Bullet Collision Detection & Physics Library
btCollisionWorld.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btCollisionWorld.h"
39
40//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
41
42//#define USE_BRUTEFORCE_RAYBROADPHASE 1
43//RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
44//#define RECALCULATE_AABB_RAYCAST 1
45
46//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
50
52
53//for debug rendering
66
68 : m_dispatcher1(dispatcher),
69 m_broadphasePairCache(pairCache),
70 m_debugDrawer(0),
71 m_forceUpdateAllAabbs(true)
72{
73}
74
76{
77 //clean up remaining objects
78 int i;
79 for (i = 0; i < m_collisionObjects.size(); i++)
80 {
81 btCollisionObject* collisionObject = m_collisionObjects[i];
82
83 btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
84 if (bp)
85 {
86 //
87 // only clear the cached algorithms
88 //
91 collisionObject->setBroadphaseHandle(0);
92 }
93 }
94}
95
97{
98 if (collisionObject->getBroadphaseHandle())
99 {
100 int collisionFilterGroup = collisionObject->getBroadphaseHandle()->m_collisionFilterGroup;
101 int collisionFilterMask = collisionObject->getBroadphaseHandle()->m_collisionFilterMask;
102
104
105 //calculate new AABB
106 btTransform trans = collisionObject->getWorldTransform();
107
108 btVector3 minAabb;
109 btVector3 maxAabb;
110 collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
111
112 int type = collisionObject->getCollisionShape()->getShapeType();
113 collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
114 minAabb,
115 maxAabb,
116 type,
117 collisionObject,
118 collisionFilterGroup,
119 collisionFilterMask,
121 }
122}
123
124void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
125{
126 btAssert(collisionObject);
127
128 //check that the object isn't already added
129 btAssert(m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size());
130 btAssert(collisionObject->getWorldArrayIndex() == -1); // do not add the same object to more than one collision world
131
132 collisionObject->setWorldArrayIndex(m_collisionObjects.size());
133 m_collisionObjects.push_back(collisionObject);
134
135 //calculate new AABB
136 btTransform trans = collisionObject->getWorldTransform();
137
138 btVector3 minAabb;
139 btVector3 maxAabb;
140 collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
141
142 int type = collisionObject->getCollisionShape()->getShapeType();
143 collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
144 minAabb,
145 maxAabb,
146 type,
147 collisionObject,
148 collisionFilterGroup,
149 collisionFilterMask,
151}
152
154{
155 btVector3 minAabb, maxAabb;
156 colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
157 //need to increase the aabb for contact thresholds
159 minAabb -= contactThreshold;
160 maxAabb += contactThreshold;
161
162 if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
163 {
164 btVector3 minAabb2, maxAabb2;
165 colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
166 minAabb2 -= contactThreshold;
167 maxAabb2 += contactThreshold;
168 minAabb.setMin(minAabb2);
169 maxAabb.setMax(maxAabb2);
170 }
171
173
174 //moving objects should be moderately sized, probably something wrong if not
175 if (colObj->isStaticObject() || ((maxAabb - minAabb).length2() < btScalar(1e12)))
176 {
177 bp->setAabb(colObj->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
178 }
179 else
180 {
181 //something went wrong, investigate
182 //this assert is unwanted in 3D modelers (danger of loosing work)
184
185 static bool reportMe = true;
186 if (reportMe && m_debugDrawer)
187 {
188 reportMe = false;
189 m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
190 m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
191 m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
192 m_debugDrawer->reportErrorWarning("Thanks.\n");
193 }
194 }
195}
196
198{
199 BT_PROFILE("updateAabbs");
200
201 btTransform predictedTrans;
202 for (int i = 0; i < m_collisionObjects.size(); i++)
203 {
205 btAssert(colObj->getWorldArrayIndex() == i);
206
207 //only update aabb of active objects
208 if (m_forceUpdateAllAabbs || colObj->isActive())
209 {
210 updateSingleAabb(colObj);
211 }
212 }
213}
214
216{
217 BT_PROFILE("calculateOverlappingPairs");
219}
220
222{
223 BT_PROFILE("performDiscreteCollisionDetection");
224
225 btDispatcherInfo& dispatchInfo = getDispatchInfo();
226
227 updateAabbs();
228
230
231 btDispatcher* dispatcher = getDispatcher();
232 {
233 BT_PROFILE("dispatchAllCollisionPairs");
234 if (dispatcher)
236 }
237}
238
240{
241 //bool removeFromBroadphase = false;
242
243 {
244 btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
245 if (bp)
246 {
247 //
248 // only clear the cached algorithms
249 //
252 collisionObject->setBroadphaseHandle(0);
253 }
254 }
255
256 int iObj = collisionObject->getWorldArrayIndex();
257 // btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
258 if (iObj >= 0 && iObj < m_collisionObjects.size())
259 {
260 btAssert(collisionObject == m_collisionObjects[iObj]);
261 m_collisionObjects.swap(iObj, m_collisionObjects.size() - 1);
262 m_collisionObjects.pop_back();
263 if (iObj < m_collisionObjects.size())
264 {
265 m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
266 }
267 }
268 else
269 {
270 // slow linear search
271 //swapremove
272 m_collisionObjects.remove(collisionObject);
273 }
274 collisionObject->setWorldArrayIndex(-1);
275}
276
277void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
278 btCollisionObject* collisionObject,
279 const btCollisionShape* collisionShape,
280 const btTransform& colObjWorldTransform,
281 RayResultCallback& resultCallback)
282{
283 btCollisionObjectWrapper colObWrap(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
284 btCollisionWorld::rayTestSingleInternal(rayFromTrans, rayToTrans, &colObWrap, resultCallback);
285}
286
287void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
288 const btCollisionObjectWrapper* collisionObjectWrap,
289 RayResultCallback& resultCallback)
290{
291 btSphereShape pointShape(btScalar(0.0));
292 pointShape.setMargin(0.f);
293 const btConvexShape* castShape = &pointShape;
294 const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
295 const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
296
297 if (collisionShape->isConvex())
298 {
299 // BT_PROFILE("rayTestConvex");
300 btConvexCast::CastResult castResult;
301 castResult.m_fraction = resultCallback.m_closestHitFraction;
302
303 btConvexShape* convexShape = (btConvexShape*)collisionShape;
304 btVoronoiSimplexSolver simplexSolver;
305 btSubsimplexConvexCast subSimplexConvexCaster(castShape, convexShape, &simplexSolver);
306
307 btGjkConvexCast gjkConvexCaster(castShape, convexShape, &simplexSolver);
308
309 //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
310
311 btConvexCast* convexCasterPtr = 0;
312 //use kF_UseSubSimplexConvexCastRaytest by default
314 convexCasterPtr = &gjkConvexCaster;
315 else
316 convexCasterPtr = &subSimplexConvexCaster;
317
318 btConvexCast& convexCaster = *convexCasterPtr;
319
320 if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
321 {
322 //add hit
323 if (castResult.m_normal.length2() > btScalar(0.0001))
324 {
325 if (castResult.m_fraction < resultCallback.m_closestHitFraction)
326 {
327 //todo: figure out what this is about. When is rayFromTest.getBasis() not identity?
