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source: code/archive/tutorialFS09/src/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @ 10227

Last change on this file since 10227 was 2662, checked in by rgrieder, 16 years ago
Merged presentation branch back to trunk.
Property svn:eol-style set to `native`
File size: 21.2 KB

Line
1	/*
2	This source file is part of GIMPACT Library.
3
4	For the latest info, see http://gimpact.sourceforge.net/
5
6	Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
7	email: projectileman@yahoo.com
8
9
10	This software is provided 'as-is', without any express or implied warranty.
11	In no event will the authors be held liable for any damages arising from the use of this software.
12	Permission is granted to anyone to use this software for any purpose,
13	including commercial applications, and to alter it and redistribute it freely,
14	subject to the following restrictions:
15
16	1. 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.
17	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
18	3. This notice may not be removed or altered from any source distribution.
19	*/
20	/*
21	Author: Francisco Len Nßjera
22	Concave-Concave Collision
23
24	*/
25
26	#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
27	#include "LinearMath/btIDebugDraw.h"
28	#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
29	#include "BulletCollision/CollisionShapes/btBoxShape.h"
30	#include "btGImpactCollisionAlgorithm.h"
31	#include "btContactProcessing.h"
32	#include "LinearMath/btQuickprof.h"
33
34
35	//! Class for accessing the plane equation
36	class btPlaneShape : public btStaticPlaneShape
37	{
38	public:
39
40	btPlaneShape(const btVector3& v, float f)
41	:btStaticPlaneShape(v,f)
42	{
43	}
44
45	void get_plane_equation(btVector4 &equation)
46	{
47	equation[0] = m_planeNormal[0];
48	equation[1] = m_planeNormal[1];
49	equation[2] = m_planeNormal[2];
50	equation[3] = m_planeConstant;
51	}
52
53
54	void get_plane_equation_transformed(const btTransform & trans,btVector4 &equation)
55	{
56	equation[0] = trans.getBasis().getRow(0).dot(m_planeNormal);
57	equation[1] = trans.getBasis().getRow(1).dot(m_planeNormal);
58	equation[2] = trans.getBasis().getRow(2).dot(m_planeNormal);
59	equation[3] = trans.getOrigin().dot(m_planeNormal) + m_planeConstant;
60	}
61	};
62
63
64
65	//////////////////////////////////////////////////////////////////////////////////////////////
66	#ifdef TRI_COLLISION_PROFILING
67
68	btClock g_triangle_clock;
69
70	float g_accum_triangle_collision_time = 0;
71	int g_count_triangle_collision = 0;
72
73	void bt_begin_gim02_tri_time()
74	{
75	g_triangle_clock.reset();
76	}
77
78	void bt_end_gim02_tri_time()
79	{
80	g_accum_triangle_collision_time += g_triangle_clock.getTimeMicroseconds();
81	g_count_triangle_collision++;
82	}
83	#endif //TRI_COLLISION_PROFILING
84	//! Retrieving shapes shapes
85	/*!
