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

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btConvexConcaveCollisionAlgorithm.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btConvexConcaveCollisionAlgorithm.h"
17#include "LinearMath/btQuickprof.h"
18#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
19#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21#include "BulletCollision/CollisionShapes/btConcaveShape.h"
22#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
23#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
24#include "BulletCollision/CollisionShapes/btTriangleShape.h"
25#include "BulletCollision/CollisionShapes/btSphereShape.h"
26#include "LinearMath/btIDebugDraw.h"
27#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
28#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
29#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
30
31btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
32 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
33 m_btConvexTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped),
34 m_isSwapped(isSwapped)
35{
36}
37
38btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
39{
40}
41
42 void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
43{
44 if (m_btConvexTriangleCallback.m_manifoldPtr)
45 {
46 manifoldArray.push_back(m_btConvexTriangleCallback.m_manifoldPtr);
47 }
48}
49
50btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
51 m_dispatchInfoPtr(0)
52{
53 m_convexBodyWrap = isSwapped ? body1Wrap : body0Wrap;
54 m_triBodyWrap = isSwapped ? body0Wrap : body1Wrap;
55
56 //
57 // create the manifold from the dispatcher 'manifold pool'
58 //
59 m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(), m_triBodyWrap->getCollisionObject());
60
61 clearCache();
62}
63
64btConvexTriangleCallback::~btConvexTriangleCallback()
65{
66 clearCache();
67 m_dispatcher->releaseManifold(m_manifoldPtr);
68}
69
70 void btConvexTriangleCallback::clearCache()
71{
72 m_dispatcher->clearManifold(m_manifoldPtr);
73}
74
75 void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
76{
77 BT_PROFILE("btConvexTriangleCallback::processTriangle");
78
79 if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
80 {
81 return;
82 }
83
84 //just for debugging purposes
85 //printf("triangle %d",m_triangleCount++);
86
87 btCollisionAlgorithmConstructionInfo ci;
88 ci.m_dispatcher1 = m_dispatcher;
89
90#if 0
91
93 if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
94 {
95 const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
96 btVector3 color(1,1,0);
97 btTransform& tr = ob->getWorldTransform();
98 m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
99 m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
100 m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
101 }
102#endif
103
104 if (m_convexBodyWrap->getCollisionShape()->isConvex())
105 {
106#ifdef BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
107 //todo: check this issue https://github.com/bulletphysics/bullet3/issues/4263
108 //an early out optimisation if the object is separated from the triangle
109 //projected on the triangle normal)
110 {
111 const btVector3 v0 = m_triBodyWrap->getWorldTransform()*triangle[0];
112 const btVector3 v1 = m_triBodyWrap->getWorldTransform()*triangle[1];
113 const btVector3 v2 = m_triBodyWrap->getWorldTransform()*triangle[2];
114
115 btVector3 triangle_normal_world = ( v1 - v0).cross(v2 - v0);
116 triangle_normal_world.normalize();
117
118 btConvexShape* convex = (btConvexShape*)m_convexBodyWrap->getCollisionShape();
119
120 btVector3 localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
121 btVector3 worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
122 //now check if this is fully on one side of the triangle
123 btScalar proj_distPt = triangle_normal_world.dot(worldPt);
124 btScalar proj_distTr = triangle_normal_world.dot(v0);
125 btScalar contact_threshold = m_manifoldPtr->getContactBreakingThreshold()+ m_resultOut->m_closestPointDistanceThreshold;
126 btScalar dist = proj_distTr - proj_distPt;
127 if (dist > contact_threshold)
128 return;
129
130 //also check the other side of the triangle
131 triangle_normal_world*=-1;
132
133 localPt = convex->localGetSupportingVertex(m_convexBodyWrap->getWorldTransform().getBasis().inverse()*triangle_normal_world);
134 worldPt = m_convexBodyWrap->getWorldTransform()*localPt;
135 //now check if this is fully on one side of the triangle
136 proj_distPt = triangle_normal_world.dot(worldPt);
137 proj_distTr = triangle_normal_world.dot(v0);
138
139 dist = proj_distTr - proj_distPt;
140 if (dist > contact_threshold)
141 return;
142 }
143#endif //BT_ENABLE_CONVEX_CONCAVE_EARLY_OUT
144
145 btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
146 tm.setMargin(m_collisionMarginTriangle);
147
148 btCollisionObjectWrapper triObWrap(m_triBodyWrap, &tm, m_triBodyWrap->getCollisionObject(), m_triBodyWrap->getWorldTransform(), partId, triangleIndex); //correct transform?
