Bullet Collision Detection & Physics Library
btCollisionWorld.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 #include "btCollisionWorld.h"
17 #include "btCollisionDispatcher.h"
22 #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
34 #include "LinearMath/btAabbUtil2.h"
35 #include "LinearMath/btQuickprof.h"
39 
40 //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
41 
42 //#define USE_BRUTEFORCE_RAYBROADPHASE 1
43 //RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation' or 'updateAabbs' before using a rayTest
44 //#define RECALCULATE_AABB_RAYCAST 1
45 
46 //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
50 
52 
53 //for debug rendering
66 
68  : m_dispatcher1(dispatcher),
69  m_broadphasePairCache(pairCache),
70  m_debugDrawer(0),
71  m_forceUpdateAllAabbs(true)
72 {
73 }
74 
76 {
77  //clean up remaining objects
78  int i;
79  for (i = 0; i < m_collisionObjects.size(); i++)
80  {
81  btCollisionObject* collisionObject = m_collisionObjects[i];
82 
83  btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
84  if (bp)
85  {
86  //
87  // only clear the cached algorithms
88  //
91  collisionObject->setBroadphaseHandle(0);
92  }
93  }
94 }
95 
97 {
98  if (collisionObject->getBroadphaseHandle())
99  {
100  int collisionFilterGroup = collisionObject->getBroadphaseHandle()->m_collisionFilterGroup;
101  int collisionFilterMask = collisionObject->getBroadphaseHandle()->m_collisionFilterMask;
102 
104 
105  //calculate new AABB
106  btTransform trans = collisionObject->getWorldTransform();
107 
108  btVector3 minAabb;
109  btVector3 maxAabb;
110  collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
111 
112  int type = collisionObject->getCollisionShape()->getShapeType();
113  collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
114  minAabb,
115  maxAabb,
116  type,
117  collisionObject,
118  collisionFilterGroup,
119  collisionFilterMask,
120  m_dispatcher1));
121  }
122 }
123 
124 void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
125 {
126  btAssert(collisionObject);
127 
128  //check that the object isn't already added
130  btAssert(collisionObject->getWorldArrayIndex() == -1); // do not add the same object to more than one collision world
131 
132  collisionObject->setWorldArrayIndex(m_collisionObjects.size());
133  m_collisionObjects.push_back(collisionObject);
134 
135  //calculate new AABB
136  btTransform trans = collisionObject->getWorldTransform();
137 
138  btVector3 minAabb;
139  btVector3 maxAabb;
140  collisionObject->getCollisionShape()->getAabb(trans, minAabb, maxAabb);
141 
142  int type = collisionObject->getCollisionShape()->getShapeType();
143  collisionObject->setBroadphaseHandle(getBroadphase()->createProxy(
144  minAabb,
145  maxAabb,
146  type,
147  collisionObject,
148  collisionFilterGroup,
149  collisionFilterMask,
150  m_dispatcher1));
151 }
152 
154 {
155  btVector3 minAabb, maxAabb;
156  colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
157  //need to increase the aabb for contact thresholds
159  minAabb -= contactThreshold;
160  maxAabb += contactThreshold;
161 
162  if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
163  {
164  btVector3 minAabb2, maxAabb2;
165  colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
166  minAabb2 -= contactThreshold;
167  maxAabb2 += contactThreshold;
168  minAabb.setMin(minAabb2);
169  maxAabb.setMax(maxAabb2);
170  }
171 
173 
174  //moving objects should be moderately sized, probably something wrong if not
175  if (colObj->isStaticObject() || ((maxAabb - minAabb).length2() < btScalar(1e12)))
176  {
177  bp->setAabb(colObj->getBroadphaseHandle(), minAabb, maxAabb, m_dispatcher1);
178  }
179  else
180  {
181  //something went wrong, investigate
182  //this assert is unwanted in 3D modelers (danger of loosing work)
184 
185  static bool reportMe = true;
186  if (reportMe && m_debugDrawer)
187  {
188  reportMe = false;
189  m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");
190  m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");
191  m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");
192  m_debugDrawer->reportErrorWarning("Thanks.\n");
193  }
194  }
195 }
196 
198 {
199  BT_PROFILE("updateAabbs");
200 
201  btTransform predictedTrans;
202  for (int i = 0; i < m_collisionObjects.size(); i++)
203  {
205  btAssert(colObj->getWorldArrayIndex() == i);
206 
207  //only update aabb of active objects
208  if (m_forceUpdateAllAabbs || colObj->isActive())
209  {
210  updateSingleAabb(colObj);
211  }
212  }
213 }
214 
216 {
217  BT_PROFILE("calculateOverlappingPairs");
219 }
220 
222 {
223  BT_PROFILE("performDiscreteCollisionDetection");
224 
225  btDispatcherInfo& dispatchInfo = getDispatchInfo();
226 
227  updateAabbs();
228 
230 
231  btDispatcher* dispatcher = getDispatcher();
232  {
233  BT_PROFILE("dispatchAllCollisionPairs");
234  if (dispatcher)
236  }
237 }
238 
240 {
241  //bool removeFromBroadphase = false;
242 
243  {
244  btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();
245  if (bp)
246  {
247  //
248  // only clear the cached algorithms
249  //
252  collisionObject->setBroadphaseHandle(0);
253  }
254  }
255 
256  int iObj = collisionObject->getWorldArrayIndex();
257  // btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
258  if (iObj >= 0 && iObj < m_collisionObjects.size())
259  {
260  btAssert(collisionObject == m_collisionObjects[iObj]);
263  if (iObj < m_collisionObjects.size())
264  {
265  m_collisionObjects[iObj]->setWorldArrayIndex(iObj);
266  }
267  }
268  else
269  {
270  // slow linear search
271  //swapremove
272  m_collisionObjects.remove(collisionObject);
273  }
274  collisionObject->setWorldArrayIndex(-1);
275 }
276 
277 void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans, const btTransform& rayToTrans,
278  btCollisionObject* collisionObject,
279  const btCollisionShape* collisionShape,
280  const btTransform& colObjWorldTransform,
281  RayResultCallback& resultCallback)
282 {
283  btCollisionObjectWrapper colObWrap(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
284  btCollisionWorld::rayTestSingleInternal(rayFromTrans, rayToTrans, &colObWrap, resultCallback);
285 }
286 
287 void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, const btTransform& rayToTrans,
288  const btCollisionObjectWrapper* collisionObjectWrap,
289  RayResultCallback& resultCallback)
290 {
291  btSphereShape pointShape(btScalar(0.0));
292  pointShape.setMargin(0.f);
293  const btConvexShape* castShape = &pointShape;
294  const btCollisionShape* collisionShape = collisionObjectWrap->getCollisionShape();
295  const btTransform& colObjWorldTransform = collisionObjectWrap->getWorldTransform();
296 
297  if (collisionShape->isConvex())
298  {
299  // BT_PROFILE("rayTestConvex");
300  btConvexCast::CastResult castResult;
301  castResult.m_fraction = resultCallback.m_closestHitFraction;
302 
303  btConvexShape* convexShape = (btConvexShape*)collisionShape;
304  btVoronoiSimplexSolver simplexSolver;
305  btSubsimplexConvexCast subSimplexConvexCaster(castShape, convexShape, &simplexSolver);
306 
307  btGjkConvexCast gjkConvexCaster(castShape, convexShape, &simplexSolver);
308 
309  //btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
310 
311  btConvexCast* convexCasterPtr = 0;
312  //use kF_UseSubSimplexConvexCastRaytest by default
314  convexCasterPtr = &gjkConvexCaster;
315  else
316  convexCasterPtr = &subSimplexConvexCaster;
317 
318  btConvexCast& convexCaster = *convexCasterPtr;
319 
320  if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
321  {
322  //add hit
323  if (castResult.m_normal.length2() > btScalar(0.0001))
324  {
325  if (castResult.m_fraction < resultCallback.m_closestHitFraction)
326  {
327  //todo: figure out what this is about. When is rayFromTest.getBasis() not identity?