86	Declared here due of insuficent space on Pool allocators
87	*/
88	//!@{
89	class GIM_ShapeRetriever
90	{
91	public:
92	btGImpactShapeInterface * m_gim_shape;
93	btTriangleShapeEx m_trishape;
94	btTetrahedronShapeEx m_tetrashape;
95
96	public:
97	class ChildShapeRetriever
98	{
99	public:
100	GIM_ShapeRetriever * m_parent;
101	virtual btCollisionShape * getChildShape(int index)
102	{
103	return m_parent->m_gim_shape->getChildShape(index);
104	}
105	};
106
107	class TriangleShapeRetriever:public ChildShapeRetriever
108	{
109	public:
110
111	virtual btCollisionShape * getChildShape(int index)
112	{
113	m_parent->m_gim_shape->getBulletTriangle(index,m_parent->m_trishape);
114	return &m_parent->m_trishape;
115	}
116	};
117
118	class TetraShapeRetriever:public ChildShapeRetriever
119	{
120	public:
121
122	virtual btCollisionShape * getChildShape(int index)
123	{
124	m_parent->m_gim_shape->getBulletTetrahedron(index,m_parent->m_tetrashape);
125	return &m_parent->m_tetrashape;
126	}
127	};
128	public:
129	ChildShapeRetriever m_child_retriever;
130	TriangleShapeRetriever m_tri_retriever;
131	TetraShapeRetriever m_tetra_retriever;
132	ChildShapeRetriever * m_current_retriever;
133
134	GIM_ShapeRetriever(btGImpactShapeInterface * gim_shape)
135	{
136	m_gim_shape = gim_shape;
137	//select retriever
138	if(m_gim_shape->needsRetrieveTriangles())
139	{
140	m_current_retriever = &m_tri_retriever;
141	}
142	else if(m_gim_shape->needsRetrieveTetrahedrons())
143	{
144	m_current_retriever = &m_tetra_retriever;
145	}
146	else
147	{
148	m_current_retriever = &m_child_retriever;
149	}
150
151	m_current_retriever->m_parent = this;
152	}
153
154	btCollisionShape * getChildShape(int index)
155	{
156	return m_current_retriever->getChildShape(index);
157	}
158
159
160	};
161
162
163
164	//!@}
165
166
167	#ifdef TRI_COLLISION_PROFILING
168
169	//! Gets the average time in miliseconds of tree collisions
170	float btGImpactCollisionAlgorithm::getAverageTreeCollisionTime()
171	{
172	return btGImpactBoxSet::getAverageTreeCollisionTime();
173
174	}
175
176	//! Gets the average time in miliseconds of triangle collisions
177	float btGImpactCollisionAlgorithm::getAverageTriangleCollisionTime()
178	{
179	if(g_count_triangle_collision == 0) return 0;
180
181	float avgtime = g_accum_triangle_collision_time;
182	avgtime /= (float)g_count_triangle_collision;
183
184	g_accum_triangle_collision_time = 0;
185	g_count_triangle_collision = 0;
186
187	return avgtime;
188	}
189
190	#endif //TRI_COLLISION_PROFILING
191
192
193
194	btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
195	: btActivatingCollisionAlgorithm(ci,body0,body1)
196	{
197	m_manifoldPtr = NULL;
198	m_convex_algorithm = NULL;
199	}
200
201	btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm()
202	{
203	clearCache();
204	}
205
206
207
208
209
210	void btGImpactCollisionAlgorithm::addContactPoint(btCollisionObject * body0,
211	btCollisionObject * body1,
212	const btVector3 & point,
213	const btVector3 & normal,
214	btScalar distance)
215	{
216	m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
217	checkManifold(body0,body1);
218	m_resultOut->addContactPoint(normal,point,distance);
219	}
220
221
222	void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
223	btCollisionObject * body0,
224	btCollisionObject * body1,
225	btCollisionShape * shape0,
226	btCollisionShape * shape1)
227	{
228
229	btCollisionShape* tmpShape0 = body0->getCollisionShape();
230	btCollisionShape* tmpShape1 = body1->getCollisionShape();
231
232	body0->internalSetTemporaryCollisionShape(shape0);
233	body1->internalSetTemporaryCollisionShape(shape1);
234
235	{
236	btCollisionAlgorithm* algor = newAlgorithm(body0,body1);
237	// post : checkManifold is called
238
239	m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
240
241	algor->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
242
243	algor->~btCollisionAlgorithm();
244	m_dispatcher->freeCollisionAlgorithm(algor);
245	}
246