149 btCollisionAlgorithm* colAlgo = 0;
150
151 if (m_resultOut->m_closestPointDistanceThreshold > 0)
152 {
153 colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
154 }
155 else
156 {
157 colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr, BT_CONTACT_POINT_ALGORITHMS);
158 }
159 const btCollisionObjectWrapper* tmpWrap = 0;
160
161 if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
162 {
163 tmpWrap = m_resultOut->getBody0Wrap();
164 m_resultOut->setBody0Wrap(&triObWrap);
165 m_resultOut->setShapeIdentifiersA(partId, triangleIndex);
166 }
167 else
168 {
169 tmpWrap = m_resultOut->getBody1Wrap();
170 m_resultOut->setBody1Wrap(&triObWrap);
171 m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
172 }
173
174 {
175 BT_PROFILE("processCollision (GJK?)");
176 colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
177 }
178
179 if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
180 {
181 m_resultOut->setBody0Wrap(tmpWrap);
182 }
183 else
184 {
185 m_resultOut->setBody1Wrap(tmpWrap);
186 }
187
188 colAlgo->~btCollisionAlgorithm();
189 ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
190 }
191}
192
193 void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
194{
195 m_convexBodyWrap = convexBodyWrap;
196 m_triBodyWrap = triBodyWrap;
197
198 m_dispatchInfoPtr = &dispatchInfo;
199 m_collisionMarginTriangle = collisionMarginTriangle;
200 m_resultOut = resultOut;
201
202 //recalc aabbs
203 btTransform convexInTriangleSpace;
204 convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
205 const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
206 //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
207 convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax);
208 btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold;
209
210 btVector3 extra(extraMargin, extraMargin, extraMargin);
211
212 m_aabbMax += extra;
213 m_aabbMin -= extra;
214}
215
216 void btConvexConcaveCollisionAlgorithm::clearCache()
217{
218 m_btConvexTriangleCallback.clearCache();
219}
220
221 void btConvexConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
222{
223 BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
224
225 const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
226 const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
227
228 if (triBodyWrap->getCollisionShape()->isConcave())
229 {
230 if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE)
231 {
232 btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
233 if (convexBodyWrap->getCollisionShape()->isConvex())
234 {
235 btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
236 btAlignedObjectArray<btVector3> queryVertices;
237
238 if (convex->isPolyhedral())
239 {
240 btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
241 for (int v = 0; v < poly->getNumVertices(); v++)
242 {
243 btVector3 vtx;
244 poly->getVertex(v, vtx);
245 queryVertices.push_back(vtx);
246 }
247 }
248 btScalar maxDist = SIMD_EPSILON;
249
250 if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
251 {
252 queryVertices.push_back(btVector3(0, 0, 0));
253 btSphereShape* sphere = (btSphereShape*)convex;
254 maxDist = sphere->getRadius() + SIMD_EPSILON;
255 }
256 if (queryVertices.size())
257 {
258 resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
259 //m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
260
261 btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
262 for (int v = 0; v < queryVertices.size(); v++)
263 {
264 const btVector3& vtx = queryVertices[v];
265 btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform() * vtx;
266 btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
267
268 btVector3 normalLocal;
269 btScalar dist;
270 if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal))
271 {
272 if (dist <= maxDist)
273 {
274 normalLocal.safeNormalize();
275 btVector3 normal = triBodyWrap->getWorldTransform().getBasis() * normalLocal;
276
277 if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
278 {