328 #ifdef USE_SUBSIMPLEX_CONVEX_CAST
329  //rotate normal into worldspace
330  castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;
331 #endif //USE_SUBSIMPLEX_CONVEX_CAST
332 
333  castResult.m_normal.normalize();
334  btCollisionWorld::LocalRayResult localRayResult(
335  collisionObjectWrap->getCollisionObject(),
336  0,
337  castResult.m_normal,
338  castResult.m_fraction);
339 
340  bool normalInWorldSpace = true;
341  resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
342  }
343  }
344  }
345  }
346  else
347  {
348  if (collisionShape->isConcave())
349  {
350  //ConvexCast::CastResult
351  struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
352  {
353  btCollisionWorld::RayResultCallback* m_resultCallback;
354  const btCollisionObject* m_collisionObject;
355  const btConcaveShape* m_triangleMesh;
356 
357  btTransform m_colObjWorldTransform;
358 
359  BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
360  btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, const btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
361  btTriangleRaycastCallback(from, to, resultCallback->m_flags),
362  m_resultCallback(resultCallback),
363  m_collisionObject(collisionObject),
364  m_triangleMesh(triangleMesh),
365  m_colObjWorldTransform(colObjWorldTransform)
366  {
367  }
368 
369  virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
370  {
372  shapeInfo.m_shapePart = partId;
373  shapeInfo.m_triangleIndex = triangleIndex;
374 
375  btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
376 
377  btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
378  &shapeInfo,
379  hitNormalWorld,
380  hitFraction);
381 
382  bool normalInWorldSpace = true;
383  return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
384  }
385  };
386 
387  btTransform worldTocollisionObject = colObjWorldTransform.inverse();
388  btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
389  btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
390 
391  // BT_PROFILE("rayTestConcave");
392  if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
393  {
395  btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
396 
397  BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
398  rcb.m_hitFraction = resultCallback.m_closestHitFraction;
399  triangleMesh->performRaycast(&rcb, rayFromLocal, rayToLocal);
400  }
401  else if (collisionShape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
402  {
404  btScaledBvhTriangleMeshShape* scaledTriangleMesh = (btScaledBvhTriangleMeshShape*)collisionShape;
405  btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)scaledTriangleMesh->getChildShape();
406 
407  //scale the ray positions
408  btVector3 scale = scaledTriangleMesh->getLocalScaling();
409  btVector3 rayFromLocalScaled = rayFromLocal / scale;
410  btVector3 rayToLocalScaled = rayToLocal / scale;
411 
412  //perform raycast in the underlying btBvhTriangleMeshShape
413  BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
414  rcb.m_hitFraction = resultCallback.m_closestHitFraction;
415  triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
416  }
418  && collisionShape->getShapeType() == TERRAIN_SHAPE_PROXYTYPE
419  )
420  {
422  btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
423  btTransform worldTocollisionObject = colObjWorldTransform.inverse();
424  btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
425  btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
426 
427  BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), heightField, colObjWorldTransform);
428  rcb.m_hitFraction = resultCallback.m_closestHitFraction;
429  heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
430  }
431  else
432  {
433  //generic (slower) case
434  btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
435 
436  btTransform worldTocollisionObject = colObjWorldTransform.inverse();
437 
438  btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
439  btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
440 
441  //ConvexCast::CastResult
442 
443  struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
444  {
445  btCollisionWorld::RayResultCallback* m_resultCallback;
446  const btCollisionObject* m_collisionObject;
447  btConcaveShape* m_triangleMesh;
448 
449  btTransform m_colObjWorldTransform;
450 
451  BridgeTriangleRaycastCallback(const btVector3& from, const btVector3& to,
452  btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& colObjWorldTransform) : //@BP Mod
453  btTriangleRaycastCallback(from, to, resultCallback->m_flags),
454  m_resultCallback(resultCallback),
455  m_collisionObject(collisionObject),
456  m_triangleMesh(triangleMesh),
457  m_colObjWorldTransform(colObjWorldTransform)
458  {
459  }
460 
461  virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
462  {
464  shapeInfo.m_shapePart = partId;
465  shapeInfo.m_triangleIndex = triangleIndex;
466 
467  btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;
468 
469  btCollisionWorld::LocalRayResult rayResult(m_collisionObject,
470  &shapeInfo,
471  hitNormalWorld,
472  hitFraction);
473 
474  bool normalInWorldSpace = true;
475  return m_resultCallback->addSingleResult(rayResult, normalInWorldSpace);
476  }
477  };
478 
479  BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
480  rcb.m_hitFraction = resultCallback.m_closestHitFraction;
481 
482  btVector3 rayAabbMinLocal = rayFromLocal;
483  rayAabbMinLocal.setMin(rayToLocal);
484  btVector3 rayAabbMaxLocal = rayFromLocal;
485  rayAabbMaxLocal.setMax(rayToLocal);
486 
487  concaveShape->processAllTriangles(&rcb, rayAabbMinLocal, rayAabbMaxLocal);
488  }
489  }
490  else
491  {
492  // BT_PROFILE("rayTestCompound");
493  if (collisionShape->isCompound())
494  {
495  struct LocalInfoAdder2 : public RayResultCallback
496  {
497  RayResultCallback* m_userCallback;
498  int m_i;
499 
500  LocalInfoAdder2(int i, RayResultCallback* user)
501  : m_userCallback(user), m_i(i)
502  {
503  m_closestHitFraction = m_userCallback->m_closestHitFraction;
504  m_flags = m_userCallback->m_flags;
505  }
506  virtual bool needsCollision(btBroadphaseProxy* p) const
507  {
508  return m_userCallback->needsCollision(p);
509  }
510 
511  virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& r, bool b)
512  {
514  shapeInfo.m_shapePart = -1;
515  shapeInfo.m_triangleIndex = m_i;
516  if (r.m_localShapeInfo == NULL)
517  r.m_localShapeInfo = &shapeInfo;
518 
519  const btScalar result = m_userCallback->addSingleResult(r, b);
520  m_closestHitFraction = m_userCallback->m_closestHitFraction;
521  return result;
522  }
523  };
524 
525  struct RayTester : btDbvt::ICollide
526  {
527  const btCollisionObject* m_collisionObject;
528  const btCompoundShape* m_compoundShape;
529  const btTransform& m_colObjWorldTransform;
530  const btTransform& m_rayFromTrans;
531  const btTransform& m_rayToTrans;
532  RayResultCallback& m_resultCallback;
533 
534  RayTester(const btCollisionObject* collisionObject,
535  const btCompoundShape* compoundShape,
536  const btTransform& colObjWorldTransform,