328#ifdef USE_SUBSIMPLEX_CONVEX_CAST
329 //rotate normal into worldspace
330 castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
331#endif //USE_SUBSIMPLEX_CONVEX_CAST
332
333 castResult.m_normal.normalize();
335 collisionObjectWrap->getCollisionObject(),
336 0,
337 castResult.m_normal,
338 castResult.m_fraction);
339
340 bool normalInWorldSpace = true;
341 resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
342 }
343 }
344 }
345 }
346 else
347 {
348 if (collisionShape->isConcave())
349 {
350 //ConvexCast::CastResult
351 struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
352 {
353 btCollisionWorld::RayResultCallback* m_resultCallback;
354 const btCollisionObject* m_collisionObject;
355 const btConcaveShape* m_triangleMesh;
356
357 btTransform m_colObjWorldTransform;
358
359 BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
360 btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, const btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
361 btTriangleRaycastCallback(from, to, resultCallback->m_flags),
362 m_resultCallback(resultCallback),
363 m_collisionObject(collisionObject),
364 m_triangleMesh(triangleMesh),
365 m_colObjWorldTransform(colObjWorldTransform)
366 {
367 }
368
369 virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
370 {
372 shapeInfo.m_shapePart = partId;
373 shapeInfo.m_triangleIndex = triangleIndex;
374
375 btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
376
377 btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
378 &shapeInfo,
379 hitNormalWorld,
380 hitFraction);
381
382 bool normalInWorldSpace = true;
383 return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
384 }
385 };
386
387 btTransform worldTocollisionObject = colObjWorldTransform.inverse();
388 btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
389 btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
390
391 // BT_PROFILE("rayTestConcave");
392 if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
393 {
395 btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
396
397 BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
398 rcb.m_hitFraction = resultCallback.m_closestHitFraction;
399 triangleMesh->performRaycast(&rcb, rayFromLocal, rayToLocal);
400 }
401 else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
402 {
404 btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
405 btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)scaledTriangleMesh->getChildShape();
406
407 //scale the ray positions
408 btVector3 scale = scaledTriangleMesh->getLocalScaling();
409 btVector3 rayFromLocalScaled = rayFromLocal / scale;
410 btVector3 rayToLocalScaled = rayToLocal / scale;
411
412 //perform raycast in the underlying btBvhTriangleMeshShape
413 BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
414 rcb.m_hitFraction = resultCallback.m_closestHitFraction;
415 triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
416 }
418 && collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE
419 )
420 {
422 btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
423 btTransform worldTocollisionObject = colObjWorldTransform.inverse();
424 btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
425 btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
426
427 BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform);
428 rcb.m_hitFraction = resultCallback.m_closestHitFraction;
429 heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
430 }
431 else
432 {
433 //generic (slower) case
434 btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
435
436 btTransform worldTocollisionObject = colObjWorldTransform.inverse();
437
438 btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
439 btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
440
441 //ConvexCast::CastResult
442
443 struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
444 {
445 btCollisionWorld::RayResultCallback* m_resultCallback;
446 const btCollisionObject* m_collisionObject;
447 btConcaveShape* m_triangleMesh;
448
449 btTransform m_colObjWorldTransform;
450
451 BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
452 btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
453 btTriangleRaycastCallback(from, to, resultCallback->m_flags),
454 m_resultCallback(resultCallback),
455 m_collisionObject(collisionObject),
456 m_triangleMesh(triangleMesh),
457 m_colObjWorldTransform(colObjWorldTransform)
458 {
459 }
460
461 virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
462 {
464 shapeInfo.m_shapePart = partId;
465 shapeInfo.m_triangleIndex = triangleIndex;
466
467 btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
468
469 btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
470 &shapeInfo,
471 hitNormalWorld,
472 hitFraction);
473
474 bool normalInWorldSpace = true;
475 return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
476 }
477 };
478
479 BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
480 rcb.m_hitFraction = resultCallback.m_closestHitFraction;
481
482 btVector3 rayAabbMinLocal = rayFromLocal;
483 rayAabbMinLocal.setMin(rayToLocal);
484 btVector3 rayAabbMaxLocal = rayFromLocal;
485 rayAabbMaxLocal.setMax(rayToLocal);
486
487 concaveShape->processAllTriangles(&rcb, rayAabbMinLocal, rayAabbMaxLocal);
488 }
489 }
490 else
491 {
492 // BT_PROFILE("rayTestCompound");
493 if (collisionShape->isCompound())
494 {
495 struct LocalInfoAdder2 : public RayResultCallback
496 {
497 RayResultCallback* m_userCallback;
498 int m_i;
499
500 LocalInfoAdder2(int i, RayResultCallback* user)
501 : m_userCallback(user), m_i(i)
502 {
503 m_closestHitFraction = m_userCallback->m_closestHitFraction;
504 m_flags = m_userCallback->m_flags;
505 }
506 virtual bool needsCollision(btBroadphaseProxy* p) const
507 {
508 return m_userCallback->needsCollision(p);
509 }
510
511 virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& r, bool b)
512 {
514 shapeInfo.m_shapePart = -1;
515 shapeInfo.m_triangleIndex = m_i;
516 if (r.m_localShapeInfo == NULL)
517 r.m_localShapeInfo = &shapeInfo;
518
519 const btScalar result = m_userCallback->addSingleResult(r, b);
520 m_closestHitFraction = m_userCallback->m_closestHitFraction;
521 return result;
522 }
523 };
524
525 struct RayTester : btDbvt::ICollide
526 {
527 const btCollisionObject* m_collisionObject;
528 const btCompoundShape* m_compoundShape;
529 const btTransform& m_colObjWorldTransform;
530 const btTransform& m_rayFromTrans;
531 const btTransform& m_rayToTrans;
532 RayResultCallback& m_resultCallback;
533
534 RayTester(const btCollisionObject* collisionObject,
535 const btCompoundShape* compoundShape,
536 const btTransform& colObjWorldTransform,
537 const btTransform& rayFromTrans,
538 const btTransform& rayToTrans,
539 RayResultCallback& resultCallback) : m_collisionObject(collisionObject),
540 m_compoundShape(compoundShape),
541 m_colObjWorldTransform(colObjWorldTransform),
542 m_rayFromTrans(rayFromTrans),
543 m_rayToTrans(rayToTrans),
544 m_resultCallback(resultCallback)
545 {
546 }
547
548 void ProcessLeaf(int i)
549 {
550 const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
