.GetCollisionShape();
collisionObject.InternalSetTemporaryCollisionShape((CollisionShape)childCollisionShape);
LocalInfoAdder my_cb = new LocalInfoAdder(i, resultCallback);
my_cb.m_closestHitFraction = resultCallback.m_closestHitFraction;
ObjectQuerySingle(castShape, ref convexFromTrans,ref convexToTrans,
collisionObject,
childCollisionShape,
ref childWorldTrans,
my_cb, allowedPenetration);
// restore
collisionObject.InternalSetTemporaryCollisionShape(saveCollisionShape);
}
}
}
}
}
public virtual void RayTestSingle(ref Matrix rayFromTrans,ref Matrix rayToTrans,
CollisionObject collisionObject,
CollisionShape collisionShape,
ref Matrix colObjWorldTransform,
RayResultCallback resultCallback)
{
SphereShape pointShape = new SphereShape(0.0f);
pointShape.Margin = 0f;
ConvexShape castShape = pointShape;
if (collisionShape.IsConvex())
{
// BT_PROFILE("rayTestConvex");
CastResult castResult = new CastResult();
castResult.m_fraction = resultCallback.m_closestHitFraction;
ConvexShape convexShape = (ConvexShape)collisionShape;
VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//#ifdef USE_SUBSIMPLEX_CONVEX_CAST
// FIXME - MAN - convexcat here seems to make big difference to forklift.
SubSimplexConvexCast convexCaster = new SubSimplexConvexCast(castShape, convexShape, simplexSolver);
//GjkConvexCast convexCaster = new GjkConvexCast(castShape, convexShape, simplexSolver);
//#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
//#endif //#USE_SUBSIMPLEX_CONVEX_CAST
if (convexCaster.CalcTimeOfImpact(ref rayFromTrans,ref rayToTrans,ref colObjWorldTransform,ref colObjWorldTransform,castResult))
{
//add hit
if (castResult.m_normal.LengthSquared() > 0.0001f)
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
//if (resultCallback.m_closestHitFraction != 1f)
//{
// int ibreak = 0;
// convexCaster.calcTimeOfImpact(ref rayFromTrans, ref rayToTrans, ref colObjWorldTransform, ref colObjWorldTransform, castResult);
//}
//#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = Vector3.TransformNormal(castResult.m_normal,rayFromTrans);
//#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.Normalize();
LocalRayResult localRayResult = new LocalRayResult(
collisionObject,
null,
ref castResult.m_normal,
castResult.m_fraction
);
bool normalInWorldSpace = true;
resultCallback.AddSingleResult(localRayResult, normalInWorldSpace);
}
}
}
castResult.Cleanup();
}
else
{
if (collisionShape.IsConcave())
{
// BT_PROFILE("rayTestConcave");
if (collisionShape.ShapeType==BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE && collisionShape is BvhTriangleMeshShape)
{
///optimized version for btBvhTriangleMeshShape
BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape)collisionShape;
Matrix worldTocollisionObject = Matrix.Invert(colObjWorldTransform);
Vector3 rayFromLocal = Vector3.Transform(rayFromTrans.Translation,worldTocollisionObject);
Vector3 rayToLocal = Vector3.Transform(rayToTrans.Translation,worldTocollisionObject);
Matrix transform = Matrix.Identity;
BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(ref rayFromLocal,ref rayToLocal, resultCallback,collisionObject,triangleMesh,ref transform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh.PerformRaycast(rcb,ref rayFromLocal,ref rayToLocal);
rcb.Cleanup();
}
else
{
//generic (slower) case
ConcaveShape concaveShape = (ConcaveShape)collisionShape;
Matrix worldTocollisionObject = Matrix.Invert(colObjWorldTransform);
Vector3 rayFromLocal = Vector3.Transform(rayFromTrans.Translation,worldTocollisionObject);
Vector3 rayToLocal = Vector3.Transform(rayToTrans.Translation,worldTocollisionObject);
//ConvexCast::CastResult
Matrix transform = Matrix.Identity;
BridgeTriangleConcaveRaycastCallback rcb = new BridgeTriangleConcaveRaycastCallback(ref rayFromLocal, ref rayToLocal, resultCallback, collisionObject, concaveShape,ref transform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
Vector3 rayAabbMinLocal = rayFromLocal;
MathUtil.VectorMin(ref rayToLocal,ref rayAabbMinLocal);
Vector3 rayAabbMaxLocal = rayFromLocal;
MathUtil.VectorMax(ref rayToLocal,ref rayAabbMaxLocal);
concaveShape.ProcessAllTriangles(rcb,ref rayAabbMinLocal,ref rayAabbMaxLocal);
rcb.Cleanup();
}
}
else
{
// BT_PROFILE("rayTestCompound");
///@todo: use AABB tree or other BVH acceleration structure, see btDbvt
if (collisionShape.IsCompound())
{
CompoundShape compoundShape = (CompoundShape)(collisionShape);
int i=0;
for (i=0;i<compoundShape.GetNumChildShapes();i++)
{
Matrix childTrans = compoundShape.GetChildTransform(i);
CollisionShape childCollisionShape = compoundShape.GetChildShape(i);
Matrix childWorldTrans = MathUtil.BulletMatrixMultiply(colObjWorldTransform,childTrans) ;
// replace collision shape so that callback can determine the triangle
CollisionShape saveCollisionShape = collisionObject.GetCollisionShape();
collisionObject.InternalSetTemporaryCollisionShape((CollisionShape)childCollisionShape);
LocalInfoAdder2 my_cb = new LocalInfoAdder2(i, resultCallback);
my_cb.m_closestHitFraction = resultCallback.m_closestHitFraction;
RayTestSingle(ref rayFromTrans,ref rayToTrans,
collisionObject,
childCollisionShape,
ref childWorldTrans,
my_cb);
// restore
collisionObject.InternalSetTemporaryCollisionShape(saveCollisionShape);
my_cb.cleanup();
}
}
}
}
}