537  const btTransform& rayFromTrans,
538  const btTransform& rayToTrans,
539  RayResultCallback& resultCallback) : m_collisionObject(collisionObject),
540  m_compoundShape(compoundShape),
541  m_colObjWorldTransform(colObjWorldTransform),
542  m_rayFromTrans(rayFromTrans),
543  m_rayToTrans(rayToTrans),
544  m_resultCallback(resultCallback)
545  {
546  }
547 
548  void ProcessLeaf(int i)
549  {
550  const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);
551  const btTransform& childTrans = m_compoundShape->getChildTransform(i);
552  btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
553 
554  btCollisionObjectWrapper tmpOb(0, childCollisionShape, m_collisionObject, childWorldTrans, -1, i);
555  // replace collision shape so that callback can determine the triangle
556 
557  LocalInfoAdder2 my_cb(i, &m_resultCallback);
558 
560  m_rayFromTrans,
561  m_rayToTrans,
562  &tmpOb,
563  my_cb);
564  }
565 
566  void Process(const btDbvtNode* leaf)
567  {
568  ProcessLeaf(leaf->dataAsInt);
569  }
570  };
571 
572  const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
573  const btDbvt* dbvt = compoundShape->getDynamicAabbTree();
574 
575  RayTester rayCB(
576  collisionObjectWrap->getCollisionObject(),
577  compoundShape,
578  colObjWorldTransform,
579  rayFromTrans,
580  rayToTrans,
581  resultCallback);
582 #ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
583  if (dbvt)
584  {
585  btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
586  btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
587  btDbvt::rayTest(dbvt->m_root, localRayFrom, localRayTo, rayCB);
588  }
589  else
590 #endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
591  {
592  for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)
593  {
594  rayCB.ProcessLeaf(i);
595  }
596  }
597  }
598  }
599  }
600 }
601 
602 void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
603  btCollisionObject* collisionObject,
604  const btCollisionShape* collisionShape,
605  const btTransform& colObjWorldTransform,
606  ConvexResultCallback& resultCallback, btScalar allowedPenetration)
607 {
608  btCollisionObjectWrapper tmpOb(0, collisionShape, collisionObject, colObjWorldTransform, -1, -1);
609  btCollisionWorld::objectQuerySingleInternal(castShape, convexFromTrans, convexToTrans, &tmpOb, resultCallback, allowedPenetration);
610 }
611 
612 void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans,
613  const btCollisionObjectWrapper* colObjWrap,
614  ConvexResultCallback& resultCallback, btScalar allowedPenetration)
615 {
616  const btCollisionShape* collisionShape = colObjWrap->getCollisionShape();
617  const btTransform& colObjWorldTransform = colObjWrap->getWorldTransform();
618 
619  if (collisionShape->isConvex())
620  {
621  //BT_PROFILE("convexSweepConvex");
622  btConvexCast::CastResult castResult;
623  castResult.m_allowedPenetration = allowedPenetration;
624  castResult.m_fraction = resultCallback.m_closestHitFraction; //btScalar(1.);//??
625 
626  btConvexShape* convexShape = (btConvexShape*)collisionShape;
627  btVoronoiSimplexSolver simplexSolver;
628  btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
629 
630  btContinuousConvexCollision convexCaster1(castShape, convexShape, &simplexSolver, &gjkEpaPenetrationSolver);
631  //btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);
632  //btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
633 
634  btConvexCast* castPtr = &convexCaster1;
635 
636  if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
637  {
638  //add hit
639  if (castResult.m_normal.length2() > btScalar(0.0001))
640  {
641  if (castResult.m_fraction < resultCallback.m_closestHitFraction)
642  {
643  castResult.m_normal.normalize();
644  btCollisionWorld::LocalConvexResult localConvexResult(
645  colObjWrap->getCollisionObject(),
646  0,
647  castResult.m_normal,
648  castResult.m_hitPoint,
649  castResult.m_fraction);
650 
651  bool normalInWorldSpace = true;
652  resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
653  }
654  }
655  }
656  }
657  else
658  {
659  if (collisionShape->isConcave())
660  {
661  if (collisionShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
662  {
663  //BT_PROFILE("convexSweepbtBvhTriangleMesh");
664  btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
665  btTransform worldTocollisionObject = colObjWorldTransform.inverse();
666  btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
667  btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
668  // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
669  btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
670 
671  //ConvexCast::CastResult
672  struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
673  {
674  btCollisionWorld::ConvexResultCallback* m_resultCallback;
675  const btCollisionObject* m_collisionObject;
676  btTriangleMeshShape* m_triangleMesh;
677 
678  BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
679  btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btTriangleMeshShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
680  m_resultCallback(resultCallback),
681  m_collisionObject(collisionObject),
682  m_triangleMesh(triangleMesh)
683  {
684  }
685 
686  virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
687  {
689  shapeInfo.m_shapePart = partId;
690  shapeInfo.m_triangleIndex = triangleIndex;
691  if (hitFraction <= m_resultCallback->m_closestHitFraction)
692  {
693  btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
694  &shapeInfo,
695  hitNormalLocal,
696  hitPointLocal,
697  hitFraction);
698 
699  bool normalInWorldSpace = true;
700 
701  return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
702  }
703  return hitFraction;
704  }
705  };
706 
707  BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), triangleMesh, colObjWorldTransform);
708  tccb.m_hitFraction = resultCallback.m_closestHitFraction;
709  tccb.m_allowedPenetration = allowedPenetration;
710  btVector3 boxMinLocal, boxMaxLocal;
711  castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
712  triangleMesh->performConvexcast(&tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
713  }
714  else
715  {
716  if (collisionShape->getShapeType() == STATIC_PLANE_PROXYTYPE)
717  {
718  btConvexCast::CastResult castResult;
719  castResult.m_allowedPenetration = allowedPenetration;
720  castResult.m_fraction = resultCallback.m_closestHitFraction;
721  btStaticPlaneShape* planeShape = (btStaticPlaneShape*)collisionShape;
722  btContinuousConvexCollision convexCaster1(castShape, planeShape);
723  btConvexCast* castPtr = &convexCaster1;
724 
725  if (castPtr->calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
726  {
727  //add hit
728  if (castResult.m_normal.length2() > btScalar(0.0001))
729  {
730  if (castResult.m_fraction < resultCallback.m_closestHitFraction)
731  {
732  castResult.m_normal.normalize();
733  btCollisionWorld::LocalConvexResult localConvexResult(
734  colObjWrap->getCollisionObject(),
735  0,
736  castResult.m_normal,
737  castResult.m_hitPoint,