551 const btTransform& childTrans = m_compoundShape->getChildTransform(i);
552 btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
553
554 btCollisionObjectWrapper tmpOb(0, childCollisionShape, m_collisionObject, childWorldTrans, -1, i);
555 // replace collision shape so that callback can determine the triangle
556
557 LocalInfoAdder2 my_cb(i, &m_resultCallback);
558
560 m_rayFromTrans,
561 m_rayToTrans,
562 &tmpOb,
563 my_cb);
564 }
565
566 void Process(const btDbvtNode* leaf)
567 {
568 ProcessLeaf(leaf->dataAsInt);
569 }
570 };
571
572 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
573 const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
574
575 RayTester rayCB(
576 collisionObjectWrap->getCollisionObject(),
577 compoundShape,
578 colObjWorldTransform,
579 rayFromTrans,
580 rayToTrans,
581 resultCallback);
582#ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
583 if (dbvt)
584 {
585 btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
586 btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
587 btDbvt::rayTest(dbvt->m_root, localRayFrom, localRayTo, rayCB);
588 }
589 else
590#endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
591 {
592 for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
593 {
594 rayCB.ProcessLeaf(i);
595 }
596 }
597 }
598 }
599 }
600}
601
602void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
603 btCollisionObject* collisionObject,
604 const btCollisionShape* collisionShape,
605 const btTransform& colObjWorldTransform,
606 ConvexResultCallback& resultCallback, btScalar allowedPenetration)
607{
608 btCollisionObjectWrapper tmpOb(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
609 btCollisionWorld::objectQuerySingleInternal(castShape, convexFromTrans, convexToTrans, &tmpOb, resultCallback, allowedPenetration);
610}
611
612void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
613 const btCollisionObjectWrapper* colObjWrap,
614 ConvexResultCallback& resultCallback, btScalar allowedPenetration)
615{
616 const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
617 const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
618
619 if (collisionShape->isConvex())
620 {
621 //BT_PROFILE("convexSweepConvex");
622 btConvexCast::CastResult castResult;
623 castResult.m_allowedPenetration = allowedPenetration;
624 castResult.m_fraction = resultCallback.m_closestHitFraction; //btScalar(1.);//??
625
626 btConvexShape* convexShape = (btConvexShape*)collisionShape;
627 btVoronoiSimplexSolver simplexSolver;
628 btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
629
630 btContinuousConvexCollision convexCaster1(castShape, convexShape, &simplexSolver, &gjkEpaPenetrationSolver);
631 //btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
632 //btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
633
634 btConvexCast* castPtr = &convexCaster1;
635
636 if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
637 {
638 //add hit
639 if (castResult.m_normal.length2() > btScalar(0.0001))
640 {
641 if (castResult.m_fraction < resultCallback.m_closestHitFraction)
642 {
643 castResult.m_normal.normalize();
644 btCollisionWorld::LocalConvexResult localConvexResult(
645 colObjWrap->getCollisionObject(),
646 0,
647 castResult.m_normal,
648 castResult.m_hitPoint,
649 castResult.m_fraction);
650
651 bool normalInWorldSpace = true;
652 resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
653 }
654 }
655 }
656 }
657 else
658 {
659 if (collisionShape->isConcave())
660 {
661 if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
662 {
663 //BT_PROFILE("convexSweepbtBvhTriangleMesh");
664 btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
665 btTransform worldTocollisionObject = colObjWorldTransform.inverse();
666 btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
667 btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
668 // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
669 btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
670
671 //ConvexCast::CastResult
672 struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
673 {
675 const btCollisionObject* m_collisionObject;
676 btTriangleMeshShape* m_triangleMesh;
677
678 BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
679 btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
680 m_resultCallback(resultCallback),
681 m_collisionObject(collisionObject),
682 m_triangleMesh(triangleMesh)
683 {
684 }
685
686 virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
687 {
689 shapeInfo.m_shapePart = partId;
690 shapeInfo.m_triangleIndex = triangleIndex;
691 if (hitFraction <= m_resultCallback->m_closestHitFraction)
692 {
693 btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
694 &shapeInfo,
695 hitNormalLocal,
696 hitPointLocal,
697 hitFraction);
698
699 bool normalInWorldSpace = true;
700
701 return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
702 }
703 return hitFraction;
704 }
705 };
706
707 BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
708 tccb.m_hitFraction = resultCallback.m_closestHitFraction;
709 tccb.m_allowedPenetration = allowedPenetration;
710 btVector3 boxMinLocal, boxMaxLocal;
711 castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
712 triangleMesh->performConvexcast(&tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
713 }
714 else
715 {
716 if (collisionShape->getShapeType() == STATIC_PLANE_PROXYTYPE)
717 {
718 btConvexCast::CastResult castResult;
719 castResult.m_allowedPenetration = allowedPenetration;
720 castResult.m_fraction = resultCallback.m_closestHitFraction;
721 btStaticPlaneShape* planeShape = (btStaticPlaneShape*)collisionShape;
722 btContinuousConvexCollision convexCaster1(castShape, planeShape);
723 btConvexCast* castPtr = &convexCaster1;
724
725 if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
726 {
727 //add hit
728 if (castResult.m_normal.length2() > btScalar(0.0001))
729 {
730 if (castResult.m_fraction < resultCallback.m_closestHitFraction)
731 {
732 castResult.m_normal.normalize();
733 btCollisionWorld::LocalConvexResult localConvexResult(
734 colObjWrap->getCollisionObject(),
735 0,
736 castResult.m_normal,
737 castResult.m_hitPoint,
738 castResult.m_fraction);
739
740 bool normalInWorldSpace = true;
741 resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
742 }
743 }
744 }
745 }
746 else
747 {
748 //BT_PROFILE("convexSweepConcave");
749 btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
750 btTransform worldTocollisionObject = colObjWorldTransform.inverse();
751 btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
752 btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
753 // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
754 btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
755
756 //ConvexCast::CastResult
757 struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
758 {
760 const btCollisionObject* m_collisionObject;
761 btConcaveShape* m_triangleMesh;
762
763 BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
764 btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
