Changeset 2908 for code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp (modified) (5 diffs)

code/branches/questsystem5/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp

@@ -5 +5 @@
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
 subject to the following restrictions:
 
@@ -23 +23 @@
 //#include <stdio.h>
 
-btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
+btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
 : btCollisionAlgorithm(ci),
 m_ownManifold(false),
 m_manifoldPtr(mf),
-m_isSwapped(isSwapped),
-m_numPerturbationIterations(numPerturbationIterations),
-m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
+m_isSwapped(isSwapped)
 {
         btCollisionObject* convexObj = m_isSwapped? col1 : col0;
         btCollisionObject* planeObj = m_isSwapped? col0 : col1;
-
+        
         if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
         {
@@ -51 +49 @@
 }
 
-void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+
+
+void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
+        (void)dispatchInfo;
+        (void)resultOut;
+        if (!m_manifoldPtr)
+                return;
+
+        btCollisionObject* convexObj = m_isSwapped? body1 : body0;
         btCollisionObject* planeObj = m_isSwapped? body0: body1;
 
@@ -59 +64 @@
         btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
 
-    bool hasCollision = false;
+        bool hasCollision = false;
         const btVector3& planeNormal = planeShape->getPlaneNormal();
         const btScalar& planeConstant = planeShape->getPlaneConstant();
-        
-        btTransform convexWorldTransform = convexObj->getWorldTransform();
+        btTransform planeInConvex;
+        planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
         btTransform convexInPlaneTrans;
-        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
-        //now perturbe the convex-world transform
-        convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
-        btTransform planeInConvex;
-        planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
-        
+        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
+
         btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
-
         btVector3 vtxInPlane = convexInPlaneTrans(vtx);
         btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
@@ -88 +88 @@
                 resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
         }
-}
-
-
-void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
-{
-        (void)dispatchInfo;
-        if (!m_manifoldPtr)
-                return;
-
-    btCollisionObject* convexObj = m_isSwapped? body1 : body0;
-        btCollisionObject* planeObj = m_isSwapped? body0: body1;
-
-        btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
-        btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
-
-    bool hasCollision = false;
-        const btVector3& planeNormal = planeShape->getPlaneNormal();
-        const btScalar& planeConstant = planeShape->getPlaneConstant();
-
-        //first perform a collision query with the non-perturbated collision objects
-        {
-                btQuaternion rotq(0,0,0,1);
-                collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
-        }
-
-        if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
-        {
-                btVector3 v0,v1;
-                btPlaneSpace1(planeNormal,v0,v1);
-                //now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
-
-                const btScalar angleLimit = 0.125f * SIMD_PI;
-                btScalar perturbeAngle;
-                btScalar radius = convexShape->getAngularMotionDisc();
-                perturbeAngle = gContactBreakingThreshold / radius;
-                if ( perturbeAngle > angleLimit ) 
-                                perturbeAngle = angleLimit;
-
-                btQuaternion perturbeRot(v0,perturbeAngle);
-                for (int i=0;i<m_numPerturbationIterations;i++)
-                {
-                        btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
-                        btQuaternion rotq(planeNormal,iterationAngle);
-                        collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
-                }
-        }
-
         if (m_ownManifold)
         {