247	body0->internalSetTemporaryCollisionShape(tmpShape0);
248	body1->internalSetTemporaryCollisionShape(tmpShape1);
249	}
250
251	void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
252	btCollisionObject * body0,
253	btCollisionObject * body1,
254	btCollisionShape * shape0,
255	btCollisionShape * shape1)
256	{
257
258	btCollisionShape* tmpShape0 = body0->getCollisionShape();
259	btCollisionShape* tmpShape1 = body1->getCollisionShape();
260
261	body0->internalSetTemporaryCollisionShape(shape0);
262	body1->internalSetTemporaryCollisionShape(shape1);
263
264
265	m_resultOut->setShapeIdentifiers(m_part0,m_triface0,m_part1,m_triface1);
266
267	checkConvexAlgorithm(body0,body1);
268	m_convex_algorithm->processCollision(body0,body1,*m_dispatchInfo,m_resultOut);
269
270	body0->internalSetTemporaryCollisionShape(tmpShape0);
271	body1->internalSetTemporaryCollisionShape(tmpShape1);
272
273	}
274
275
276
277
278	void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs(
279	const btTransform & trans0,
280	const btTransform & trans1,
281	btGImpactShapeInterface * shape0,
282	btGImpactShapeInterface * shape1,btPairSet & pairset)
283	{
284	if(shape0->hasBoxSet() && shape1->hasBoxSet())
285	{
286	btGImpactBoxSet::find_collision(shape0->getBoxSet(),trans0,shape1->getBoxSet(),trans1,pairset);
287	}
288	else
289	{
290	btAABB boxshape0;
291	btAABB boxshape1;
292	int i = shape0->getNumChildShapes();
293
294	while(i--)
295	{
296	shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
297
298	int j = shape1->getNumChildShapes();
299	while(j--)
300	{
301	shape1->getChildAabb(i,trans1,boxshape1.m_min,boxshape1.m_max);
302
303	if(boxshape1.has_collision(boxshape0))
304	{
305	pairset.push_pair(i,j);
306	}
307	}
308	}
309	}
310
311
312	}
313
314
315	void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(
316	const btTransform & trans0,
317	const btTransform & trans1,
318	btGImpactShapeInterface * shape0,
319	btCollisionShape * shape1,
320	btAlignedObjectArray<int> & collided_primitives)
321	{
322
323	btAABB boxshape;
324
325
326	if(shape0->hasBoxSet())
327	{
328	btTransform trans1to0 = trans0.inverse();
329	trans1to0 *= trans1;
330
331	shape1->getAabb(trans1to0,boxshape.m_min,boxshape.m_max);
332
333	shape0->getBoxSet()->boxQuery(boxshape, collided_primitives);
334	}
335	else
336	{
337	shape1->getAabb(trans1,boxshape.m_min,boxshape.m_max);
338
339	btAABB boxshape0;
340	int i = shape0->getNumChildShapes();
341
342	while(i--)
343	{
344	shape0->getChildAabb(i,trans0,boxshape0.m_min,boxshape0.m_max);
345
346	if(boxshape.has_collision(boxshape0))
347	{
348	collided_primitives.push_back(i);
349	}
350	}
351
352	}
353
354	}
355
356
357	void btGImpactCollisionAlgorithm::collide_gjk_triangles(btCollisionObject * body0,
358	btCollisionObject * body1,
359	btGImpactMeshShapePart * shape0,
360	btGImpactMeshShapePart * shape1,
361	const int * pairs, int pair_count)
362	{
363	btTriangleShapeEx tri0;
364	btTriangleShapeEx tri1;
365
366	shape0->lockChildShapes();
367	shape1->lockChildShapes();
368
369	const int * pair_pointer = pairs;
370
371	while(pair_count--)
372	{
373
374	m_triface0 = *(pair_pointer);
375	m_triface1 = *(pair_pointer+1);
376	pair_pointer+=2;
377
378
379
380	shape0->getBulletTriangle(m_triface0,tri0);
381	shape1->getBulletTriangle(m_triface1,tri1);
382
383
384	//collide two convex shapes
385	if(tri0.overlap_test_conservative(tri1))
386	{
387	convex_vs_convex_collision(body0,body1,&tri0,&tri1);
388	}
389
390	}
391
392	shape0->unlockChildShapes();
393	shape1->unlockChildShapes();
394	}
395
396	void btGImpactCollisionAlgorithm::collide_sat_triangles(btCollisionObject * body0,
397	btCollisionObject * body1,
398	btGImpactMeshShapePart * shape0,
399	btGImpactMeshShapePart * shape1,
400	const int * pairs, int pair_count)
401	{
402	btTransform orgtrans0 = body0->getWorldTransform();
403	btTransform orgtrans1 = body1->getWorldTransform();
404
405	btPrimitiveTriangle ptri0;
406	btPrimitiveTriangle ptri1;
407	GIM_TRIANGLE_CONTACT contact_data;