765 m_resultCallback(resultCallback),
766 m_collisionObject(collisionObject),
767 m_triangleMesh(triangleMesh)
768 {
769 }
770
771 virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
772 {
774 shapeInfo.m_shapePart = partId;
775 shapeInfo.m_triangleIndex = triangleIndex;
776 if (hitFraction <= m_resultCallback->m_closestHitFraction)
777 {
778 btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
779 &shapeInfo,
780 hitNormalLocal,
781 hitPointLocal,
782 hitFraction);
783
784 bool normalInWorldSpace = true;
785
786 return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
787 }
788 return hitFraction;
789 }
790 };
791
792 BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
793 tccb.m_hitFraction = resultCallback.m_closestHitFraction;
794 tccb.m_allowedPenetration = allowedPenetration;
795 btVector3 boxMinLocal, boxMaxLocal;
796 castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
797
798 btVector3 rayAabbMinLocal = convexFromLocal;
799 rayAabbMinLocal.setMin(convexToLocal);
800 btVector3 rayAabbMaxLocal = convexFromLocal;
801 rayAabbMaxLocal.setMax(convexToLocal);
802 rayAabbMinLocal += boxMinLocal;
803 rayAabbMaxLocal += boxMaxLocal;
804 concaveShape->processAllTriangles(&tccb, rayAabbMinLocal, rayAabbMaxLocal);
805 }
806 }
807 }
808 else
809 {
810 if (collisionShape->isCompound())
811 {
813 {
815 const btCollisionObjectWrapper* colObjWrap,
816 const btConvexShape* castShape,
817 const btTransform& convexFromTrans,
818 const btTransform& convexToTrans,
819 btScalar allowedPenetration,
820 const btCompoundShape* compoundShape,
821 const btTransform& colObjWorldTransform,
822 ConvexResultCallback& resultCallback)
823 : m_colObjWrap(colObjWrap),
824 m_castShape(castShape),
825 m_convexFromTrans(convexFromTrans),
826 m_convexToTrans(convexToTrans),
827 m_allowedPenetration(allowedPenetration),
828 m_compoundShape(compoundShape),
829 m_colObjWorldTransform(colObjWorldTransform),
830 m_resultCallback(resultCallback)
831 {
832 }
833
834 const btCollisionObjectWrapper* m_colObjWrap;
835 const btConvexShape* m_castShape;
836 const btTransform& m_convexFromTrans;
837 const btTransform& m_convexToTrans;
838 btScalar m_allowedPenetration;
839 const btCompoundShape* m_compoundShape;
840 const btTransform& m_colObjWorldTransform;
841 ConvexResultCallback& m_resultCallback;
842
843 public:
844 void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
845 {
846 btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
847
848 struct LocalInfoAdder : public ConvexResultCallback
849 {
850 ConvexResultCallback* m_userCallback;
851 int m_i;
852
853 LocalInfoAdder(int i, ConvexResultCallback* user)
854 : m_userCallback(user), m_i(i)
855 {
856 m_closestHitFraction = m_userCallback->m_closestHitFraction;
857 }
858 virtual bool needsCollision(btBroadphaseProxy* p) const
859 {
860 return m_userCallback->needsCollision(p);
861 }
862 virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
863 {
865 shapeInfo.m_shapePart = -1;
866 shapeInfo.m_triangleIndex = m_i;
867 if (r.m_localShapeInfo == NULL)
868 r.m_localShapeInfo = &shapeInfo;
869 const btScalar result = m_userCallback->addSingleResult(r, b);
870 m_closestHitFraction = m_userCallback->m_closestHitFraction;
871 return result;
872 }
873 };
874
875 LocalInfoAdder my_cb(index, &m_resultCallback);
876
877 btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
878
879 objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
880 }
881
882 void Process(const btDbvtNode* leaf)
883 {
884 // Processing leaf node
885 int index = leaf->dataAsInt;
886
887 btTransform childTrans = m_compoundShape->getChildTransform(index);
888 const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
889
890 ProcessChild(index, childTrans, childCollisionShape);
891 }
892 };
893
894 BT_PROFILE("convexSweepCompound");
895 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
896
897 btVector3 fromLocalAabbMin, fromLocalAabbMax;
898 btVector3 toLocalAabbMin, toLocalAabbMax;
899
900 castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
901 castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
902
903 fromLocalAabbMin.setMin(toLocalAabbMin);
904 fromLocalAabbMax.setMax(toLocalAabbMax);
905
906 btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
907 allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
908
909 const btDbvt* tree = compoundShape->getDynamicAabbTree();
910 if (tree)
911 {
912 const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
913 tree->collideTV(tree->m_root, bounds, callback);
914 }
915 else
916 {
917 int i;
918 for (i = 0; i < compoundShape->getNumChildShapes(); i++)
919 {
920 const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
921 btTransform childTrans = compoundShape->getChildTransform(i);
922 callback.ProcessChild(i, childTrans, childCollisionShape);
923 }
924 }
925 }
926 }
927 }
928}
929
931{
937
940
941 btSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btCollisionWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
942 : m_rayFromWorld(rayFromWorld),
943 m_rayToWorld(rayToWorld),
944 m_world(world),
945 m_resultCallback(resultCallback)
946 {
951
952 btVector3 rayDir = (rayToWorld - rayFromWorld);
953
954 rayDir.normalize();
956 m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
957 m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
958 m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
959 m_signs[0] = m_rayDirectionInverse[0] < 0.0;
960 m_signs[1] = m_rayDirectionInverse[1] < 0.0;
961 m_signs[2] = m_rayDirectionInverse[2] < 0.0;
962
964 }
965
966 virtual bool process(const btBroadphaseProxy* proxy)
967 {
970 return false;
971
972 btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
973
974 //only perform raycast if filterMask matches
976 {
977 //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
978 //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
979#if 0
980#ifdef RECALCULATE_AABB
981 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
982 collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
983#else
984 //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
985 const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
986 const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
987#endif
988#endif
989 //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
990 //culling already done by broadphase
991 //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
992 {
994 collisionObject,
995 collisionObject->getCollisionShape(),
996 collisionObject->getWorldTransform(),
998 }
999 }
1000 return true;
1001 }
1002};
1003
1004void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
1005{
1006 //BT_PROFILE("rayTest");
1009 btSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
1010
1011#ifndef USE_BRUTEFORCE_RAYBROADPHASE
1012 m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
1013#else
1014 for (int i = 0; i < this->getNumCollisionObjects(); i++)
1015 {
1016 rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
1017 }
1018#endif //USE_BRUTEFORCE_RAYBROADPHASE
1019}
1020
1022{
1030
