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

Bullet Collision Detection & Physics Library

btCompoundCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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 "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
18 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
19 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
20 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
21 #include "LinearMath/btIDebugDraw.h"
22 #include "LinearMath/btAabbUtil2.h"
23 #include "btManifoldResult.h"
24 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
25
26 btShapePairCallback gCompoundChildShapePairCallback = 0;
27
28 btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
29 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
30 m_isSwapped(isSwapped),
31 m_sharedManifold(ci.m_manifold)
32 {
33 m_ownsManifold = false;
34
35 const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
36 btAssert(colObjWrap->getCollisionShape()->isCompound());
37
38 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
39 m_compoundShapeRevision = compoundShape->getUpdateRevision();
40
41 preallocateChildAlgorithms(body0Wrap, body1Wrap);
42 }
43
44 void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
45 {
46 const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
47 const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
48 btAssert(colObjWrap->getCollisionShape()->isCompound());
49
50 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
51
52 int numChildren = compoundShape->getNumChildShapes();
53 int i;
54
55 m_childCollisionAlgorithms.resize(numChildren);
56 for (i = 0; i < numChildren; i++)
57 {
58 if (compoundShape->getDynamicAabbTree())
59 {
60 m_childCollisionAlgorithms[i] = 0;
61 }
62 else
63 {
64 const btCollisionShape* childShape = compoundShape->getChildShape(i);
65
66 btCollisionObjectWrapper childWrap(colObjWrap, childShape, colObjWrap->getCollisionObject(), colObjWrap->getWorldTransform(), -1, i); //wrong child trans, but unused (hopefully)
67 m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap, otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
68
69 btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
70 btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
71 }
72 }
73 }
74
75 void btCompoundCollisionAlgorithm::removeChildAlgorithms()
76 {
77 int numChildren = m_childCollisionAlgorithms.size();
78 int i;
79 for (i = 0; i < numChildren; i++)
80 {
81 if (m_childCollisionAlgorithms[i])
82 {
83 m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
84 m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
85 }
86 }
87 }
88
89 btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
90 {
91 removeChildAlgorithms();
92 }
93
94 struct btCompoundLeafCallback : btDbvt::ICollide
95 {
96 public:
97 const btCollisionObjectWrapper* m_compoundColObjWrap;
98 const btCollisionObjectWrapper* m_otherObjWrap;
99 btDispatcher* m_dispatcher;
100 const btDispatcherInfo& m_dispatchInfo;
101 btManifoldResult* m_resultOut;
102 btCollisionAlgorithm** m_childCollisionAlgorithms;
103 btPersistentManifold* m_sharedManifold;
104
105 btCompoundLeafCallback(const btCollisionObjectWrapper* compoundObjWrap, const btCollisionObjectWrapper* otherObjWrap, btDispatcher* dispatcher, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut, btCollisionAlgorithm** childCollisionAlgorithms, btPersistentManifold* sharedManifold)
106 : m_compoundColObjWrap(compoundObjWrap), m_otherObjWrap(otherObjWrap), m_dispatcher(dispatcher), m_dispatchInfo(dispatchInfo), m_resultOut(resultOut), m_childCollisionAlgorithms(childCollisionAlgorithms), m_sharedManifold(sharedManifold)
107 {
108 }
109
110 void ProcessChildShape(const btCollisionShape* childShape, int index)
111 {
112 btAssert(index >= 0);
113 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
114 btAssert(index < compoundShape->getNumChildShapes());
115
116 if (gCompoundChildShapePairCallback)
117 {
118 if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
119 return;
120 }
121
122 //backup
123 btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
124
125 const btTransform& childTrans = compoundShape->getChildTransform(index);
126 btTransform newChildWorldTrans = orgTrans * childTrans;
127
128 //perform an AABB check first
129 btVector3 aabbMin0, aabbMax0;
130 childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
131
132 btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
133 aabbMin0 -= extendAabb;
134 aabbMax0 += extendAabb;
135
136 btVector3 aabbMin1, aabbMax1;
137 m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
138
139
140 if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
141 {
142 btTransform preTransform = childTrans;
143 if (this->m_compoundColObjWrap->m_preTransform)
144 {
145 preTransform = preTransform *(*(this->m_compoundColObjWrap->m_preTransform));
146 }
147 btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, preTransform, -1, index);
148
149 btCollisionAlgorithm* algo = 0;
150 bool allocatedAlgorithm = false;
151
152 if (m_resultOut->m_closestPointDistanceThreshold > 0)
153 {
154 algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
155 allocatedAlgorithm = true;
156 }
157 else
158 {
159 //the contactpoint is still projected back using the original inverted worldtrans
160 if (!m_childCollisionAlgorithms[index])
161 {
162 m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
163 }
164 algo = m_childCollisionAlgorithms[index];
165 }
166
167 const btCollisionObjectWrapper* tmpWrap = 0;
168
170 if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
171 {
172 tmpWrap = m_resultOut->getBody0Wrap();
173 m_resultOut->setBody0Wrap(&compoundWrap);
