Bullet Collision Detection & Physics Library: btCompoundCompoundCollisionAlgorithm.cpp Source File

Bullet Collision Detection & Physics Library

btCompoundCompoundCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14
15 */
16
17 #include "btCompoundCompoundCollisionAlgorithm.h"
18 #include "LinearMath/btQuickprof.h"
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
21 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
22 #include "LinearMath/btIDebugDraw.h"
23 #include "LinearMath/btAabbUtil2.h"
24 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
25 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
26
27
28 btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
29
30 btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
31 :btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,isSwapped)
32 {
33
34 void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
35 m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
36
37 const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
38 btAssert (col0ObjWrap->getCollisionShape()->isCompound());
39
40 const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
41 btAssert (col1ObjWrap->getCollisionShape()->isCompound());
42
43 const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
44 m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
45
46 const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
47 m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
48
49
50 }
51
52
53 btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
54 {
55 removeChildAlgorithms();
56 m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
57 btAlignedFree(m_childCollisionAlgorithmCache);
58 }
59
60 void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
61 {
62 int i;
63 btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
64 for (i=0;i<pairs.size();i++)
65 {
66 if (pairs[i].m_userPointer)
67 {
68
69 ((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
70 }
71 }
72 }
73
74
75 void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
76 {
77 btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
78
79 int numChildren = pairs.size();
80 int i;
81 for (i=0;i<numChildren;i++)
82 {
83 if (pairs[i].m_userPointer)
84 {
85 btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
86 algo->~btCollisionAlgorithm();
87 m_dispatcher->freeCollisionAlgorithm(algo);
88 }
89 }
90 m_childCollisionAlgorithmCache->removeAllPairs();
91 }
92
93 struct btCompoundCompoundLeafCallback : btDbvt::ICollide
94 {
95 int m_numOverlapPairs;
96
97
98 const btCollisionObjectWrapper* m_compound0ColObjWrap;
99 const btCollisionObjectWrapper* m_compound1ColObjWrap;
100 btDispatcher* m_dispatcher;
101 const btDispatcherInfo& m_dispatchInfo;
102 btManifoldResult* m_resultOut;
103
104
105 class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
106
107 btPersistentManifold* m_sharedManifold;
108
109 btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap,
110 const btCollisionObjectWrapper* compound0ObjWrap,
111 btDispatcher* dispatcher,
112 const btDispatcherInfo& dispatchInfo,
113 btManifoldResult* resultOut,
114 btHashedSimplePairCache* childAlgorithmsCache,
115 btPersistentManifold* sharedManifold)
116 :m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
117 m_childCollisionAlgorithmCache(childAlgorithmsCache),
118 m_sharedManifold(sharedManifold)
119 {
120
121 }
122
123
124
125
126 void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
127 {
128 BT_PROFILE("btCompoundCompoundLeafCallback::Process");
129 m_numOverlapPairs++;
130
131
132 int childIndex0 = leaf0->dataAsInt;
133 int childIndex1 = leaf1->dataAsInt;
134
135
136 btAssert(childIndex0>=0);
137 btAssert(childIndex1>=0);
138
139
140 const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
141 btAssert(childIndex0<compoundShape0->getNumChildShapes());
142
143 const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
144 btAssert(childIndex1<compoundShape1->getNumChildShapes());
145
146 const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
147 const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
148
149 //backup
150 btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
151 const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
152 btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ;
153
154 btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
155 const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
156 btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ;
157
158
159 //perform an AABB check first
160 btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
161 childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
162 childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
163
164 if (gCompoundCompoundChildShapePairCallback)
165 {
166 if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1))
167 return;
168 }
169
170 if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
171 {
172 btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0);
173 btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1);
174
175
176 btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
177
178 btCollisionAlgorithm* colAlgo = 0;
179
180 if (pair)