1031 btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans, const btCollisionWorld* world, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedPenetration)
1032 : m_convexFromTrans(convexFromTrans),
1033 m_convexToTrans(convexToTrans),
1034 m_world(world),
1035 m_resultCallback(resultCallback),
1036 m_allowedCcdPenetration(allowedPenetration),
1037 m_castShape(castShape)
1038 {
1039 btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
1040 btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized();
1042 m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
1043 m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
1044 m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
1045 m_signs[0] = m_rayDirectionInverse[0] < 0.0;
1046 m_signs[1] = m_rayDirectionInverse[1] < 0.0;
1047 m_signs[2] = m_rayDirectionInverse[2] < 0.0;
1048
1049 m_lambda_max = rayDir.dot(unnormalizedRayDir);
1050 }
1051
1052 virtual bool process(const btBroadphaseProxy* proxy)
1053 {
1056 return false;
1057
1058 btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
1059
1060 //only perform raycast if filterMask matches
1061 if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
1062 {
1063 //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
1065 collisionObject,
1066 collisionObject->getCollisionShape(),
1067 collisionObject->getWorldTransform(),
1070 }
1071
1072 return true;
1073 }
1074};
1075
1076void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
1077{
1078 BT_PROFILE("convexSweepTest");
1082
1083 btTransform convexFromTrans, convexToTrans;
1084 convexFromTrans = convexFromWorld;
1085 convexToTrans = convexToWorld;
1086 btVector3 castShapeAabbMin, castShapeAabbMax;
1087 /* Compute AABB that encompasses angular movement */
1088 {
1089 btVector3 linVel, angVel;
1090 btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
1091 btVector3 zeroLinVel;
1092 zeroLinVel.setValue(0, 0, 0);
1093 btTransform R;
1094 R.setIdentity();
1095 R.setRotation(convexFromTrans.getRotation());
1096 castShape->calculateTemporalAabb(R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
1097 }
1098
1099#ifndef USE_BRUTEFORCE_RAYBROADPHASE
1100
1101 btSingleSweepCallback convexCB(castShape, convexFromWorld, convexToWorld, this, resultCallback, allowedCcdPenetration);
1102
1103 m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(), convexToTrans.getOrigin(), convexCB, castShapeAabbMin, castShapeAabbMax);
1104
1105#else
1107 // do a ray-shape query using convexCaster (CCD)
1108 int i;
1109 for (i = 0; i < m_collisionObjects.size(); i++)
1110 {
1111 btCollisionObject* collisionObject = m_collisionObjects[i];
1112 //only perform raycast if filterMask matches
1113 if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
1114 {
1115 //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
1116 btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
1117 collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
1118 AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
1119 btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
1120 btVector3 hitNormal;
1121 if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
1122 {
1123 objectQuerySingle(castShape, convexFromTrans, convexToTrans,
1124 collisionObject,
1125 collisionObject->getCollisionShape(),
1126 collisionObject->getWorldTransform(),
1127 resultCallback,
1128 allowedCcdPenetration);
1129 }
1130 }
1131 }
1132#endif //USE_BRUTEFORCE_RAYBROADPHASE
1133}
1134
1136{
1138
1140 : btManifoldResult(obj0Wrap, obj1Wrap),
1141 m_resultCallback(resultCallback)
1142 {
1143 }
1144
1145 virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
1146 {
1147 bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
1148 btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
1149 btVector3 localA;
1150 btVector3 localB;
1151 if (isSwapped)
1152 {
1154 localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
1155 }
1156 else
1157 {
1159 localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
1160 }
1161
1162 btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
1163 newPt.m_positionWorldOnA = pointA;
1164 newPt.m_positionWorldOnB = pointInWorld;
1165
1166 //BP mod, store contact triangles.
1167 if (isSwapped)
1168 {
1169 newPt.m_partId0 = m_partId1;
1170 newPt.m_partId1 = m_partId0;
1171 newPt.m_index0 = m_index1;
1172 newPt.m_index1 = m_index0;
1173 }
1174 else
1175 {
1176 newPt.m_partId0 = m_partId0;
1177 newPt.m_partId1 = m_partId1;
1178 newPt.m_index0 = m_index0;
1179 newPt.m_index1 = m_index1;
1180 }
1181
1182 //experimental feature info, for per-triangle material etc.
1183 const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
1184 const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
1185 m_resultCallback.addSingleResult(newPt, obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
1186 }
1187};
1188
1190{
1194
1196 : m_collisionObject(collisionObject),
1197 m_world(world),
1198 m_resultCallback(resultCallback)
1199 {
1200 }
1201
1202 virtual bool process(const btBroadphaseProxy* proxy)
1203 {
1204 btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
1205 if (collisionObject == m_collisionObject)
1206 return true;
1207
1208 //only perform raycast if filterMask matches
1209 if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
1210 {
1212 btCollisionObjectWrapper ob1(0, collisionObject->getCollisionShape(), collisionObject, collisionObject->getWorldTransform(), -1, -1);
1213
1215 if (algorithm)
1216 {
1217 btBridgedManifoldResult contactPointResult(&ob0, &ob1, m_resultCallback);
1218 //discrete collision detection query
1219
1220 algorithm->processCollision(&ob0, &ob1, m_world->getDispatchInfo(), &contactPointResult);
1221
1222 algorithm->~btCollisionAlgorithm();
1224 }
1225 }
1226 return true;
1227 }
1228};
1229
1233{
1234 btVector3 aabbMin, aabbMax;
1235 colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), aabbMin, aabbMax);
1236 btSingleContactCallback contactCB(colObj, this, resultCallback);
1237
1238 m_broadphasePairCache->aabbTest(aabbMin, aabbMax, contactCB);
1239}
1240
1244{
1245 btCollisionObjectWrapper obA(0, colObjA->getCollisionShape(), colObjA, colObjA->getWorldTransform(), -1, -1);
1246 btCollisionObjectWrapper obB(0, colObjB->getCollisionShape(), colObjB, colObjB->getWorldTransform(), -1, -1);
1247
1249 if (algorithm)
1250 {
1251 btBridgedManifoldResult contactPointResult(&obA, &obB, resultCallback);
1252 contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold;
1253 //discrete collision detection query
1254 algorithm->processCollision(&obA, &obB, getDispatchInfo(), &contactPointResult);
1255
1256 algorithm->~btCollisionAlgorithm();
1258 }
1259}
1260
1262{
1266
1267public:
1268 DebugDrawcallback(btIDebugDraw* debugDrawer, const btTransform& worldTrans, const btVector3& color) : m_debugDrawer(debugDrawer),
1269 m_color(color),
1270 m_worldTrans(worldTrans)
1271 {
1272 }
1273
1274 virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
1275 {
1276 processTriangle(triangle, partId, triangleIndex);
1277 }
1278
1279 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
1280 {
1281 (void)partId;