738  castResult.m_fraction);
739 
740  bool normalInWorldSpace = true;
741  resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
742  }
743  }
744  }
745  }
746  else
747  {
748  //BT_PROFILE("convexSweepConcave");
749  btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
750  btTransform worldTocollisionObject = colObjWorldTransform.inverse();
751  btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();
752  btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();
753  // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
754  btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());
755 
756  //ConvexCast::CastResult
757  struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback
758  {
759  btCollisionWorld::ConvexResultCallback* m_resultCallback;
760  const btCollisionObject* m_collisionObject;
761  btConcaveShape* m_triangleMesh;
762 
763  BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from, const btTransform& to,
764  btCollisionWorld::ConvexResultCallback* resultCallback, const btCollisionObject* collisionObject, btConcaveShape* triangleMesh, const btTransform& triangleToWorld) : btTriangleConvexcastCallback(castShape, from, to, triangleToWorld, triangleMesh->getMargin()),
765  m_resultCallback(resultCallback),
766  m_collisionObject(collisionObject),
767  m_triangleMesh(triangleMesh)
768  {
769  }
770 
771  virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)
772  {
774  shapeInfo.m_shapePart = partId;
775  shapeInfo.m_triangleIndex = triangleIndex;
776  if (hitFraction <= m_resultCallback->m_closestHitFraction)
777  {
778  btCollisionWorld::LocalConvexResult convexResult(m_collisionObject,
779  &shapeInfo,
780  hitNormalLocal,
781  hitPointLocal,
782  hitFraction);
783 
784  bool normalInWorldSpace = true;
785 
786  return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
787  }
788  return hitFraction;
789  }
790  };
791 
792  BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->getCollisionObject(), concaveShape, colObjWorldTransform);
793  tccb.m_hitFraction = resultCallback.m_closestHitFraction;
794  tccb.m_allowedPenetration = allowedPenetration;
795  btVector3 boxMinLocal, boxMaxLocal;
796  castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);
797 
798  btVector3 rayAabbMinLocal = convexFromLocal;
799  rayAabbMinLocal.setMin(convexToLocal);
800  btVector3 rayAabbMaxLocal = convexFromLocal;
801  rayAabbMaxLocal.setMax(convexToLocal);
802  rayAabbMinLocal += boxMinLocal;
803  rayAabbMaxLocal += boxMaxLocal;
804  concaveShape->processAllTriangles(&tccb, rayAabbMinLocal, rayAabbMaxLocal);
805  }
806  }
807  }
808  else
809  {
810  if (collisionShape->isCompound())
811  {
813  {
815  const btCollisionObjectWrapper* colObjWrap,
816  const btConvexShape* castShape,
817  const btTransform& convexFromTrans,
818  const btTransform& convexToTrans,
819  btScalar allowedPenetration,
820  const btCompoundShape* compoundShape,
821  const btTransform& colObjWorldTransform,
822  ConvexResultCallback& resultCallback)
823  : m_colObjWrap(colObjWrap),
824  m_castShape(castShape),
825  m_convexFromTrans(convexFromTrans),
826  m_convexToTrans(convexToTrans),
827  m_allowedPenetration(allowedPenetration),
828  m_compoundShape(compoundShape),
829  m_colObjWorldTransform(colObjWorldTransform),
830  m_resultCallback(resultCallback)
831  {
832  }
833 
834  const btCollisionObjectWrapper* m_colObjWrap;
835  const btConvexShape* m_castShape;
836  const btTransform& m_convexFromTrans;
837  const btTransform& m_convexToTrans;
838  btScalar m_allowedPenetration;
839  const btCompoundShape* m_compoundShape;
840  const btTransform& m_colObjWorldTransform;
841  ConvexResultCallback& m_resultCallback;
842 
843  public:
844  void ProcessChild(int index, const btTransform& childTrans, const btCollisionShape* childCollisionShape)
845  {
846  btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
847 
848  struct LocalInfoAdder : public ConvexResultCallback
849  {
850  ConvexResultCallback* m_userCallback;
851  int m_i;
852 
853  LocalInfoAdder(int i, ConvexResultCallback* user)
854  : m_userCallback(user), m_i(i)
855  {
856  m_closestHitFraction = m_userCallback->m_closestHitFraction;
857  }
858  virtual bool needsCollision(btBroadphaseProxy* p) const
859  {
860  return m_userCallback->needsCollision(p);
861  }
862  virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& r, bool b)
863  {
865  shapeInfo.m_shapePart = -1;
866  shapeInfo.m_triangleIndex = m_i;
867  if (r.m_localShapeInfo == NULL)
868  r.m_localShapeInfo = &shapeInfo;
869  const btScalar result = m_userCallback->addSingleResult(r, b);
870  m_closestHitFraction = m_userCallback->m_closestHitFraction;
871  return result;
872  }
873  };
874 
875  LocalInfoAdder my_cb(index, &m_resultCallback);
876 
877  btCollisionObjectWrapper tmpObj(m_colObjWrap, childCollisionShape, m_colObjWrap->getCollisionObject(), childWorldTrans, -1, index);
878 
879  objectQuerySingleInternal(m_castShape, m_convexFromTrans, m_convexToTrans, &tmpObj, my_cb, m_allowedPenetration);
880  }
881 
882  void Process(const btDbvtNode* leaf)
883  {
884  // Processing leaf node
885  int index = leaf->dataAsInt;
886 
887  btTransform childTrans = m_compoundShape->getChildTransform(index);
888  const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(index);
889 
890  ProcessChild(index, childTrans, childCollisionShape);
891  }
892  };
893 
894  BT_PROFILE("convexSweepCompound");
895  const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
896 
897  btVector3 fromLocalAabbMin, fromLocalAabbMax;
898  btVector3 toLocalAabbMin, toLocalAabbMax;
899 
900  castShape->getAabb(colObjWorldTransform.inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
901  castShape->getAabb(colObjWorldTransform.inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
902 
903  fromLocalAabbMin.setMin(toLocalAabbMin);
904  fromLocalAabbMax.setMax(toLocalAabbMax);
905 
906  btCompoundLeafCallback callback(colObjWrap, castShape, convexFromTrans, convexToTrans,
907  allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
908 
909  const btDbvt* tree = compoundShape->getDynamicAabbTree();
910  if (tree)
911  {
912  const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds = btDbvtVolume::FromMM(fromLocalAabbMin, fromLocalAabbMax);
913  tree->collideTV(tree->m_root, bounds, callback);
914  }
915  else
916  {
917  int i;
918  for (i = 0; i < compoundShape->getNumChildShapes(); i++)
919  {
920  const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);
921  btTransform childTrans = compoundShape->getChildTransform(i);
922  callback.ProcessChild(i, childTrans, childCollisionShape);
923  }
924  }
925  }
926  }
927  }
928 }
929 
931 {
937 
940 
941  btSingleRayCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btCollisionWorld* world, btCollisionWorld::RayResultCallback& resultCallback)
942  : m_rayFromWorld(rayFromWorld),
943  m_rayToWorld(rayToWorld),
944  m_world(world),
945  m_resultCallback(resultCallback)
946  {
951 
952  btVector3 rayDir = (rayToWorld - rayFromWorld);
953 
954  rayDir.normalize();