174 m_resultOut->setShapeIdentifiersA(-1, index);
175 }
176 else
177 {
178 tmpWrap = m_resultOut->getBody1Wrap();
179 m_resultOut->setBody1Wrap(&compoundWrap);
180 m_resultOut->setShapeIdentifiersB(-1, index);
181 }
182
183 algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
184
185 #if 0
186 if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
187 {
188 btVector3 worldAabbMin,worldAabbMax;
189 m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
190 m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
191 }
192 #endif
193
194 if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
195 {
196 m_resultOut->setBody0Wrap(tmpWrap);
197 }
198 else
199 {
200 m_resultOut->setBody1Wrap(tmpWrap);
201 }
202 if (allocatedAlgorithm)
203 {
204 algo->~btCollisionAlgorithm();
205 m_dispatcher->freeCollisionAlgorithm(algo);
206 }
207 }
208 }
209 void Process(const btDbvtNode* leaf)
210 {
211 int index = leaf->dataAsInt;
212
213 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
214 const btCollisionShape* childShape = compoundShape->getChildShape(index);
215
216 #if 0
217 if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
218 {
219 btVector3 worldAabbMin,worldAabbMax;
220 btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
221 btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
222 m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
223 }
224 #endif
225
226 ProcessChildShape(childShape, index);
227 }
228 };
229
230 void btCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
231 {
232 const btCollisionObjectWrapper* colObjWrap = m_isSwapped ? body1Wrap : body0Wrap;
233 const btCollisionObjectWrapper* otherObjWrap = m_isSwapped ? body0Wrap : body1Wrap;
234
235 btAssert(colObjWrap->getCollisionShape()->isCompound());
236 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
237
240 if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
241 {
243 removeChildAlgorithms();
244
245 preallocateChildAlgorithms(body0Wrap, body1Wrap);
246 m_compoundShapeRevision = compoundShape->getUpdateRevision();
247 }
248
249 if (m_childCollisionAlgorithms.size() == 0)
250 return;
251
252 const btDbvt* tree = compoundShape->getDynamicAabbTree();
253 //use a dynamic aabb tree to cull potential child-overlaps
254 btCompoundLeafCallback callback(colObjWrap, otherObjWrap, m_dispatcher, dispatchInfo, resultOut, &m_childCollisionAlgorithms[0], m_sharedManifold);
255
259 {
260 int i;
261 manifoldArray.resize(0);
262 for (i = 0; i < m_childCollisionAlgorithms.size(); i++)
263 {
264 if (m_childCollisionAlgorithms[i])
265 {
266 m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
267 for (int m = 0; m < manifoldArray.size(); m++)
268 {
269 if (manifoldArray[m]->getNumContacts())
270 {
271 resultOut->setPersistentManifold(manifoldArray[m]);
272 resultOut->refreshContactPoints();
273 resultOut->setPersistentManifold(0); //??necessary?
274 }
275 }
276 manifoldArray.resize(0);
277 }
278 }
279 }
280
281 if (tree)
282 {
283 btVector3 localAabbMin, localAabbMax;
284 btTransform otherInCompoundSpace;
285 otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
286 otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace, localAabbMin, localAabbMax);
287 btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
288 localAabbMin -= extraExtends;
289 localAabbMax += extraExtends;
290
291 const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(localAabbMin, localAabbMax);
292 //process all children, that overlap with the given AABB bounds
293 tree->collideTVNoStackAlloc(tree->m_root, bounds, stack2, callback);
294 }
295 else
296 {
297 //iterate over all children, perform an AABB check inside ProcessChildShape
298 int numChildren = m_childCollisionAlgorithms.size();
299 int i;
300 for (i = 0; i < numChildren; i++)
301 {
302 callback.ProcessChildShape(compoundShape->getChildShape(i), i);
303 }
304 }
305
306 {
307 //iterate over all children, perform an AABB check inside ProcessChildShape
308 int numChildren = m_childCollisionAlgorithms.size();
309 int i;
310 manifoldArray.resize(0);
311 const btCollisionShape* childShape = 0;
312 btTransform orgTrans;
313
314 btTransform newChildWorldTrans;
315 btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
316
317 for (i = 0; i < numChildren; i++)
318 {
319 if (m_childCollisionAlgorithms[i])
320 {
321 childShape = compoundShape->getChildShape(i);
322 //if not longer overlapping, remove the algorithm
323 orgTrans = colObjWrap->getWorldTransform();
324
325 const btTransform& childTrans = compoundShape->getChildTransform(i);
326 newChildWorldTrans = orgTrans * childTrans;
327
328 //perform an AABB check first
329 childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
330 otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
331
332 if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
333 {
334 m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
335 m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
336 m_childCollisionAlgorithms[i] = 0;
337 }
338 }
339 }
340 }
341 }
342
343 btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
344 {
345 btAssert(0);
346 //needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
347 btCollisionObject* colObj = m_isSwapped ? body1 : body0;
348 btCollisionObject* otherObj = m_isSwapped ? body0 : body1;
349
350 btAssert(colObj->getCollisionShape()->isCompound());
351
352 btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
353
354 //We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
355 //If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
356 //given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
357 //determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
358 //then use each overlapping node AABB against Tree0
359 //and vise versa.