279 btSphereShape* sphere = (btSphereShape*)convex;
280 dist -= sphere->getRadius();
281 vtxWorldSpace -= sphere->getRadius() * normal;
282 }
283 resultOut->addContactPoint(normal, vtxWorldSpace - normal * dist, dist);
284 }
285 }
286 }
287 resultOut->refreshContactPoints();
288 }
289 }
290 }
291 else
292 {
293 const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triBodyWrap->getCollisionShape());
294
295 if (convexBodyWrap->getCollisionShape()->isConvex())
296 {
297 btScalar collisionMarginTriangle = concaveShape->getMargin();
298
299 resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
300 m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, convexBodyWrap, triBodyWrap, resultOut);
301
302 m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(), triBodyWrap->getCollisionObject());
303
304 concaveShape->processAllTriangles(&m_btConvexTriangleCallback, m_btConvexTriangleCallback.getAabbMin(), m_btConvexTriangleCallback.getAabbMax());
305
306 resultOut->refreshContactPoints();
307
308 m_btConvexTriangleCallback.clearWrapperData();
309 }
310 }
311 }
312}
313
314 btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
315{
316 (void)resultOut;
317 (void)dispatchInfo;
318 btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
319 btCollisionObject* triBody = m_isSwapped ? body0 : body1;
320
321 //quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
322
323 //only perform CCD above a certain threshold, this prevents blocking on the long run
324 //because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
325 btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
326 if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
327 {
328 return btScalar(1.);
329 }
330
331 //const btVector3& from = convexbody->m_worldTransform.getOrigin();
332 //btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
333 //todo: only do if the motion exceeds the 'radius'
334
335 btTransform triInv = triBody->getWorldTransform().inverse();
336 btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
337 btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
338
339 struct LocalTriangleSphereCastCallback : public btTriangleCallback
340 {
341 btTransform m_ccdSphereFromTrans;
342 btTransform m_ccdSphereToTrans;
343 btTransform m_meshTransform;
344
345 btScalar m_ccdSphereRadius;
346 btScalar m_hitFraction;
347
348 LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar hitFraction)
349 : m_ccdSphereFromTrans(from),
350 m_ccdSphereToTrans(to),
351 m_ccdSphereRadius(ccdSphereRadius),
352 m_hitFraction(hitFraction)
353 {
354 }
355
356 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
357 {
358 BT_PROFILE("processTriangle");
359 (void)partId;
360 (void)triangleIndex;
361 //do a swept sphere for now
362 btTransform ident;
363 ident.setIdentity();
364 btConvexCast::CastResult castResult;
365 castResult.m_fraction = m_hitFraction;
366 btSphereShape pointShape(m_ccdSphereRadius);
367 btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
368 btVoronoiSimplexSolver simplexSolver;
369 btSubsimplexConvexCast convexCaster(&pointShape, &triShape, &simplexSolver);
370 //GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
371 //ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
372 //local space?
373
374 if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans, m_ccdSphereToTrans,
375 ident, ident, castResult))
376 {
377 if (m_hitFraction > castResult.m_fraction)
378 m_hitFraction = castResult.m_fraction;
379 }
380 }
381 };
382
383 if (triBody->getCollisionShape()->isConcave())
384 {
385 btVector3 rayAabbMin = convexFromLocal.getOrigin();
386 rayAabbMin.setMin(convexToLocal.getOrigin());
387 btVector3 rayAabbMax = convexFromLocal.getOrigin();
388 rayAabbMax.setMax(convexToLocal.getOrigin());
389 btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
390 rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
391 rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
392
393 btScalar curHitFraction = btScalar(1.); //is this available?