956  m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
957  m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
958  m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
959  m_signs[0] = m_rayDirectionInverse[0] < 0.0;
960  m_signs[1] = m_rayDirectionInverse[1] < 0.0;
961  m_signs[2] = m_rayDirectionInverse[2] < 0.0;
962 
964  }
965 
966  virtual bool process(const btBroadphaseProxy* proxy)
967  {
970  return false;
971 
972  btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
973 
974  //only perform raycast if filterMask matches
975  if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
976  {
977  //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
978  //btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
979 #if 0
980 #ifdef RECALCULATE_AABB
981  btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
982  collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
983 #else
984  //getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);
985  const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;
986  const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;
987 #endif
988 #endif
989  //btScalar hitLambda = m_resultCallback.m_closestHitFraction;
990  //culling already done by broadphase
991  //if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))
992  {
994  collisionObject,
995  collisionObject->getCollisionShape(),
996  collisionObject->getWorldTransform(),
998  }
999  }
1000  return true;
1001  }
1002 };
1003 
1004 void btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const
1005 {
1006  //BT_PROFILE("rayTest");
1009  btSingleRayCallback rayCB(rayFromWorld, rayToWorld, this, resultCallback);
1010 
1011 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
1012  m_broadphasePairCache->rayTest(rayFromWorld, rayToWorld, rayCB);
1013 #else
1014  for (int i = 0; i < this->getNumCollisionObjects(); i++)
1015  {
1016  rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());
1017  }
1018 #endif //USE_BRUTEFORCE_RAYBROADPHASE
1019 }
1020 
1022 {
1030 
1031  btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans, const btTransform& convexToTrans, const btCollisionWorld* world, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedPenetration)
1032  : m_convexFromTrans(convexFromTrans),
1033  m_convexToTrans(convexToTrans),
1034  m_world(world),
1035  m_resultCallback(resultCallback),
1036  m_allowedCcdPenetration(allowedPenetration),
1037  m_castShape(castShape)
1038  {
1039  btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin() - m_convexFromTrans.getOrigin());
1040  btVector3 rayDir = unnormalizedRayDir.fuzzyZero() ? btVector3(btScalar(0.0), btScalar(0.0), btScalar(0.0)) : unnormalizedRayDir.normalized();
1042  m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];
1043  m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];
1044  m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];
1045  m_signs[0] = m_rayDirectionInverse[0] < 0.0;
1046  m_signs[1] = m_rayDirectionInverse[1] < 0.0;
1047  m_signs[2] = m_rayDirectionInverse[2] < 0.0;
1048 
1049  m_lambda_max = rayDir.dot(unnormalizedRayDir);
1050  }
1051 
1052  virtual bool process(const btBroadphaseProxy* proxy)
1053  {
1056  return false;
1057 
1058  btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
1059 
1060  //only perform raycast if filterMask matches
1061  if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
1062  {
1063  //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
1065  collisionObject,
1066  collisionObject->getCollisionShape(),
1067  collisionObject->getWorldTransform(),
1070  }
1071 
1072  return true;
1073  }
1074 };
1075 
1076 void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
1077 {
1078  BT_PROFILE("convexSweepTest");
1082 
1083  btTransform convexFromTrans, convexToTrans;
1084  convexFromTrans = convexFromWorld;
1085  convexToTrans = convexToWorld;
1086  btVector3 castShapeAabbMin, castShapeAabbMax;
1087  /* Compute AABB that encompasses angular movement */
1088  {
1089  btVector3 linVel, angVel;
1090  btTransformUtil::calculateVelocity(convexFromTrans, convexToTrans, 1.0f, linVel, angVel);
1091  btVector3 zeroLinVel;
1092  zeroLinVel.setValue(0, 0, 0);
1093  btTransform R;
1094  R.setIdentity();
1095  R.setRotation(convexFromTrans.getRotation());
1096  castShape->calculateTemporalAabb(R, zeroLinVel, angVel, 1.0f, castShapeAabbMin, castShapeAabbMax);
1097  }
1098 
1099 #ifndef USE_BRUTEFORCE_RAYBROADPHASE
1100 
1101  btSingleSweepCallback convexCB(castShape, convexFromWorld, convexToWorld, this, resultCallback, allowedCcdPenetration);
1102 
1103  m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(), convexToTrans.getOrigin(), convexCB, castShapeAabbMin, castShapeAabbMax);
1104 
1105 #else
1107  // do a ray-shape query using convexCaster (CCD)
1108  int i;
1109  for (i = 0; i < m_collisionObjects.size(); i++)
1110  {
1111  btCollisionObject* collisionObject = m_collisionObjects[i];
1112  //only perform raycast if filterMask matches
1113  if (resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
1114  {
1115  //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
1116  btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
1117  collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(), collisionObjectAabbMin, collisionObjectAabbMax);
1118  AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
1119  btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
1120  btVector3 hitNormal;
1121  if (btRayAabb(convexFromWorld.getOrigin(), convexToWorld.getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
1122  {
1123  objectQuerySingle(castShape, convexFromTrans, convexToTrans,
1124  collisionObject,
1125  collisionObject->getCollisionShape(),
1126  collisionObject->getWorldTransform(),
1127  resultCallback,
1128  allowedCcdPenetration);
1129  }
1130  }
1131  }
1132 #endif //USE_BRUTEFORCE_RAYBROADPHASE
1133 }
1134 
1136 {
1138 
1140  : btManifoldResult(obj0Wrap, obj1Wrap),
1141  m_resultCallback(resultCallback)
1142  {
1143  }
1144 
1145  virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
1146  {
1147  bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
1148  btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
1149  btVector3 localA;
1150  btVector3 localB;
1151  if (isSwapped)
1152  {
1154  localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
1155  }
1156  else
1157  {
1159  localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
1160  }
1161 
1162  btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
1163  newPt.m_positionWorldOnA = pointA;
1164  newPt.m_positionWorldOnB = pointInWorld;
1165 
1166  //BP mod, store contact triangles.
1167  if (isSwapped)
1168  {
1169  newPt.m_partId0 = m_partId1;
1170  newPt.m_partId1 = m_partId0;
1171  newPt.m_index0 = m_index1;
1172  newPt.m_index1 = m_index0;
1173  }
1174  else
1175  {
1176  newPt.m_partId0 = m_partId0;
1177  newPt.m_partId1 = m_partId1;
1178  newPt.m_index0 = m_index0;
1179  newPt.m_index1 = m_index1;
1180  }
1181 
1182  //experimental feature info, for per-triangle material etc.