360
361 btScalar hitFraction = btScalar(1.);
362
363 int numChildren = m_childCollisionAlgorithms.size();
364 int i;
365 btTransform orgTrans;
366 btScalar frac;
367 for (i = 0; i < numChildren; i++)
368 {
369 //btCollisionShape* childShape = compoundShape->getChildShape(i);
370
371 //backup
372 orgTrans = colObj->getWorldTransform();
373
374 const btTransform& childTrans = compoundShape->getChildTransform(i);
375 //btTransform newChildWorldTrans = orgTrans*childTrans ;
376 colObj->setWorldTransform(orgTrans * childTrans);
377
378 //btCollisionShape* tmpShape = colObj->getCollisionShape();
379 //colObj->internalSetTemporaryCollisionShape( childShape );
380 frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
381 if (frac < hitFraction)
382 {
383 hitFraction = frac;
384 }
385 //revert back
386 //colObj->internalSetTemporaryCollisionShape( tmpShape);
387 colObj->setWorldTransform(orgTrans);
388 }
389 return hitFraction;
390 }
btCompoundLeafCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCompoundCollisionAlgorithm.cpp:99
btManifoldResult::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)
Definition: btManifoldResult.h:97
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btCompoundLeafCallback::btCompoundLeafCallback
btCompoundLeafCallback(const btCollisionObjectWrapper *compoundObjWrap, const btCollisionObjectWrapper *otherObjWrap, btDispatcher *dispatcher, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut, btCollisionAlgorithm **childCollisionAlgorithms, btPersistentManifold *sharedManifold)
Definition: btCompoundCollisionAlgorithm.cpp:105
BT_CLOSEST_POINT_ALGORITHMS
@ BT_CLOSEST_POINT_ALGORITHMS
Definition: btDispatcher.h:71
btTransform::inverse
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:182
btCompoundShape::getUpdateRevision
int getUpdateRevision() const
Definition: btCompoundShape.h:165
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:66
btCompoundShape::getChildTransform
btTransform & getChildTransform(int index)
Definition: btCompoundShape.h:100
btCompoundCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCollisionAlgorithm.cpp:343
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionShape::isCompound
bool isCompound() const
Definition: btCollisionShape.h:82
btCompoundCollisionAlgorithm.h
btCompoundCollisionAlgorithm::removeChildAlgorithms
void removeChildAlgorithms()
Definition: btCompoundCollisionAlgorithm.cpp:75
btCollisionObjectWrapper.h
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btCompoundLeafCallback::m_dispatchInfo
const btDispatcherInfo & m_dispatchInfo
Definition: btCompoundCollisionAlgorithm.cpp:100
btCompoundShape.h
btManifoldResult::getBody0Internal
const btCollisionObject * getBody0Internal() const
Definition: btManifoldResult.h:142
btManifoldResult::setBody1Wrap
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
Definition: btManifoldResult.h:137
btShapePairCallback
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
Definition: btCompoundCollisionAlgorithm.h:34
btIDebugDraw::getDebugMode
virtual int getDebugMode() const =0
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDbvtAabbMm::Maxs
DBVT_INLINE const btVector3 & Maxs() const
Definition: btDbvt.h:138
BT_CONTACT_POINT_ALGORITHMS
@ BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:70
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:44
btCompoundCollisionAlgorithm::preallocateChildAlgorithms
void preallocateChildAlgorithms(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btCompoundCollisionAlgorithm.cpp:44
btCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCompoundCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btCompoundCollisionAlgorithm.h:45
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCompoundCollisionAlgorithm::m_compoundShapeRevision
int m_compoundShapeRevision
Definition: btCompoundCollisionAlgorithm.h:50
btManifoldResult::getBody1Wrap
const btCollisionObjectWrapper * getBody1Wrap() const
Definition: btManifoldResult.h:127
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:378
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCompoundLeafCallback
Definition: btCompoundCollisionAlgorithm.cpp:95
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btManifoldResult::setBody0Wrap
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
Definition: btManifoldResult.h:132
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:229
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
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:43
bounds
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
Definition: btDbvt.cpp:299
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:46
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:203
btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm
virtual ~btCompoundCollisionAlgorithm()
Definition: btCompoundCollisionAlgorithm.cpp:89
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.