181 {
182 colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
183
184 } else
185 {
186 colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0,&compoundWrap1,m_sharedManifold);
187 pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0,childIndex1);
188 btAssert(pair);
189 pair->m_userPointer = colAlgo;
190 }
191
192 btAssert(colAlgo);
193
194 const btCollisionObjectWrapper* tmpWrap0 = 0;
195 const btCollisionObjectWrapper* tmpWrap1 = 0;
196
197 tmpWrap0 = m_resultOut->getBody0Wrap();
198 tmpWrap1 = m_resultOut->getBody1Wrap();
199
200 m_resultOut->setBody0Wrap(&compoundWrap0);
201 m_resultOut->setBody1Wrap(&compoundWrap1);
202
203 m_resultOut->setShapeIdentifiersA(-1,childIndex0);
204 m_resultOut->setShapeIdentifiersB(-1,childIndex1);
205
206
207 colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
208
209 m_resultOut->setBody0Wrap(tmpWrap0);
210 m_resultOut->setBody1Wrap(tmpWrap1);
211
212
213
214 }
215 }
216 };
217
218
219 static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a,
220 const btDbvtAabbMm& b, const btTransform& xform)
221 {
222 btVector3 newmin,newmax;
223 btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax);
224 btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax);
225 return Intersect(a,newb);
226 }
227
228
229 static inline void MycollideTT( const btDbvtNode* root0,
230 const btDbvtNode* root1,
231 const btTransform& xform,
232 btCompoundCompoundLeafCallback* callback)
233 {
234
235 if(root0&&root1)
236 {
237 int depth=1;
238 int treshold=btDbvt::DOUBLE_STACKSIZE-4;
239 btAlignedObjectArray<btDbvt::sStkNN> stkStack;
240 stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
241 stkStack[0]=btDbvt::sStkNN(root0,root1);
242 do {
243 btDbvt::sStkNN p=stkStack[--depth];
244 if(MyIntersect(p.a->volume,p.b->volume,xform))
245 {
246 if(depth>treshold)
247 {
248 stkStack.resize(stkStack.size()*2);
249 treshold=stkStack.size()-4;
250 }
251 if(p.a->isinternal())
252 {
253 if(p.b->isinternal())
254 {
255 stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]);
256 stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]);
257 stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]);
258 stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]);
259 }
260 else
261 {
262 stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b);
263 stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b);
264 }
265 }
266 else
267 {
268 if(p.b->isinternal())
269 {
270 stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]);
271 stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]);
272 }
273 else
274 {
275 callback->Process(p.a,p.b);
276 }
277 }
278 }
279 } while(depth);
280 }
281 }
282
283 void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
284 {
285
286 const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
287 const btCollisionObjectWrapper* col1ObjWrap= body1Wrap;
288
289 btAssert (col0ObjWrap->getCollisionShape()->isCompound());
290 btAssert (col1ObjWrap->getCollisionShape()->isCompound());
291 const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
292 const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
293
294 const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
295 const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
296 if (!tree0 || !tree1)
297 {
298 return btCompoundCollisionAlgorithm::processCollision(body0Wrap,body1Wrap,dispatchInfo,resultOut);
299 }
302 if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
303 {
305 removeChildAlgorithms();
306 m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
307 m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
308
309 }
310
311
315 {
316 int i;
317 btManifoldArray manifoldArray;
318 btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
319 for (i=0;i<pairs.size();i++)
320 {
321 if (pairs[i].m_userPointer)
322 {
323 btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
324 algo->getAllContactManifolds(manifoldArray);
325 for (int m=0;m<manifoldArray.size();m++)
326 {
327 if (manifoldArray[m]->getNumContacts())
328 {
329 resultOut->setPersistentManifold(manifoldArray[m]);
330 resultOut->refreshContactPoints();
331 resultOut->setPersistentManifold(0);
332 }
333 }
334 manifoldArray.resize(0);
335 }
336 }
337 }
338
339
340
341
342 btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
343
344
345 const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform();
346 MycollideTT(tree0->m_root,tree1->m_root,xform,&callback);
347
348 //printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs);
349
350 //remove non-overlapping child pairs
351
352 {
353 btAssert(m_removePairs.size()==0);
354
355 //iterate over all children, perform an AABB check inside ProcessChildShape
356 btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
357
358 int i;
359 btManifoldArray manifoldArray;
360
361
362
363
364
365 btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
366
367 for (i=0;i<pairs.size();i++)
368 {
369 if (pairs[i].m_userPointer)
370 {
371 btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
372
373 {
374 btTransform orgTrans0;
375 const btCollisionShape* childShape0 = 0;
376
377 btTransform newChildWorldTrans0;
378 btTransform orgInterpolationTrans0;