1183  const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
1184  const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
1185  m_resultCallback.addSingleResult(newPt, obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
1186  }
1187 };
1188 
1190 {
1194 
1196  : m_collisionObject(collisionObject),
1197  m_world(world),
1198  m_resultCallback(resultCallback)
1199  {
1200  }
1201 
1202  virtual bool process(const btBroadphaseProxy* proxy)
1203  {
1204  btCollisionObject* collisionObject = (btCollisionObject*)proxy->m_clientObject;
1205  if (collisionObject == m_collisionObject)
1206  return true;
1207 
1208  //only perform raycast if filterMask matches
1209  if (m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
1210  {
1212  btCollisionObjectWrapper ob1(0, collisionObject->getCollisionShape(), collisionObject, collisionObject->getWorldTransform(), -1, -1);
1213 
1215  if (algorithm)
1216  {
1217  btBridgedManifoldResult contactPointResult(&ob0, &ob1, m_resultCallback);
1218  //discrete collision detection query
1219 
1220  algorithm->processCollision(&ob0, &ob1, m_world->getDispatchInfo(), &contactPointResult);
1221 
1222  algorithm->~btCollisionAlgorithm();
1224  }
1225  }
1226  return true;
1227  }
1228 };
1229 
1233 {
1234  btVector3 aabbMin, aabbMax;
1235  colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), aabbMin, aabbMax);
1236  btSingleContactCallback contactCB(colObj, this, resultCallback);
1237 
1238  m_broadphasePairCache->aabbTest(aabbMin, aabbMax, contactCB);
1239 }
1240 
1244 {
1245  btCollisionObjectWrapper obA(0, colObjA->getCollisionShape(), colObjA, colObjA->getWorldTransform(), -1, -1);
1246  btCollisionObjectWrapper obB(0, colObjB->getCollisionShape(), colObjB, colObjB->getWorldTransform(), -1, -1);
1247 
1249  if (algorithm)
1250  {
1251  btBridgedManifoldResult contactPointResult(&obA, &obB, resultCallback);
1252  contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold;
1253  //discrete collision detection query
1254  algorithm->processCollision(&obA, &obB, getDispatchInfo(), &contactPointResult);
1255 
1256  algorithm->~btCollisionAlgorithm();
1257  getDispatcher()->freeCollisionAlgorithm(algorithm);
1258  }
1259 }
1260 
1262 {
1266 
1267 public:
1268  DebugDrawcallback(btIDebugDraw* debugDrawer, const btTransform& worldTrans, const btVector3& color) : m_debugDrawer(debugDrawer),
1269  m_color(color),
1270  m_worldTrans(worldTrans)
1271  {
1272  }
1273 
1274  virtual void internalProcessTriangleIndex(btVector3* triangle, int partId, int triangleIndex)
1275  {
1276  processTriangle(triangle, partId, triangleIndex);
1277  }
1278 
1279  virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
1280  {
1281  (void)partId;
1282  (void)triangleIndex;
1283 
1284  btVector3 wv0, wv1, wv2;
1285  wv0 = m_worldTrans * triangle[0];
1286  wv1 = m_worldTrans * triangle[1];
1287  wv2 = m_worldTrans * triangle[2];
1288  btVector3 center = (wv0 + wv1 + wv2) * btScalar(1. / 3.);
1289 
1291  {
1292  btVector3 normal = (wv1 - wv0).cross(wv2 - wv0);
1293  normal.normalize();
1294  btVector3 normalColor(1, 1, 0);
1295  m_debugDrawer->drawLine(center, center + normal, normalColor);
1296  }
1297  m_debugDrawer->drawTriangle(wv0, wv1, wv2, m_color, 1.0);
1298  }
1299 };
1300 
1301 void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)
1302 {
1303  // Draw a small simplex at the center of the object
1304  if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawFrames)
1305  {
1306  getDebugDrawer()->drawTransform(worldTransform, .1);
1307  }
1308 
1309  if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
1310  {
1311  const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
1312  for (int i = compoundShape->getNumChildShapes() - 1; i >= 0; i--)
1313  {
1314  btTransform childTrans = compoundShape->getChildTransform(i);
1315  const btCollisionShape* colShape = compoundShape->getChildShape(i);
1316  debugDrawObject(worldTransform * childTrans, colShape, color);
1317  }
1318  }
1319  else
1320  {
1321  switch (shape->getShapeType())
1322  {
1323  case BOX_SHAPE_PROXYTYPE:
1324  {
1325  const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
1326  btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();
1327  getDebugDrawer()->drawBox(-halfExtents, halfExtents, worldTransform, color);
1328  break;
1329  }
1330 
1332  {
1333  const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
1334  btScalar radius = sphereShape->getMargin(); //radius doesn't include the margin, so draw with margin
1335 
1336  getDebugDrawer()->drawSphere(radius, worldTransform, color);
1337  break;
1338  }
1340  {
1341  const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
1342 
1343  btTransform childTransform;
1344  childTransform.setIdentity();
1345 
1346  for (int i = multiSphereShape->getSphereCount() - 1; i >= 0; i--)
1347  {
1348  childTransform.setOrigin(multiSphereShape->getSpherePosition(i));
1349  getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform * childTransform, color);
1350  }
1351 
1352  break;
1353  }
1355  {
1356  const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
1357 
1358  btScalar radius = capsuleShape->getRadius();
1359  btScalar halfHeight = capsuleShape->getHalfHeight();
1360 
1361  int upAxis = capsuleShape->getUpAxis();
1362  getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
1363  break;
1364  }
1365  case CONE_SHAPE_PROXYTYPE:
1366  {
1367  const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
1368  btScalar radius = coneShape->getRadius(); //+coneShape->getMargin();
1369  btScalar height = coneShape->getHeight(); //+coneShape->getMargin();
1370 
1371  int upAxis = coneShape->getConeUpIndex();
1372  getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);
1373  break;
1374  }
1376  {
1377  const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
1378  int upAxis = cylinder->getUpAxis();
1379  btScalar radius = cylinder->getRadius();
1380  btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];
1381  getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);
1382  break;
1383  }
1384 
1386  {
1387  const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
1388  btScalar planeConst = staticPlaneShape->getPlaneConstant();
1389  const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();
1390  getDebugDrawer()->drawPlane(planeNormal, planeConst, worldTransform, color);
1391  break;
1392  }
1393  default:
1394  {
1396  if (shape->isPolyhedral())
1397  {
1398  btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*)shape;
1399 
1400  int i;
1401  if (polyshape->getConvexPolyhedron())
1402  {
1403  const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();
1404  for (i = 0; i < poly->m_faces.size(); i++)
1405  {
1406  btVector3 centroid(0, 0, 0);
1407  int numVerts = poly->m_faces[i].m_indices.size();
1408  if (numVerts)
1409  {
1410  int lastV = poly->m_faces[i].m_indices[numVerts - 1];
1411  for (int v = 0; v < poly->m_faces[i].m_indices.size(); v++)
1412  {
1413  int curVert = poly->m_faces[i].m_indices[v];
1414  centroid += poly->m_vertices[curVert];
1415  getDebugDrawer()->drawLine(worldTransform * poly->m_vertices[lastV], worldTransform * poly->m_vertices[curVert], color);
1416  lastV = curVert;
1417  }
1418  }
1419  centroid *= btScalar(1.f) / btScalar(numVerts);
1420  if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)
1421  {
1422  btVector3 normalColor(1, 1, 0);
1423  btVector3 faceNormal(poly->m_faces[i].m_plane[0], poly->m_faces[i].m_plane[1], poly->m_faces[i].m_plane[2]);
1424  getDebugDrawer()->drawLine(worldTransform * centroid, worldTransform * (centroid + faceNormal), normalColor);
1425  }
1426  }
1427  }
1428  else
1429  {
1430  for (i = 0; i < polyshape->getNumEdges(); i++)
1431  {
1432  btVector3 a, b;
1433  polyshape->getEdge(i, a, b);
1434  btVector3 wa = worldTransform * a;
1435  btVector3 wb = worldTransform * b;
1436  getDebugDrawer()->drawLine(wa, wb, color);
1437  }
1438  }
1439  }
1440 
