示例#1
0
        public 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();
        }
示例#2
0
        //! Collision routines
        //!@{

        public 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();
        }
示例#3
0
        public 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 DEBUG
            if (BulletGlobals.g_streamWriter != null && BulletGlobals.debugGimpactAlgo)
            {
                BulletGlobals.g_streamWriter.WriteLine("GImpactAglo::CollideSatTriangles [{0}]", pair_count);
            }
#endif

            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();
        }