379 childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
380 orgTrans0 = col0ObjWrap->getWorldTransform();
381 orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
382 const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
383 newChildWorldTrans0 = orgTrans0*childTrans0 ;
384 childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
385 }
386
387 {
388 btTransform orgInterpolationTrans1;
389 const btCollisionShape* childShape1 = 0;
390 btTransform orgTrans1;
391 btTransform newChildWorldTrans1;
392
393 childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
394 orgTrans1 = col1ObjWrap->getWorldTransform();
395 orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
396 const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
397 newChildWorldTrans1 = orgTrans1*childTrans1 ;
398 childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
399 }
400
401
402
403 if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
404 {
405 algo->~btCollisionAlgorithm();
406 m_dispatcher->freeCollisionAlgorithm(algo);
407 m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB));
408 }
409 }
410 }
411 for (int i=0;i<m_removePairs.size();i++)
412 {
413 m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB);
414 }
415 m_removePairs.clear();
416 }
417
418 }
419
420 btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
421 {
422 btAssert(0);
423 return 0.f;
424
425 }
426
427
428
btCompoundCompoundLeafCallback::Process
void Process(const btDbvtNode *leaf0, const btDbvtNode *leaf1)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:126
btCompoundCompoundLeafCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCompoundCompoundCollisionAlgorithm.cpp:100
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:274
btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:420
btDbvtAabbMm::Mins
DBVT_INLINE const btVector3 & Mins() const
Definition: btDbvt.h:136
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold=0)=0
btCompoundCompoundCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:60
btHashedSimplePairCache::addOverlappingPair
virtual btSimplePair * addOverlappingPair(int indexA, int indexB)
Definition: btHashedSimplePairCache.h:76
btManifoldResult::getBody0Wrap
const btCollisionObjectWrapper * getBody0Wrap() const
Definition: btManifoldResult.h:116
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:53
btCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btDbvtAabbMm
Definition: btDbvt.h:131
btManifoldResult.h
btCompoundCollisionAlgorithm::m_sharedManifold
class btPersistentManifold * m_sharedManifold
Definition: btCompoundCollisionAlgorithm.h:47
btHashedSimplePairCache
Definition: btHashedSimplePairCache.h:55
btCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision0
int m_compoundShapeRevision0
Definition: btCompoundCompoundCollisionAlgorithm.h:47
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm
btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:30
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:70
btCompoundCompoundLeafCallback::m_compound0ColObjWrap
const btCollisionObjectWrapper * m_compound0ColObjWrap
Definition: btCompoundCompoundCollisionAlgorithm.cpp:98
btCompoundShape::getDynamicAabbTree
const btDbvt * getDynamicAabbTree() const
Definition: btCompoundShape.h:146
btCompoundCompoundLeafCallback::m_sharedManifold
btPersistentManifold * m_sharedManifold
Definition: btCompoundCompoundCollisionAlgorithm.cpp:107
btAssert
#define btAssert(x)
Definition: btScalar.h:114
btDbvt::DOUBLE_STACKSIZE
Definition: btDbvt.h:258
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm
virtual ~btCompoundCompoundCollisionAlgorithm()
Definition: btCompoundCompoundCollisionAlgorithm.cpp:53
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:198
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:27
MycollideTT
static void MycollideTT(const btDbvtNode *root0, const btDbvtNode *root1, const btTransform &xform, btCompoundCompoundLeafCallback *callback)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:229
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:99
btDbvt::sStkNN::b
const btDbvtNode * b
Definition: btDbvt.h:204
btDbvt::m_root
btDbvtNode * m_root
Definition: btDbvt.h:262
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:71
btCompoundShape::getUpdateRevision
int getUpdateRevision() const
Definition: btCompoundShape.h:165
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:40
btCompoundCompoundLeafCallback::btCompoundCompoundLeafCallback
btCompoundCompoundLeafCallback(const btCollisionObjectWrapper *compound1ObjWrap, const btCollisionObjectWrapper *compound0ObjWrap, btDispatcher *dispatcher, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut, btHashedSimplePairCache *childAlgorithmsCache, btPersistentManifold *sharedManifold)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:109
TestAabbAgainstAabb2
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
Definition: btAabbUtil2.h:48
btHashedSimplePairCache::getOverlappingPairArray
btSimplePairArray & getOverlappingPairArray()
Definition: btHashedSimplePairCache.h:94
btCollisionShape::getAabb
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...