408
409	shape0->lockChildShapes();
410	shape1->lockChildShapes();
411
412	const int * pair_pointer = pairs;
413
414	while(pair_count--)
415	{
416
417	m_triface0 = *(pair_pointer);
418	m_triface1 = *(pair_pointer+1);
419	pair_pointer+=2;
420
421
422	shape0->getPrimitiveTriangle(m_triface0,ptri0);
423	shape1->getPrimitiveTriangle(m_triface1,ptri1);
424
425	#ifdef TRI_COLLISION_PROFILING
426	bt_begin_gim02_tri_time();
427	#endif
428
429	ptri0.applyTransform(orgtrans0);
430	ptri1.applyTransform(orgtrans1);
431
432
433	//build planes
434	ptri0.buildTriPlane();
435	ptri1.buildTriPlane();
436	// test conservative
437
438
439
440	if(ptri0.overlap_test_conservative(ptri1))
441	{
442	if(ptri0.find_triangle_collision_clip_method(ptri1,contact_data))
443	{
444
445	int j = contact_data.m_point_count;
446	while(j--)
447	{
448
449	addContactPoint(body0, body1,
450	contact_data.m_points[j],
451	contact_data.m_separating_normal,
452	-contact_data.m_penetration_depth);
453	}
454	}
455	}
456
457	#ifdef TRI_COLLISION_PROFILING
458	bt_end_gim02_tri_time();
459	#endif
460
461	}
462
463	shape0->unlockChildShapes();
464	shape1->unlockChildShapes();
465
466	}
467
468
469	void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
470	btCollisionObject * body0,
471	btCollisionObject * body1,
472	btGImpactShapeInterface * shape0,
473	btGImpactShapeInterface * shape1)
474	{
475
476	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
477	{
478	btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
479	m_part0 = meshshape0->getMeshPartCount();
480
481	while(m_part0--)
482	{
483	gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
484	}
485
486	return;
487	}
488
489	if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
490	{
491	btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
492	m_part1 = meshshape1->getMeshPartCount();
493
494	while(m_part1--)
495	{
496
497	gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
498
499	}
500
501	return;
502	}
503
504
505	btTransform orgtrans0 = body0->getWorldTransform();
506	btTransform orgtrans1 = body1->getWorldTransform();
507
508	btPairSet pairset;
509
510	gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset);
511
512	if(pairset.size()== 0) return;
513
514	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
515	shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
516	{
517	btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
518	btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
519	//specialized function
520	#ifdef BULLET_TRIANGLE_COLLISION
521	collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
522	#else
523	collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
524	#endif
525
526	return;
527	}
528
529	//general function
530
531	shape0->lockChildShapes();
532	shape1->lockChildShapes();
533
534	GIM_ShapeRetriever retriever0(shape0);
535	GIM_ShapeRetriever retriever1(shape1);
536
537	bool child_has_transform0 = shape0->childrenHasTransform();
538	bool child_has_transform1 = shape1->childrenHasTransform();
539
540	int i = pairset.size();
541	while(i--)
542	{
543	GIM_PAIR * pair = &pairset[i];
544	m_triface0 = pair->m_index1;
545	m_triface1 = pair->m_index2;
546	btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
547	btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
548
549	if(child_has_transform0)
550	{
551	body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
552	}
553
554	if(child_has_transform1)
555	{
556	body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
557	}
558
559	//collide two convex shapes
560	convex_vs_convex_collision(body0,body1,colshape0,colshape1);
561
562
563	if(child_has_transform0)
564	{
565	body0->setWorldTransform(orgtrans0);
566	}
567
568	if(child_has_transform1)
569	{
570	body1->setWorldTransform(orgtrans1);
571	}
572
573	}
574
575	shape0->unlockChildShapes();
576	shape1->unlockChildShapes();
577	}
578
579	void btGImpactCollisionAlgorithm::gimpact_vs_shape(btCollisionObject * body0,
580	btCollisionObject * body1,