1441  if (shape->isConcave())
1442  {
1443  btConcaveShape* concaveMesh = (btConcaveShape*)shape;
1444 
1448 
1449  DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
1450  concaveMesh->processAllTriangles(&drawCallback, aabbMin, aabbMax);
1451  }
1452 
1454  {
1456  //todo: pass camera for some culling
1459  //DebugDrawcallback drawCallback;
1460  DebugDrawcallback drawCallback(getDebugDrawer(), worldTransform, color);
1461  convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback, aabbMin, aabbMax);
1462  }
1463  }
1464  }
1465  }
1466 }
1467 
1469 {
1470  if (getDebugDrawer())
1471  {
1473 
1475 
1476  if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
1477  {
1478  if (getDispatcher())
1479  {
1480  int numManifolds = getDispatcher()->getNumManifolds();
1481 
1482  for (int i = 0; i < numManifolds; i++)
1483  {
1485  //btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
1486  //btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
1487 
1488  int numContacts = contactManifold->getNumContacts();
1489  for (int j = 0; j < numContacts; j++)
1490  {
1491  btManifoldPoint& cp = contactManifold->getContactPoint(j);
1493  }
1494  }
1495  }
1496  }
1497 
1499  {
1500  int i;
1501 
1502  for (i = 0; i < m_collisionObjects.size(); i++)
1503  {
1506  {
1507  if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
1508  {
1509  btVector3 color(btScalar(0.4), btScalar(0.4), btScalar(0.4));
1510 
1511  switch (colObj->getActivationState())
1512  {
1513  case ACTIVE_TAG:
1514  color = defaultColors.m_activeObject;
1515  break;
1516  case ISLAND_SLEEPING:
1517  color = defaultColors.m_deactivatedObject;
1518  break;
1519  case WANTS_DEACTIVATION:
1520  color = defaultColors.m_wantsDeactivationObject;
1521  break;
1522  case DISABLE_DEACTIVATION:
1523  color = defaultColors.m_disabledDeactivationObject;
1524  break;
1525  case DISABLE_SIMULATION:
1526  color = defaultColors.m_disabledSimulationObject;
1527  break;
1528  default:
1529  {
1530  color = btVector3(btScalar(.3), btScalar(0.3), btScalar(0.3));
1531  }
1532  };
1533 
1534  colObj->getCustomDebugColor(color);
1535 
1536  debugDrawObject(colObj->getWorldTransform(), colObj->getCollisionShape(), color);
1537  }
1539  {
1540  btVector3 minAabb, maxAabb;
1541  btVector3 colorvec = defaultColors.m_aabb;
1542  colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb, maxAabb);
1544  minAabb -= contactThreshold;
1545  maxAabb += contactThreshold;
1546 
1547  btVector3 minAabb2, maxAabb2;
1548 
1549  if (getDispatchInfo().m_useContinuous && colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())
1550  {
1551  colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(), minAabb2, maxAabb2);
1552  minAabb2 -= contactThreshold;
1553  maxAabb2 += contactThreshold;
1554  minAabb.setMin(minAabb2);
1555  maxAabb.setMax(maxAabb2);
1556  }
1557 
1558  m_debugDrawer->drawAabb(minAabb, maxAabb, colorvec);
1559  }
1560  }
1561  }
1562  }
1563  }
1564 }
1565 
1567 {
1568  int i;
1569 
1571  btHashMap<btHashPtr, btCollisionShape*> serializedShapes;
1572 
1573  for (i = 0; i < m_collisionObjects.size(); i++)
1574  {
1576  btCollisionShape* shape = colObj->getCollisionShape();
1577 
1578  if (!serializedShapes.find(shape))
1579  {
1580  serializedShapes.insert(shape, shape);
1581  shape->serializeSingleShape(serializer);
1582  }
1583  }
1584 
1585  //serialize all collision objects
1586  for (i = 0; i < m_collisionObjects.size(); i++)
1587  {
1590  {
1591  colObj->serializeSingleObject(serializer);
1592  }
1593  }
1594 }
1595 
1597 {
1599  {
1600  int numManifolds = getDispatcher()->getNumManifolds();
1601  for (int i = 0; i < numManifolds; i++)
1602  {
1604  //don't serialize empty manifolds, they just take space
1605  //(may have to do it anyway if it destroys determinism)
1606  if (manifold->getNumContacts() == 0)
1607  continue;
1608 
1609  btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1);
1610  const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer);
1611  serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold);
1612  }
1613  }
1614 }
1615 
1617 {
1618  serializer->startSerialization();
1619 
1620  serializeCollisionObjects(serializer);
1621 
1622  serializeContactManifolds(serializer);
1623 
1624  serializer->finishSerialization();
1625 }
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar &param, btVector3 &normal)
Definition: btAabbUtil2.h:117
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
Definition: btAabbUtil2.h:22
@ CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE
@ COMPOUND_SHAPE_PROXYTYPE
@ SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE
@ TRIANGLE_MESH_SHAPE_PROXYTYPE
@ TERRAIN_SHAPE_PROXYTYPE
@ STATIC_PLANE_PROXYTYPE
@ SPHERE_SHAPE_PROXYTYPE
@ BOX_SHAPE_PROXYTYPE
@ MULTI_SPHERE_SHAPE_PROXYTYPE
@ CYLINDER_SHAPE_PROXYTYPE
@ CONE_SHAPE_PROXYTYPE
@ CAPSULE_SHAPE_PROXYTYPE
#define ACTIVE_TAG
#define DISABLE_DEACTIVATION
#define WANTS_DEACTIVATION
#define ISLAND_SLEEPING
#define DISABLE_SIMULATION
btScalar gContactBreakingThreshold
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
Definition: btDbvt.cpp:299
@ BT_CLOSEST_POINT_ALGORITHMS
Definition: btDispatcher.h:71
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
#define btAssert(x)
Definition: btScalar.h:153
@ BT_SERIALIZE_CONTACT_MANIFOLDS
Definition: btSerializer.h:62
#define BT_CONTACTMANIFOLD_CODE
Definition: btSerializer.h:122
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
DebugDrawcallback(btIDebugDraw *debugDrawer, const btTransform &worldTrans, const btVector3 &color)
btIDebugDraw * m_debugDrawer
int size() const
return the number of elements in the array
int findLinearSearch(const T &key) const
void swap(int index0, int index1)
void remove(const T &key)
void push_back(const T &_Val)
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:28
btVector3 getHalfExtentsWithMargin() const
Definition: btBoxShape.h:34
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btBroadphaseRayCallback &rayCallback, const btVector3 &aabbMin=btVector3(0, 0, 0), const btVector3 &aabbMax=btVector3(0, 0, 0))=0
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
virtual btOverlappingPairCache * getOverlappingPairCache()=0
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
void performRaycast(btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget)
void performConvexcast(btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax)
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btScalar getRadius() const
int getUpAxis() const
btScalar getHalfHeight() const
void * m_oldPtr
Definition: btSerializer.h:52
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
btCollisionObject can be used to manage collision detection objects.
const btTransform & getInterpolationWorldTransform() const
bool isStaticOrKinematicObject() const
void setWorldArrayIndex(int ix)
btTransform & getWorldTransform()
btBroadphaseProxy * getBroadphaseHandle()
virtual void serializeSingleObject(class btSerializer *serializer) const
int getInternalType() const
reserved for Bullet internal usage
bool isStaticObject() const
void setActivationState(int newState) const
bool getCustomDebugColor(btVector3 &colorRGB) const
int getWorldArrayIndex() const
void setBroadphaseHandle(btBroadphaseProxy *handle)
int getCollisionFlags() const
int getActivationState() const
const btCollisionShape * getCollisionShape() const
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
bool isCompound() const
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0....
int getShapeType() const
bool isConvex() const
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.
bool isConcave() const
virtual void serializeSingleShape(btSerializer *serializer) const
bool isPolyhedral() const
CollisionWorld is interface and container for the collision detection.
virtual void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This ...
virtual void updateAabbs()
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bulle...