1282 (void)triangleIndex;
1283
1284 btVector3 wv0, wv1, wv2;
1285 wv0 = m_worldTrans * triangle[0];
1286 wv1 = m_worldTrans * triangle[1];
1287 wv2 = m_worldTrans * triangle[2];
1288 btVector3 center = (wv0 + wv1 + wv2) * btScalar(1. / 3.);
1289
1291 {
1292 btVector3 normal = (wv1 - wv0).cross(wv2 - wv0);
1293 normal.normalize();
1294 btVector3 normalColor(1, 1, 0);
1295 m_debugDrawer->drawLine(center, center + normal, normalColor);
1296 }
1297 m_debugDrawer->drawTriangle(wv0, wv1, wv2, m_color, 1.0);
1298 }
1299};
1300
1301void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
1302{
1303 // Draw a small simplex at the center of the object
1304 if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
1305 {
1306 getDebugDrawer()->drawTransform(worldTransform, .1);
1307 }
1308
1309 if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
1310 {
1311 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
1312 for (int i = compoundShape->getNumChildShapes() - 1; i >= 0; i--)
1313 {
1314 btTransform childTrans = compoundShape->getChildTransform(i);
1315 const btCollisionShape* colShape = compoundShape->getChildShape(i);
1316 debugDrawObject(worldTransform * childTrans, colShape, color);
1317 }
1318 }
1319 else
1320 {
1321 switch (shape->getShapeType())
1322 {
1324 {
1325 const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
1326 btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
1327 getDebugDrawer()->drawBox(-halfExtents, halfExtents, worldTransform, color);
1328 break;
1329 }
1330
1332 {
1333 const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
1334 btScalar radius = sphereShape->getMargin(); //radius doesn't include the margin, so draw with margin
1335
1336 getDebugDrawer()->drawSphere(radius, worldTransform, color);
1337 break;
1338 }
1340 {
1341 const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
1342
1343 btTransform childTransform;
1344 childTransform.setIdentity();
1345
1346 for (int i = multiSphereShape->getSphereCount() - 1; i >= 0; i--)
1347 {
1348 childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
1349 getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform * childTransform, color);
1350 }
1351
1352 break;
1353 }
1355 {
1356 const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
1357
1358 btScalar radius = capsuleShape->getRadius();
1359 btScalar halfHeight = capsuleShape->getHalfHeight();
1360
1361 int upAxis = capsuleShape->getUpAxis();
1362 getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
1363 break;
1364 }
1366 {
1367 const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
1368 btScalar radius = coneShape->getRadius(); //+coneShape->getMargin();
1369 btScalar height = coneShape->getHeight(); //+coneShape->getMargin();
1370
1371 int upAxis = coneShape->getConeUpIndex();
1372 getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
1373 break;
1374 }
1376 {
1377 const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
1378 int upAxis = cylinder->getUpAxis();
1379 btScalar radius = cylinder->getRadius();
1380 btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
1381 getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
1382 break;
1383 }
1384
1386 {
1387 const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
1388 btScalar planeConst = staticPlaneShape->getPlaneConstant();
1389 const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
1390 getDebugDrawer()->drawPlane(planeNormal, planeConst, worldTransform, color);
1391 break;
1392 }
1393 default:
1394 {
1396 if (shape->isPolyhedral())
1397 {
1399
1400 int i;
1401 if (polyshape->getConvexPolyhedron())
1402 {
1403 const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
1404 for (i = 0; i < poly->m_faces.size(); i++)
1405 {
1406 btVector3 centroid(0, 0, 0);
1407 int numVerts = poly->m_faces[i].m_indices.size();
1408 if (numVerts)
1409 {
1410 int lastV = poly->m_faces[i].m_indices[numVerts - 1];
1411 for (int v = 0; v < poly->m_faces[i].m_indices.size(); v++)
1412 {
1413 int curVert = poly->m_faces[i].m_indices[v];
1414 centroid += poly->m_vertices[curVert];
1415 getDebugDrawer()->drawLine(worldTransform * poly->m_vertices[lastV], worldTransform * poly->m_vertices[curVert], color);
1416 lastV = curVert;
1417 }
1418 }
1419 centroid *= btScalar(1.f) / btScalar(numVerts);
1420 if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
1421 {
1422 btVector3 normalColor(1, 1, 0);
1423 btVector3 faceNormal(poly->m_faces[i].m_plane[0], poly->m_faces[i].m_plane[1], poly->m_faces[i].m_plane[2]);
1424 getDebugDrawer()->drawLine(worldTransform * centroid, worldTransform * (centroid + faceNormal), normalColor);
1425 }
1426 }
1427 }
1428 else
1429 {
1430 for (i = 0; i < polyshape->getNumEdges(); i++)
1431 {
1432 btVector3 a, b;
1433 polyshape->getEdge(i, a, b);
1434 btVector3 wa = worldTransform * a;
1435 btVector3 wb = worldTransform * b;
1436 getDebugDrawer()->drawLine(wa, wb, color);
1437 }
1438 }
1439 }
1440
1441 if (shape->isConcave())
1442 {
1443 btConcaveShape* concaveMesh = (btConcaveShape*)shape;
1444
1448
1449 DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
1450 concaveMesh->processAllTriangles(&drawCallback, aabbMin, aabbMax);
1451 }
1452
1454 {
1456 //todo: pass camera for some culling
1459 //DebugDrawcallback drawCallback;
1460 DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
1461 convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback, aabbMin, aabbMax);
1462 }
1463 }
1464 }
1465 }
1466}
1467
1469{
1470 if (getDebugDrawer())
1471 {
1473
1475
1477 {
1478 if (getDispatcher())
1479 {
1480 int numManifolds = getDispatcher()->getNumManifolds();
1481
1482 for (int i = 0; i < numManifolds; i++)
1483 {
1485 //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
1486 //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
1487
1488 int numContacts = contactManifold->getNumContacts();
1489 for (int j = 0; j < numContacts; j++)
1490 {
1491 btManifoldPoint& cp = contactManifold->getContactPoint(j);
1493 }
1494 }
1495 }
1496 }
1497
1499 {
1500 int i;
1501
1502 for (i = 0; i < m_collisionObjects.size(); i++)
1503 {
1506 {
1507 if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
1508 {
1509 btVector3 color(btScalar(0.4), btScalar(0.4), btScalar(0.4));
1510
1511 switch (colObj->getActivationState())
1512 {
1513 case ACTIVE_TAG:
1514 color = defaultColors.m_activeObject;
1515 break;
1516 case ISLAND_SLEEPING:
1517 color = defaultColors.m_deactivatedObject;
1518 break;
1519 case WANTS_DEACTIVATION:
1520 color = defaultColors.m_wantsDeactivationObject;
1521 break;
1523 color = defaultColors.m_disabledDeactivationObject;
1524 break;
1525 case DISABLE_SIMULATION:
1526 color = defaultColors.m_disabledSimulationObject;
1527 break;
1528 default:
1529 {
1530 color = btVector3(btScalar(.3), btScalar(0.3), btScalar(0.3));
1531 }
1532 };
1533
1534 colObj->getCustomDebugColor(color);
1535
1536 debugDrawObject(colObj->getWorldTransform(), colObj->getCollisionShape(), color);
1537 }
1539 {
1540 btVector3 minAabb, maxAabb;
1541 btVector3 colorvec = defaultColors.m_aabb;
1542 colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