581	btGImpactShapeInterface * shape0,
582	btCollisionShape * shape1,bool swapped)
583	{
584	if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
585	{
586	btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
587	int& part = swapped ? m_part1 : m_part0;
588	part = meshshape0->getMeshPartCount();
589
590	while(part--)
591	{
592
593	gimpact_vs_shape(body0,
594	body1,
595	meshshape0->getMeshPart(part),
596	shape1,swapped);
597
598	}
599
600	return;
601	}
602
603	#ifdef GIMPACT_VS_PLANE_COLLISION
604	if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
605	shape1->getShapeType() == STATIC_PLANE_PROXYTYPE)
606	{
607	btGImpactMeshShapePart * shapepart = static_cast<btGImpactMeshShapePart *>(shape0);
608	btStaticPlaneShape * planeshape = static_cast<btStaticPlaneShape * >(shape1);
609	gimpacttrimeshpart_vs_plane_collision(body0,body1,shapepart,planeshape,swapped);
610	return;
611	}
612
613	#endif
614
615
616
617	if(shape1->isCompound())
618	{
619	btCompoundShape * compoundshape = static_cast<btCompoundShape *>(shape1);
620	gimpact_vs_compoundshape(body0,body1,shape0,compoundshape,swapped);
621	return;
622	}
623	else if(shape1->isConcave())
624	{
625	btConcaveShape * concaveshape = static_cast<btConcaveShape *>(shape1);
626	gimpact_vs_concave(body0,body1,shape0,concaveshape,swapped);
627	return;
628	}
629
630
631	btTransform orgtrans0 = body0->getWorldTransform();
632
633	btTransform orgtrans1 = body1->getWorldTransform();
634
635	btAlignedObjectArray<int> collided_results;
636
637	gimpact_vs_shape_find_pairs(orgtrans0,orgtrans1,shape0,shape1,collided_results);
638
639	if(collided_results.size() == 0) return;
640
641
642	shape0->lockChildShapes();
643
644	GIM_ShapeRetriever retriever0(shape0);
645
646
647	bool child_has_transform0 = shape0->childrenHasTransform();
648
649
650	int i = collided_results.size();
651
652	while(i--)
653	{
654	int child_index = collided_results[i];
655	if(swapped)
656	m_triface1 = child_index;
657	else
658	m_triface0 = child_index;
659
660	btCollisionShape * colshape0 = retriever0.getChildShape(child_index);
661
662	if(child_has_transform0)
663	{
664	body0->setWorldTransform(orgtrans0*shape0->getChildTransform(child_index));
665	}
666
667	//collide two shapes
668	if(swapped)
669	{
670	shape_vs_shape_collision(body1,body0,shape1,colshape0);
671	}
672	else
673	{
674	shape_vs_shape_collision(body0,body1,colshape0,shape1);
675	}
676
677	//restore transforms
678	if(child_has_transform0)
679	{
680	body0->setWorldTransform(orgtrans0);
681	}
682
683	}
684
685	shape0->unlockChildShapes();
686
687	}
688
689	void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(btCollisionObject * body0,
690	btCollisionObject * body1,
691	btGImpactShapeInterface * shape0,
692	btCompoundShape * shape1,bool swapped)
693	{
694	btTransform orgtrans1 = body1->getWorldTransform();
695
696	int i = shape1->getNumChildShapes();
697	while(i--)
698	{
699
700	btCollisionShape * colshape1 = shape1->getChildShape(i);
701	btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
702
703	body1->setWorldTransform(childtrans1);
704
705	//collide child shape
706	gimpact_vs_shape(body0, body1,
707	shape0,colshape1,swapped);
708
709
710	//restore transforms
711	body1->setWorldTransform(orgtrans1);
712	}
713	}
714
715	void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision(
716	btCollisionObject * body0,
717	btCollisionObject * body1,
718	btGImpactMeshShapePart * shape0,
719	btStaticPlaneShape * shape1,bool swapped)
720	{
721
722
723	btTransform orgtrans0 = body0->getWorldTransform();
724	btTransform orgtrans1 = body1->getWorldTransform();
725
726	btPlaneShape * planeshape = static_cast<btPlaneShape *>(shape1);
727	btVector4 plane;
728	planeshape->get_plane_equation_transformed(orgtrans1,plane);
729
730	//test box against plane
731
732	btAABB tribox;
733	shape0->getAabb(orgtrans0,tribox.m_min,tribox.m_max);
734	tribox.increment_margin(planeshape->getMargin());
735