btCompoundCollisionAlgorithm::manifoldArray
btManifoldArray manifoldArray
Definition: btCompoundCollisionAlgorithm.h:41
btCollisionObject::setWorldTransform
void setWorldTransform(const btTransform &worldTrans)
Definition: btCollisionObject.h:388
btIDebugDraw::DBG_DrawAabb
@ DBG_DrawAabb
Definition: btIDebugDraw.h:56
btCompoundLeafCallback::Process
void Process(const btDbvtNode *leaf)
Definition: btCompoundCollisionAlgorithm.cpp:209
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btManifoldResult::getBody0Wrap
const btCollisionObjectWrapper * getBody0Wrap() const
Definition: btManifoldResult.h:123
btDbvtNode::volume
btDbvtVolume volume
Definition: btDbvt.h:182
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btDbvtAabbMm::Mins
DBVT_INLINE const btVector3 & Mins() const
Definition: btDbvt.h:137
btCompoundLeafCallback::m_sharedManifold
btPersistentManifold * m_sharedManifold
Definition: btCompoundCollisionAlgorithm.cpp:103
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btManifoldResult.h
btDbvtAabbMm::FromMM
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
Definition: btDbvt.h:479
btDbvtNode::dataAsInt
int dataAsInt
Definition: btDbvt.h:189
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
btAabbUtil2.h
btCompoundLeafCallback::m_compoundColObjWrap
const btCollisionObjectWrapper * m_compoundColObjWrap
Definition: btCompoundCollisionAlgorithm.cpp:97
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btCompoundCollisionAlgorithm::m_ownsManifold
bool m_ownsManifold
Definition: btCompoundCollisionAlgorithm.h:48
btDispatcherInfo
Definition: btDispatcher.h:31
btAlignedObjectArray< btCollisionAlgorithm * >
btDbvt::m_root
btDbvtNode * m_root
Definition: btDbvt.h:302
btCompoundCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btCompoundCollisionAlgorithm.cpp:230
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:57
btDbvt::collideTVNoStackAlloc
DBVT_PREFIX void collideTVNoStackAlloc(const btDbvtNode *root, const btDbvtVolume &volume, btNodeStack &stack, DBVT_IPOLICY) const
Definition: btDbvt.h:1189
btCompoundLeafCallback::m_resultOut
btManifoldResult * m_resultOut
Definition: btCompoundCollisionAlgorithm.cpp:101
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btIDebugDraw.h
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm
btCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btCompoundCollisionAlgorithm.cpp:28
btCompoundCollisionAlgorithm::stack2
btNodeStack stack2
Definition: btCompoundCollisionAlgorithm.h:40
btCompoundShape::getNumChildShapes
int getNumChildShapes() const
Definition: btCompoundShape.h:86
gCompoundChildShapePairCallback
btShapePairCallback gCompoundChildShapePairCallback
Definition: btCompoundCollisionAlgorithm.cpp:26
btCompoundLeafCallback::ProcessChildShape
void ProcessChildShape(const btCollisionShape *childShape, int index)
Definition: btCompoundCollisionAlgorithm.cpp:110
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:23
btCollisionObject.h
btCompoundLeafCallback::m_otherObjWrap
const btCollisionObjectWrapper * m_otherObjWrap
Definition: btCompoundCollisionAlgorithm.cpp:98
btDbvtAabbMm
Definition: btDbvt.h:132
btCompoundCollisionAlgorithm::m_sharedManifold
class btPersistentManifold * m_sharedManifold
Definition: btCompoundCollisionAlgorithm.h:47
btDbvt::ICollide
Definition: btDbvt.h:270
btCollisionObjectWrapper::m_preTransform
const btTransform * m_preTransform
Definition: btCollisionObjectWrapper.h:30
btCompoundCollisionAlgorithm::m_childCollisionAlgorithms
btAlignedObjectArray< btCollisionAlgorithm * > m_childCollisionAlgorithms
Definition: btCompoundCollisionAlgorithm.h:44
btCompoundLeafCallback::m_childCollisionAlgorithms
btCollisionAlgorithm ** m_childCollisionAlgorithms
Definition: btCompoundCollisionAlgorithm.cpp:102
btManifoldResult::setShapeIdentifiersA
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
Definition: btManifoldResult.h:91
btDbvtNode
Definition: btDbvt.h:181
btCompoundShape::getChildShape
btCollisionShape * getChildShape(int index)
Definition: btCompoundShape.h:91
btDbvt.h
btCompoundShape::getDynamicAabbTree
const btDbvt * getDynamicAabbTree() const
Definition: btCompoundShape.h:146
btIDebugDraw::drawAabb
virtual void drawAabb(const btVector3 &from, const btVector3 &to, const btVector3 &color)
Definition: btIDebugDraw.h:135
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:227