1544 minAabb -= contactThreshold;
1545 maxAabb += contactThreshold;
1546
1547 btVector3 minAabb2, maxAabb2;
1548
1549 if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
1550 {
1551 colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
1552 minAabb2 -= contactThreshold;
1553 maxAabb2 += contactThreshold;
1554 minAabb.setMin(minAabb2);
1555 maxAabb.setMax(maxAabb2);
1556 }
1557
1558 m_debugDrawer->drawAabb(minAabb, maxAabb, colorvec);
1559 }
1560 }
1561 }
1562 }
1563 }
1564}
1565
1567{
1568 int i;
1569
1572
1573 for (i = 0; i < m_collisionObjects.size(); i++)
1574 {
1576 btCollisionShape* shape = colObj->getCollisionShape();
1577
1578 if (!serializedShapes.find(shape))
1579 {
1580 serializedShapes.insert(shape, shape);
1581 shape->serializeSingleShape(serializer);
1582 }
1583 }
1584
1585 //serialize all collision objects
1586 for (i = 0; i < m_collisionObjects.size(); i++)
1587 {
1590 {
1591 colObj->serializeSingleObject(serializer);
1592 }
1593 }
1594}
1595
1597{
1599 {
1600 int numManifolds = getDispatcher()->getNumManifolds();
1601 for (int i = 0; i < numManifolds; i++)
1602 {
1604 //don't serialize empty manifolds, they just take space
1605 //(may have to do it anyway if it destroys determinism)
1606 if (manifold->getNumContacts() == 0)
1607 continue;
1608
1609 btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1);
1610 const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer);
1611 serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold);
1612 }
1613 }
1614}
1615
1617{
1618 serializer->startSerialization();
1619
1620 serializeCollisionObjects(serializer);
1621
1622 serializeContactManifolds(serializer);
1623
1624 serializer->finishSerialization();
1625}
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar &param, btVector3 &normal)
Definition: btAabbUtil2.h:117
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
Definition: btAabbUtil2.h:22
@ CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE
@ COMPOUND_SHAPE_PROXYTYPE
@ SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
@ TRIANGLE_MESH_SHAPE_PROXYTYPE
@ TERRAIN_SHAPE_PROXYTYPE
@ STATIC_PLANE_PROXYTYPE
@ SPHERE_SHAPE_PROXYTYPE
@ BOX_SHAPE_PROXYTYPE
@ MULTI_SPHERE_SHAPE_PROXYTYPE
@ CYLINDER_SHAPE_PROXYTYPE
@ CONE_SHAPE_PROXYTYPE
@ CAPSULE_SHAPE_PROXYTYPE
#define ACTIVE_TAG
#define DISABLE_DEACTIVATION
#define WANTS_DEACTIVATION
#define ISLAND_SLEEPING
#define DISABLE_SIMULATION
btScalar gContactBreakingThreshold
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
Definition: btDbvt.cpp:299
@ BT_CLOSEST_POINT_ALGORITHMS
Definition: btDispatcher.h:71
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
#define btAssert(x)
Definition: btScalar.h:153
@ BT_SERIALIZE_CONTACT_MANIFOLDS
Definition: btSerializer.h:62
#define BT_CONTACTMANIFOLD_CODE
Definition: btSerializer.h:122
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
DebugDrawcallback(btIDebugDraw *debugDrawer, const btTransform &worldTrans, const btVector3 &color)
btIDebugDraw * m_debugDrawer
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:28
btVector3 getHalfExtentsWithMargin() const
Definition: btBoxShape.h:34
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btBroadphaseRayCallback &rayCallback, const btVector3 &aabbMin=btVector3(0, 0, 0), const btVector3 &aabbMax=btVector3(0, 0, 0))=0
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
virtual btOverlappingPairCache * getOverlappingPairCache()=0
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
void performRaycast(btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget)
void performConvexcast(btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax)
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btScalar getRadius() const
int getUpAxis() const
btScalar getHalfHeight() const
void * m_oldPtr
Definition: btSerializer.h:52
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
bool isStaticOrKinematicObject() const
void setWorldArrayIndex(int ix)
btTransform & getWorldTransform()
btBroadphaseProxy * getBroadphaseHandle()
virtual void serializeSingleObject(class btSerializer *serializer) const
int getInternalType() const
reserved for Bullet internal usage
bool isStaticObject() const
void setActivationState(int newState) const
bool getCustomDebugColor(btVector3 &colorRGB) const
int getWorldArrayIndex() const
const btTransform & getInterpolationWorldTransform() const
const btCollisionShape * getCollisionShape() const
void setBroadphaseHandle(btBroadphaseProxy *handle)
int getCollisionFlags() const
int getActivationState() const
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
bool isCompound() const
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0....
int getShapeType() const
bool isConvex() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
bool isConcave() const
virtual void serializeSingleShape(btSerializer *serializer) const
bool isPolyhedral() const
CollisionWorld is interface and container for the collision detection.
virtual void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This ...
virtual void updateAabbs()
btDispatcher * getDispatcher()
btDispatcherInfo & getDispatchInfo()
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bulle...
virtual void debugDrawWorld()
static void objectQuerySingleInternal(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
virtual btIDebugDraw * getDebugDrawer()
virtual ~btCollisionWorld()
virtual void refreshBroadphaseProxy(btCollisionObject *collisionObject)
btBroadphaseInterface * m_broadphasePairCache
void updateSingleAabb(btCollisionObject *colObj)
virtual void removeCollisionObject(btCollisionObject *collisionObject)
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
btCollisionWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
for debug drawing
int getNumCollisionObjects() const
virtual void performDiscreteCollisionDetection()
static void rayTestSingleInternal(const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
void convexSweepTest(const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultC...
bool m_forceUpdateAllAabbs
m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is...
btIDebugDraw * m_debugDrawer
static void objectQuerySingle(const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
objectQuerySingle performs a collision detection query and calls the resultCallback....
btDispatcher * m_dispatcher1
void contactPairTest(btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between two collision objects and calls the resultCall...
void serializeContactManifolds(btSerializer *serializer)
virtual void debugDrawObject(const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
rayTestSingle performs a raycast call and calls the resultCallback.
const btBroadphaseInterface * getBroadphase() const
void contactTest(btCollisionObject *colObj, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between colObj against all objects in the btCollisionW...
void serializeCollisionObjects(btSerializer *serializer)
virtual void computeOverlappingPairs()
the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSi...