394 LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
395 convexbody->getCcdSweptSphereRadius(), curHitFraction);
396
397 raycastCallback.m_hitFraction = convexbody->getHitFraction();
398
399 btCollisionObject* concavebody = triBody;
400
401 btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
402
403 if (triangleMesh)
404 {
405 triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
406 }
407
408 if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
409 {
410 convexbody->setHitFraction(raycastCallback.m_hitFraction);
411 return raycastCallback.m_hitFraction;
412 }
413 }
414
415 return btScalar(1.);
416}
TestTriangleAgainstAabb2
bool TestTriangleAgainstAabb2(const btVector3 *vertices, const btVector3 &aabbMin, const btVector3 &aabbMax)
conservative test for overlap between triangle and aabb
Definition: btAabbUtil2.h:54
btBroadphaseProxy.h
SDF_SHAPE_PROXYTYPE
@ SDF_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:68
SPHERE_SHAPE_PROXYTYPE
@ SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:39
btCollisionObjectWrapper.h
btCollisionObject.h
btConcaveShape.h
btConvexConcaveCollisionAlgorithm.h
BT_CLOSEST_POINT_ALGORITHMS
@ BT_CLOSEST_POINT_ALGORITHMS
Definition: btDispatcher.h:71
BT_CONTACT_POINT_ALGORITHMS
@ BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:70
btIDebugDraw.h
btManifoldResult.h
btMultiSphereShape.h
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
btRaycastCallback.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btSdfCollisionShape.h
btSphereShape.h
btSubSimplexConvexCast.h
btTriangleShape.h
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:23
btAlignedObjectArray< btPersistentManifold * >
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:66
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionObject::getHitFraction
btScalar getHitFraction() const
Definition: btCollisionObject.h:479
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:379
btCollisionObject::getInterpolationWorldTransform
const btTransform & getInterpolationWorldTransform() const
Definition: btCollisionObject.h:410
btCollisionObject::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObject.h:228
btCollisionObject::setHitFraction
void setHitFraction(btScalar hitFraction)
Definition: btCollisionObject.h:484
btCollisionObject::getCcdSweptSphereRadius
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:500
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCollisionShape::getShapeType
int getShapeType() const
Definition: btCollisionShape.h:107
btCollisionShape::isConvex
bool isConvex() const
Definition: btCollisionShape.h:70
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.
btCollisionShape::isConcave
bool isConcave() const
Definition: btCollisionShape.h:78
btCollisionShape::isPolyhedral
bool isPolyhedral() const
Definition: btCollisionShape.h:60
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:39
btConcaveShape::getMargin
virtual btScalar getMargin() const
Definition: btConcaveShape.h:52
btConcaveShape::processAllTriangles
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm
btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btConvexConcaveCollisionAlgorithm.cpp:31
btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm
virtual ~btConvexConcaveCollisionAlgorithm()
Definition: btConvexConcaveCollisionAlgorithm.cpp:38
btConvexConcaveCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btConvexConcaveCollisionAlgorithm.h:81
btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConcaveCollisionAlgorithm.cpp:314
btConvexConcaveCollisionAlgorithm::clearCache
void clearCache()
Definition: btConvexConcaveCollisionAlgorithm.cpp:216
btConvexConcaveCollisionAlgorithm::m_btConvexTriangleCallback
btConvexTriangleCallback m_btConvexTriangleCallback
Definition: btConvexConcaveCollisionAlgorithm.h:79
btConvexConcaveCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvexConcaveCollisionAlgorithm.cpp:42
btConvexConcaveCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConcaveCollisionAlgorithm.cpp:221
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvexInternalShape.h:102
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btConvexTriangleCallback::getAabbMax
const btVector3 & getAabbMax() const
Definition: btConvexConcaveCollisionAlgorithm.h:69
btConvexTriangleCallback::m_aabbMin
btVector3 m_aabbMin
Definition: btConvexConcaveCollisionAlgorithm.h:32
btConvexTriangleCallback::m_aabbMax
btVector3 m_aabbMax
Definition: btConvexConcaveCollisionAlgorithm.h:33
btConvexTriangleCallback::~btConvexTriangleCallback
virtual ~btConvexTriangleCallback()
Definition: btConvexConcaveCollisionAlgorithm.cpp:64
btConvexTriangleCallback::m_collisionMarginTriangle
btScalar m_collisionMarginTriangle
Definition: btConvexConcaveCollisionAlgorithm.h:41
btConvexTriangleCallback::getAabbMin
const btVector3 & getAabbMin() const
Definition: btConvexConcaveCollisionAlgorithm.h:65
btConvexTriangleCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btConvexConcaveCollisionAlgorithm.h:39
btConvexTriangleCallback::btConvexTriangleCallback
btConvexTriangleCallback(btDispatcher *dispatcher, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btConvexConcaveCollisionAlgorithm.cpp:50
btConvexTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btConvexConcaveCollisionAlgorithm.cpp:75
btConvexTriangleCallback::clearCache
void clearCache()
Definition: btConvexConcaveCollisionAlgorithm.cpp:70
btConvexTriangleCallback::setTimeStepAndCounters
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo &dispatchInfo, const btCollisionObjectWrapper *convexBodyWrap, const btCollisionObjectWrapper *triBodyWrap, btManifoldResult *resultOut)
Definition: btConvexConcaveCollisionAlgorithm.cpp:193
btConvexTriangleCallback::m_resultOut
btManifoldResult * m_resultOut
Definition: btConvexConcaveCollisionAlgorithm.h:38
btConvexTriangleCallback::m_dispatchInfoPtr
const btDispatcherInfo * m_dispatchInfoPtr
Definition: btConvexConcaveCollisionAlgorithm.h:40
btConvexTriangleCallback::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexConcaveCollisionAlgorithm.h:48
btConvexTriangleCallback::m_convexBodyWrap
const btCollisionObjectWrapper * m_convexBodyWrap
Definition: btConvexConcaveCollisionAlgorithm.h:35
btConvexTriangleCallback::m_triBodyWrap
const btCollisionObjectWrapper * m_triBodyWrap
Definition: btConvexConcaveCollisionAlgorithm.h:36
btConvexTriangleCallback::clearWrapperData
void clearWrapperData()
Definition: btConvexConcaveCollisionAlgorithm.h:54
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btDispatcher::clearManifold
virtual void clearManifold(btPersistentManifold *manifold)=0
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btIDebugDraw::drawLine
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
btIDebugDraw::getDebugMode
virtual int getDebugMode() const =0
btIDebugDraw::DBG_DrawWireframe
@ DBG_DrawWireframe
Definition: btIDebugDraw.h:55
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
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
btManifoldResult::setBody0Wrap
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
Definition: btManifoldResult.h:132
btManifoldResult::getBody1Wrap
const btCollisionObjectWrapper * getBody1Wrap() const
Definition: btManifoldResult.h:127
btManifoldResult::setBody1Wrap
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
Definition: btManifoldResult.h:137
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btManifoldResult::getBody0Internal
const btCollisionObject * getBody0Internal() const
Definition: btManifoldResult.h:142
btManifoldResult::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)
Definition: btManifoldResult.h:97
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btManifoldResult::getBody0Wrap
const btCollisionObjectWrapper * getBody0Wrap() const
Definition: btManifoldResult.h:123
btManifoldResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btManifoldResult.cpp:103
btMatrix3x3::inverse
btMatrix3x3 inverse() const
Return the inverse of the matrix.
Definition: btMatrix3x3.h:1093
btPersistentManifold::setBodies
void setBodies(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btPersistentManifold.h:108
btPersistentManifold::getContactBreakingThreshold
btScalar getContactBreakingThreshold() const
Definition: btPersistentManifold.cpp:242
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:26
btPolyhedralConvexShape::getVertex
virtual void getVertex(int i, btVector3 &vtx) const =0
btPolyhedralConvexShape::getNumVertices
virtual int getNumVertices() const =0
btSdfCollisionShape
Definition: btSdfCollisionShape.h:7
btSdfCollisionShape::queryPoint
bool queryPoint(const btVector3 &ptInSDF, btScalar &distOut, btVector3 &normal)
Definition: btSdfCollisionShape.cpp:83
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
btSphereShape::getRadius
btScalar getRadius() const
Definition: btSphereShape.h:48
btSubsimplexConvexCast
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
Definition: btSubSimplexConvexCast.h:28
btSubsimplexConvexCast::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (...
Definition: btSubSimplexConvexCast.cpp:32
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::inverse
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:183
btTransform::invXform
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:216
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:109
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:167
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:114
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btTriangleShape
Definition: btTriangleShape.h:24
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::setMax
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
Definition: btVector3.h:609
btVector3::safeNormalize
btVector3 & safeNormalize()
Definition: btVector3.h:286
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
btVector3::setMin
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
Definition: btVector3.h:626
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btVoronoiSimplexSolver
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
Definition: btVoronoiSimplexSolver.h:99
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:46
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:44
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47
btConvexCast::CastResult::m_fraction
btScalar m_fraction
Definition: btConvexCast.h:72
btDispatcherInfo
Definition: btDispatcher.h:31
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58