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:60
btCompoundCompoundLeafCallback::m_dispatchInfo
const btDispatcherInfo & m_dispatchInfo
Definition: btCompoundCompoundCollisionAlgorithm.cpp:101
btAlignedObjectArray::clear
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
Definition: btAlignedObjectArray.h:190
btManifoldResult::setShapeIdentifiersA
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
Definition: btManifoldResult.h:84
btDbvtAabbMm::Maxs
DBVT_INLINE const btVector3 & Maxs() const
Definition: btDbvt.h:137
btCompoundCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCollisionAlgorithm.cpp:216
btCollisionShape::isCompound
bool isCompound() const
Definition: btCollisionShape.h:85
btCompoundCompoundLeafCallback::m_resultOut
btManifoldResult * m_resultOut
Definition: btCompoundCompoundCollisionAlgorithm.cpp:102
btCompoundCompoundCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:283
btAabbUtil2.h
btDbvtNode::childs
btDbvtNode * childs[2]
Definition: btDbvt.h:186
btCompoundShape::getChildTransform
btTransform & getChildTransform(int index)
Definition: btCompoundShape.h:99
btSimplePair
Definition: btHashedSimplePairCache.h:25
btDbvtAabbMm::FromMM
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
Definition: btDbvt.h:425
btDbvt::sStkNN::a
const btDbvtNode * a
Definition: btDbvt.h:203
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39
btHashedSimplePairCache::removeAllPairs
void removeAllPairs()
Definition: btHashedSimplePairCache.cpp:49
btCompoundCompoundCollisionAlgorithm::m_childCollisionAlgorithmCache
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
Definition: btCompoundCompoundCollisionAlgorithm.h:43
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:48
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms
void removeChildAlgorithms()
Definition: btCompoundCompoundCollisionAlgorithm.cpp:75
btShapePairCallback
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
Definition: btCompoundCollisionAlgorithm.h:34
MyIntersect
static DBVT_INLINE bool MyIntersect(const btDbvtAabbMm &a, const btDbvtAabbMm &b, const btTransform &xform)
Definition: btCompoundCompoundCollisionAlgorithm.cpp:219
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btCollisionObjectWrapper.h
btManifoldResult::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)
Definition: btManifoldResult.h:90
btDbvt::sStkNN
Definition: btDbvt.h:201
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int m_compoundShapeRevision1
Definition: btCompoundCompoundCollisionAlgorithm.h:48
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btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
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Definition: btDbvt.h:231
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#define BT_PROFILE(name)
Definition: btQuickprof.h:203
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The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
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btManifoldArray manifoldArray
Definition: btCompoundCollisionAlgorithm.h:41
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void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:218
btQuickprof.h
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btDbvtVolume volume
Definition: btDbvt.h:180
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DBVT_INLINE bool isinternal() const
Definition: btDbvt.h:183
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void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
Definition: btManifoldResult.h:130
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:38
btCollisionObject.h
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btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
Definition: btCompoundCollisionAlgorithm.h:38
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Definition: btCompoundCompoundCollisionAlgorithm.cpp:93
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btSimplePair * findPair(int indexA, int indexB)
Definition: btHashedSimplePairCache.cpp:62
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const btCollisionObjectWrapper * m_compound1ColObjWrap
Definition: btCompoundCompoundCollisionAlgorithm.cpp:99
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int dataAsInt
Definition: btDbvt.h:188
DBVT_INLINE
#define DBVT_INLINE
Definition: btDbvt.h:55
Intersect
DBVT_INLINE bool Intersect(const btDbvtAabbMm &a, const btDbvtAabbMm &b)
Definition: btDbvt.h:534
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#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:47
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const btCollisionObjectWrapper * getBody1Wrap() const
Definition: btManifoldResult.h:120
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int m_numOverlapPairs
Definition: btCompoundCompoundCollisionAlgorithm.cpp:95
btHashedSimplePairCache::~btHashedSimplePairCache
virtual ~btHashedSimplePairCache()
Definition: btHashedSimplePairCache.cpp:40
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void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
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The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:54
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void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
Definition: btManifoldResult.h:125
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Definition: btDispatcher.h:30
btCompoundCompoundCollisionAlgorithm::m_removePairs
btSimplePairArray m_removePairs
Definition: btCompoundCompoundCollisionAlgorithm.h:44
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Definition: btDbvt.h:178
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Definition: btCollisionAlgorithm.h:32
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btCollisionShape * getChildShape(int index)
Definition: btCompoundShape.h:90
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The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
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btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
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Definition: btCollisionObjectWrapper.h:17
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btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:188
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virtual void * removeOverlappingPair(int indexA, int indexB)
Definition: btHashedSimplePairCache.cpp:173
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class btHashedSimplePairCache * m_childCollisionAlgorithmCache
Definition: btCompoundCompoundCollisionAlgorithm.cpp:105
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float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
gCompoundCompoundChildShapePairCallback
btShapePairCallback gCompoundCompoundChildShapePairCallback
Definition: btCompoundCompoundCollisionAlgorithm.cpp:28
btCompoundCompoundCollisionAlgorithm.h