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
btCollisionShape * getChildShape(int index)
btTransform & getChildTransform(int index)
const btDbvt * getDynamicAabbTree() const
int getNumChildShapes() const
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
virtual btScalar getMargin() const
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:26
btScalar getRadius() const
Definition: btConeShape.h:42
int getConeUpIndex() const
Definition: btConeShape.h:88
btScalar getHeight() const
Definition: btConeShape.h:43
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object
btAlignedObjectArray< btVector3 > m_vertices
btAlignedObjectArray< btFace > m_faces
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good...
class btStridingMeshInterface * getMeshInterface()
The btCylinderShape class implements a cylinder shape primitive, centered around the origin....
int getUpAxis() const
virtual btScalar getRadius() const
btVector3 getHalfExtentsWithMargin() const
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
virtual int getNumManifolds() const =0
virtual btPersistentManifold * getManifoldByIndexInternal(int index)=0
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)=0
virtual void freeCollisionAlgorithm(void *ptr)=0
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
virtual btPersistentManifold ** getInternalManifoldPointer()=0
GjkConvexCast performs a raycast on a convex object using support mapping.
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:220
void insert(const Key &key, const Value &value)
Definition: btHashMap.h:264
const Value * find(const Key &key) const
Definition: btHashMap.h:424
btHeightfieldTerrainShape simulates a 2D heightfield terrain
void performRaycast(btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget) const
Performs a raycast using a hierarchical Bresenham algorithm.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:414
virtual void drawPlane(const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:450
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
virtual void drawSphere(btScalar radius, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:92
virtual void drawTriangle(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &, const btVector3 &, const btVector3 &, const btVector3 &color, btScalar alpha)
Definition: btIDebugDraw.h:114
virtual void reportErrorWarning(const char *warningString)=0
virtual void clearLines()
Definition: btIDebugDraw.h:464
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition: btIDebugDraw.h:163
virtual void drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual int getDebugMode() const =0
virtual void drawBox(const btVector3 &bbMin, const btVector3 &bbMax, const btVector3 &color)
Definition: btIDebugDraw.h:304
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:388
@ DBG_DrawContactPoints
Definition: btIDebugDraw.h:58
virtual DefaultColors getDefaultColors() const
Definition: btIDebugDraw.h:76
virtual void drawAabb(const btVector3 &from, const btVector3 &to, const btVector3 &color)
Definition: btIDebugDraw.h:135
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:335
ManifoldContactPoint collects and maintains persistent contactpoints.
btScalar getDistance() const
int getLifeTime() const
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
btVector3 m_normalWorldOnB
btVector3 m_positionWorldOnB
btManifoldResult is a helper class to manage contact results.
const btCollisionObjectWrapper * m_body0Wrap
const btCollisionObjectWrapper * m_body1Wrap
btScalar m_closestPointDistanceThreshold
btPersistentManifold * m_manifoldPtr
The btMultiSphereShape represents the convex hull of a collection of spheres.
int getSphereCount() const
const btVector3 & getSpherePosition(int index) const
btScalar getSphereRadius(int index) const
virtual void cleanProxyFromPairs(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
const btManifoldPoint & getContactPoint(int index) const
const char * serialize(const class btPersistentManifold *manifold, void *dataBuffer, class btSerializer *serializer) const
const btCollisionObject * getBody0() const
int calculateSerializeBufferSize() const
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
const btConvexPolyhedron * getConvexPolyhedron() const
virtual int getNumEdges() const =0
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
virtual const btVector3 & getLocalScaling() const
btBvhTriangleMeshShape * getChildShape()
virtual btChunk * allocate(size_t size, int numElements)=0
virtual int getSerializationFlags() const =0
virtual void finishSerialization()=0
virtual void startSerialization()=0
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
virtual btScalar getMargin() const
Definition: btSphereShape.h:63
virtual void setMargin(btScalar margin)
Definition: btSphereShape.h:59
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
const btScalar & getPlaneConstant() const
const btVector3 & getPlaneNormal() const
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
static void calculateVelocity(const btTransform &transform0, const btTransform &transform1, btScalar timeStep, btVector3 &linVel, btVector3 &angVel)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:182
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:215
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:160
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:118
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:146
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
Definition: btTransform.h:222
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
Definition: btVector3.h:609
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3 normalized() const
Return a normalized version of this vector.
Definition: btVector3.h:949
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
bool fuzzyZero() const
Definition: btVector3.h:688
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
Definition: btVector3.h:626
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btCollisionWorld::ContactResultCallback & m_resultCallback
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btBridgedManifoldResult(const btCollisionObjectWrapper *obj0Wrap, const btCollisionObjectWrapper *obj1Wrap, btCollisionWorld::ContactResultCallback &resultCallback)
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
const btCollisionShape * getCollisionShape() const
const btCollisionObject * getCollisionObject() const
const btTransform & getWorldTransform() const
ContactResultCallback is used to report contact points.
virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)=0
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
RayResultCallback is used to report new raycast results.
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
virtual btScalar addSingleResult(LocalConvexResult &convexResult, bool normalInWorldSpace)=0
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
RayResultCallback is used to report new raycast results.
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
Definition: btDbvt.h:479
int dataAsInt
Definition: btDbvt.h:189
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:229
DBVT_PREFIX void collideTV(const btDbvtNode *root, const btDbvtVolume &volume, DBVT_IPOLICY) const
Definition: btDbvt.h:1148
static DBVT_PREFIX void rayTest(const btDbvtNode *root, const btVector3 &rayFrom, const btVector3 &rayTo, DBVT_IPOLICY)
rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thre...
Definition: btDbvt.h:1276
btDbvtNode * m_root
Definition: btDbvt.h:302
btVector3 m_disabledSimulationObject
Definition: btIDebugDraw.h:36
btVector3 m_disabledDeactivationObject
Definition: btIDebugDraw.h:35
btCollisionObject * m_collisionObject
btCollisionWorld::ContactResultCallback & m_resultCallback
btSingleContactCallback(btCollisionObject *collisionObject, btCollisionWorld *world, btCollisionWorld::ContactResultCallback &resultCallback)
virtual bool process(const btBroadphaseProxy *proxy)
btCollisionWorld * m_world
const btCollisionWorld * m_world
virtual bool process(const btBroadphaseProxy *proxy)
btSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btCollisionWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
btCollisionWorld::RayResultCallback & m_resultCallback
const btConvexShape * m_castShape
virtual bool process(const btBroadphaseProxy *proxy)
const btCollisionWorld * m_world
btCollisionWorld::ConvexResultCallback & m_resultCallback
btSingleSweepCallback(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionWorld *world, btCollisionWorld::ConvexResultCallback &resultCallback, btScalar allowedPenetration)