Bullet Collision Detection & Physics Library
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28 #define USE_LOCAL_STACK 1
62 for (i = 0; i < pairs.
size(); i++)
64 if (pairs[i].m_userPointer)
75 int numChildren = pairs.
size();
77 for (i = 0; i < numChildren; i++)
79 if (pairs[i].m_userPointer)
116 BT_PROFILE(
"btCompoundCompoundLeafCallback::Process");
126 btAssert(childIndex0 < compoundShape0->getNumChildShapes());
129 btAssert(childIndex1 < compoundShape1->getNumChildShapes());
137 btTransform newChildWorldTrans0 = orgTrans0 * childTrans0;
141 btTransform newChildWorldTrans1 = orgTrans1 * childTrans1;
144 btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
145 childShape0->
getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
146 childShape1->
getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
150 aabbMin0 -= thresholdVec;
151 aabbMax0 += thresholdVec;
165 bool removePair =
false;
220 newmin -=
btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
221 newmax +=
btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
236 #ifdef USE_LOCAL_STACK
248 if (depth > treshold)
251 treshold = stkStack.
size() - 4;
297 if (!tree0 || !tree1)
317 #ifdef USE_LOCAL_STACK
322 for (i = 0; i < pairs.
size(); i++)
324 if (pairs[i].m_userPointer)
360 btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
362 for (i = 0; i < pairs.
size(); i++)
364 if (pairs[i].m_userPointer)
372 childShape0 = compoundShape0->
getChildShape(pairs[i].m_indexA);
375 childShape0->
getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
378 aabbMin0 -= thresholdVec;
379 aabbMax0 += thresholdVec;
384 childShape1 = compoundShape1->
getChildShape(pairs[i].m_indexB);
387 childShape1->
getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
390 aabbMin1 -= thresholdVec;
391 aabbMax1 += thresholdVec;
virtual void setShapeIdentifiersB(int partId1, int index1)
btCollisionObject can be used to manage collision detection objects.
#define btAlignedFree(ptr)
@ BT_CLOSEST_POINT_ALGORITHMS
virtual ~btHashedSimplePairCache()
int getUpdateRevision() const
virtual ~btCollisionAlgorithm()
btTransform & getChildTransform(int index)
btDispatcher * m_dispatcher
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btShapePairCallback gCompoundCompoundChildShapePairCallback
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
btManifoldResult * m_resultOut
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
#define btAlignedAlloc(size, alignment)
DBVT_INLINE const btVector3 & Maxs() const
@ BT_CONTACT_POINT_ALGORITHMS
const btTransform & getWorldTransform() const
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
int m_compoundShapeRevision0
void removeChildAlgorithms()
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btSimplePairArray m_removePairs
btCompoundCompoundLeafCallback(const btCollisionObjectWrapper *compound1ObjWrap, const btCollisionObjectWrapper *compound0ObjWrap, btDispatcher *dispatcher, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut, btHashedSimplePairCache *childAlgorithmsCache, btPersistentManifold *sharedManifold)
static DBVT_INLINE bool MyIntersect(const btDbvtAabbMm &a, const btDbvtAabbMm &b, const btTransform &xform, btScalar distanceThreshold)
virtual void freeCollisionAlgorithm(void *ptr)=0
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
const btCollisionObjectWrapper * getBody1Wrap() const
const btCollisionObjectWrapper * m_compound0ColObjWrap
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
int m_compoundShapeRevision1
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
btManifoldResult is a helper class to manage contact results.
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
void initializeFromBuffer(void *buffer, int size, int capacity)
const btCollisionShape * getCollisionShape() const
void resize(int newsize, const T &fillData=T())
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.
btManifoldArray manifoldArray
DBVT_INLINE bool Intersect(const btDbvtAabbMm &a, const btDbvtAabbMm &b)
const btCollisionObject * getCollisionObject() const
const btCollisionObjectWrapper * getBody0Wrap() const
btVector3 can be used to represent 3D points and vectors.
btSimplePairArray & getOverlappingPairArray()
DBVT_INLINE const btVector3 & Mins() const
btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
btSimplePair * findPair(int indexA, int indexB)
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
void setPersistentManifold(btPersistentManifold *manifoldPtr)
#define ATTRIBUTE_ALIGNED16(a)
void Process(const btDbvtNode *leaf0, const btDbvtNode *leaf1)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
DBVT_INLINE bool isinternal() const
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
virtual void * removeOverlappingPair(int indexA, int indexB)
void refreshContactPoints()
btPersistentManifold * m_sharedManifold
static void MycollideTT(const btDbvtNode *root0, const btDbvtNode *root1, const btTransform &xform, btCompoundCompoundLeafCallback *callback, btScalar distanceThreshold)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
virtual btSimplePair * addOverlappingPair(int indexA, int indexB)
class btPersistentManifold * m_sharedManifold
btDispatcher * m_dispatcher
void push_back(const T &_Val)
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
btCollisionShape * getChildShape(int index)
virtual ~btCompoundCompoundCollisionAlgorithm()
const btCollisionObjectWrapper * m_compound1ColObjWrap
const btDbvt * getDynamicAabbTree() const
btScalar m_closestPointDistanceThreshold
const btDispatcherInfo & m_dispatchInfo
int size() const
return the number of elements in the array