Changeset 2882 for code/trunk/src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (16 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp (modified) (9 diffs)

code/trunk/src/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp

@@ -20 +20 @@
 #include "LinearMath/btIDebugDraw.h"
 #include "LinearMath/btAabbUtil2.h"
+#include "btManifoldResult.h"
 
 btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
@@ -29 +30 @@
 
         btCollisionObject* colObj = m_isSwapped? body1 : body0;
+        btAssert (colObj->getCollisionShape()->isCompound());
+        
+        btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+        m_compoundShapeRevision = compoundShape->getUpdateRevision();
+        
+        preallocateChildAlgorithms(body0,body1);
+}
+
+void    btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
+{
+        btCollisionObject* colObj = m_isSwapped? body1 : body0;
         btCollisionObject* otherObj = m_isSwapped? body0 : body1;
-        assert (colObj->getCollisionShape()->isCompound());
+        btAssert (colObj->getCollisionShape()->isCompound());
         
         btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+
         int numChildren = compoundShape->getNumChildShapes();
         int i;
@@ -47 +60 @@
                         btCollisionShape* childShape = compoundShape->getChildShape(i);
                         colObj->internalSetTemporaryCollisionShape( childShape );
-                        m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj,m_sharedManifold);
+                        m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
                         colObj->internalSetTemporaryCollisionShape( tmpShape );
                 }
@@ -53 +66 @@
 }
 
-
-btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
+void    btCompoundCollisionAlgorithm::removeChildAlgorithms()
 {
         int numChildren = m_childCollisionAlgorithms.size();
@@ -66 +78 @@
                 }
         }
+}
+
+btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
+{
+        removeChildAlgorithms();
 }
 
@@ -168 +185 @@
         btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-        assert (colObj->getCollisionShape()->isCompound());
+        
+
+        btAssert (colObj->getCollisionShape()->isCompound());
         btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
+
+        ///btCompoundShape might have changed:
+        ////make sure the internal child collision algorithm caches are still valid
+        if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
+        {
+                ///clear and update all
+                removeChildAlgorithms();
+                
+                preallocateChildAlgorithms(body0,body1);
+        }
+
 
         btDbvt* tree = compoundShape->getDynamicAabbTree();
@@ -175 +205 @@
         btCompoundLeafCallback  callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
 
+        ///we need to refresh all contact manifolds
+        ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
+        ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
+        {
+                int i;
+                btManifoldArray manifoldArray;
+                for (i=0;i<m_childCollisionAlgorithms.size();i++)
+                {
+                        if (m_childCollisionAlgorithms[i])
+                        {
+                                m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
+                                for (int m=0;m<manifoldArray.size();m++)
+                                {
+                                        if (manifoldArray[m]->getNumContacts())
+                                        {
+                                                resultOut->setPersistentManifold(manifoldArray[m]);
+                                                resultOut->refreshContactPoints();
+                                                resultOut->setPersistentManifold(0);//??necessary?
+                                        }
+                                }
+                                manifoldArray.clear();
+                        }
+                }
+        }
 
         if (tree)
@@ -243 +297 @@
         btCollisionObject* otherObj = m_isSwapped? body0 : body1;
 
-        assert (colObj->getCollisionShape()->isCompound());
+        btAssert (colObj->getCollisionShape()->isCompound());
         
         btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
@@ -286 +340 @@
 
 
+