736	if( tribox.plane_classify(plane)!= BT_CONST_COLLIDE_PLANE) return;
737
738	shape0->lockChildShapes();
739
740	btScalar margin = shape0->getMargin() + planeshape->getMargin();
741
742	btVector3 vertex;
743	int vi = shape0->getVertexCount();
744	while(vi--)
745	{
746	shape0->getVertex(vi,vertex);
747	vertex = orgtrans0(vertex);
748
749	btScalar distance = vertex.dot(plane) - plane[3] - margin;
750
751	if(distance<0.0)//add contact
752	{
753	if(swapped)
754	{
755	addContactPoint(body1, body0,
756	vertex,
757	-plane,
758	distance);
759	}
760	else
761	{
762	addContactPoint(body0, body1,
763	vertex,
764	plane,
765	distance);
766	}
767	}
768	}
769
770	shape0->unlockChildShapes();
771	}
772
773
774
775
776	class btGImpactTriangleCallback: public btTriangleCallback
777	{
778	public:
779	btGImpactCollisionAlgorithm * algorithm;
780	btCollisionObject * body0;
781	btCollisionObject * body1;
782	btGImpactShapeInterface * gimpactshape0;
783	bool swapped;
784	btScalar margin;
785
786	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
787	{
788	btTriangleShapeEx tri1(triangle[0],triangle[1],triangle[2]);
789	tri1.setMargin(margin);
790	if(swapped)
791	{
792	algorithm->setPart0(partId);
793	algorithm->setFace0(triangleIndex);
794	}
795	else
796	{
797	algorithm->setPart1(partId);
798	algorithm->setFace1(triangleIndex);
799	}
800	algorithm->gimpact_vs_shape(
801	body0,body1,gimpactshape0,&tri1,swapped);
802	}
803	};
804
805
806
807
808	void btGImpactCollisionAlgorithm::gimpact_vs_concave(
809	btCollisionObject * body0,
810	btCollisionObject * body1,
811	btGImpactShapeInterface * shape0,
812	btConcaveShape * shape1,bool swapped)
813	{
814	//create the callback
815	btGImpactTriangleCallback tricallback;
816	tricallback.algorithm = this;
817	tricallback.body0 = body0;
818	tricallback.body1 = body1;
819	tricallback.gimpactshape0 = shape0;
820	tricallback.swapped = swapped;
821	tricallback.margin = shape1->getMargin();
822
823	//getting the trimesh AABB
824	btTransform gimpactInConcaveSpace;
825
826	gimpactInConcaveSpace = body1->getWorldTransform().inverse() * body0->getWorldTransform();
827
828	btVector3 minAABB,maxAABB;
829	shape0->getAabb(gimpactInConcaveSpace,minAABB,maxAABB);
830
831	shape1->processAllTriangles(&tricallback,minAABB,maxAABB);
832
833	}
834
835
836
837	void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
838	{
839	clearCache();
840
841	m_resultOut = resultOut;
842	m_dispatchInfo = &dispatchInfo;
843	btGImpactShapeInterface * gimpactshape0;
844	btGImpactShapeInterface * gimpactshape1;
845
846	if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
847	{
848	gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
849
850	if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
851	{
852	gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
853
854	gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
855	}
856	else
857	{
858	gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
859	}
860
861	}
862	else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
863	{
864	gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
865
866	gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
867	}
868	}
869
870
871	btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
872	{
873	return 1.f;
874
875	}
876
877	///////////////////////////////////// REGISTERING ALGORITHM //////////////////////////////////////////////
878
879	btGImpactCollisionAlgorithm::CreateFunc g_gimpact_cf;
880
881	//! Use this function for register the algorithm externally
882	void btGImpactCollisionAlgorithm::registerAlgorithm(btCollisionDispatcher * dispatcher)
883	{
884
885	int i;
886
887	for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
888	{
889	dispatcher->registerCollisionCreateFunc(GIMPACT_SHAPE_PROXYTYPE,i ,&g_gimpact_cf);
890	}
891
892	for ( i = 0;i < MAX_BROADPHASE_COLLISION_TYPES ;i++ )
893	{
894	dispatcher->registerCollisionCreateFunc(i,GIMPACT_SHAPE_PROXYTYPE ,&g_gimpact_cf);
895	}
896
897	}

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