virtual void debugDrawWorld()
const btBroadphaseInterface * getBroadphase() const
static void objectQuerySingleInternal(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
virtual ~btCollisionWorld()
virtual void refreshBroadphaseProxy(btCollisionObject *collisionObject)
btBroadphaseInterface * m_broadphasePairCache
void updateSingleAabb(btCollisionObject *colObj)
virtual void removeCollisionObject(btCollisionObject *collisionObject)
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
btDispatcher * getDispatcher()
virtual btIDebugDraw * getDebugDrawer()
btCollisionWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
for debug drawing
int getNumCollisionObjects() const
virtual void performDiscreteCollisionDetection()
static void rayTestSingleInternal(const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
void convexSweepTest(const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultC...
bool m_forceUpdateAllAabbs
m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is...
btIDebugDraw * m_debugDrawer
static void objectQuerySingle(const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
objectQuerySingle performs a collision detection query and calls the resultCallback....
btDispatcherInfo & getDispatchInfo()
btDispatcher * m_dispatcher1
void contactPairTest(btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between two collision objects and calls the resultCall...
void serializeContactManifolds(btSerializer *serializer)
virtual void debugDrawObject(const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
rayTestSingle performs a raycast call and calls the resultCallback.
void contactTest(btCollisionObject *colObj, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between colObj against all objects in the btCollisionW...
void serializeCollisionObjects(btSerializer *serializer)
virtual void computeOverlappingPairs()
the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSi...
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
btTransform & getChildTransform(int index)
const btDbvt * getDynamicAabbTree() const
btCollisionShape * getChildShape(int index)
int getNumChildShapes() const
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
virtual btScalar getMargin() const
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:26
btScalar getRadius() const
Definition: btConeShape.h:42
int getConeUpIndex() const
Definition: btConeShape.h:88
btScalar getHeight() const
Definition: btConeShape.h:43
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object
btAlignedObjectArray< btVector3 > m_vertices
btAlignedObjectArray< btFace > m_faces
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good...
class btStridingMeshInterface * getMeshInterface()
The btCylinderShape class implements a cylinder shape primitive, centered around the origin....
int getUpAxis() const
virtual btScalar getRadius() const
btVector3 getHalfExtentsWithMargin() const
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
virtual int getNumManifolds() const =0
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)=0
virtual btPersistentManifold * getManifoldByIndexInternal(int index)=0
virtual btPersistentManifold ** getInternalManifoldPointer()=0
virtual void freeCollisionAlgorithm(void *ptr)=0
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
GjkConvexCast performs a raycast on a convex object using support mapping.
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
void insert(const Key &key, const Value &value)
Definition: btHashMap.h:264
const Value * find(const Key &key) const
Definition: btHashMap.h:424
btHeightfieldTerrainShape simulates a 2D heightfield terrain
void performRaycast(btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget) const
Performs a raycast using a hierarchical Bresenham algorithm.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:414
virtual void drawPlane(const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:450
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
virtual void drawSphere(btScalar radius, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:92
virtual void drawTriangle(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2, const btVector3 &, const btVector3 &, const btVector3 &, const btVector3 &color, btScalar alpha)
Definition: btIDebugDraw.h:114
virtual void reportErrorWarning(const char *warningString)=0
virtual void clearLines()
Definition: btIDebugDraw.h:464
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
Definition: btIDebugDraw.h:163
virtual void drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual int getDebugMode() const =0
virtual void drawBox(const btVector3 &bbMin, const btVector3 &bbMax, const btVector3 &color)
Definition: btIDebugDraw.h:304
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:388
@ DBG_DrawContactPoints
Definition: btIDebugDraw.h:58
virtual DefaultColors getDefaultColors() const
Definition: btIDebugDraw.h:76
virtual void drawAabb(const btVector3 &from, const btVector3 &to, const btVector3 &color)
Definition: btIDebugDraw.h:135
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
Definition: btIDebugDraw.h:335
ManifoldContactPoint collects and maintains persistent contactpoints.
btScalar getDistance() const
int getLifeTime() const
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
btVector3 m_normalWorldOnB
btVector3 m_positionWorldOnB
btManifoldResult is a helper class to manage contact results.
const btCollisionObjectWrapper * m_body0Wrap
const btCollisionObjectWrapper * m_body1Wrap
btScalar m_closestPointDistanceThreshold
btPersistentManifold * m_manifoldPtr
The btMultiSphereShape represents the convex hull of a collection of spheres.
const btVector3 & getSpherePosition(int index) const
int getSphereCount() const
btScalar getSphereRadius(int index) const
virtual void cleanProxyFromPairs(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
const char * serialize(const class btPersistentManifold *manifold, void *dataBuffer, class btSerializer *serializer) const
const btCollisionObject * getBody0() const
int calculateSerializeBufferSize() const
const btManifoldPoint & getContactPoint(int index) const
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
const btConvexPolyhedron * getConvexPolyhedron() const
virtual int getNumEdges() const =0
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
virtual const btVector3 & getLocalScaling() const
btBvhTriangleMeshShape * getChildShape()
virtual btChunk * allocate(size_t size, int numElements)=0
virtual int getSerializationFlags() const =0
virtual void finishSerialization()=0
virtual void startSerialization()=0
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
virtual btScalar getMargin() const
Definition: btSphereShape.h:63
virtual void setMargin(btScalar margin)
Definition: btSphereShape.h:59
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
const btScalar & getPlaneConstant() const
const btVector3 & getPlaneNormal() const
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
static void calculateVelocity(const btTransform &transform0, const btTransform &transform1, btScalar timeStep, btVector3 &linVel, btVector3 &angVel)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform inverse() const
Return the inverse of this transform.
Definition: btTransform.h:182
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btVector3 invXform(const btVector3 &inVec) const
Definition: btTransform.h:215
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:160
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:118
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:146
btTransform inverseTimes(const btTransform &t) const
Return the inverse of this transform times the other transform.
Definition: btTransform.h:222
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
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 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3 normalized() const
Return a normalized version of this vector.
Definition: btVector3.h:949
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
bool fuzzyZero() const
Definition: btVector3.h:688
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
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btCollisionWorld::ContactResultCallback & m_resultCallback
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btBridgedManifoldResult(const btCollisionObjectWrapper *obj0Wrap, const btCollisionObjectWrapper *obj1Wrap, btCollisionWorld::ContactResultCallback &resultCallback)
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
const btCollisionShape * getCollisionShape() const
const btCollisionObject * getCollisionObject() const
const btTransform & getWorldTransform() const
ContactResultCallback is used to report contact points.
virtual btScalar addSingleResult(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)=0
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
RayResultCallback is used to report new raycast results.
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
virtual btScalar addSingleResult(LocalConvexResult &convexResult, bool normalInWorldSpace)=0
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
RayResultCallback is used to report new raycast results.
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
Definition: btDbvt.h:479
int dataAsInt
Definition: btDbvt.h:189
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:229
DBVT_PREFIX void collideTV(const btDbvtNode *root, const btDbvtVolume &volume, DBVT_IPOLICY) const
Definition: btDbvt.h:1148
static DBVT_PREFIX void rayTest(const btDbvtNode *root, const btVector3 &rayFrom, const btVector3 &rayTo, DBVT_IPOLICY)
rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thre...
Definition: btDbvt.h:1276
btDbvtNode * m_root
Definition: btDbvt.h:302
btVector3 m_disabledSimulationObject
Definition: btIDebugDraw.h:36
btVector3 m_disabledDeactivationObject
Definition: btIDebugDraw.h:35
btCollisionObject * m_collisionObject
btCollisionWorld::ContactResultCallback & m_resultCallback
btSingleContactCallback(btCollisionObject *collisionObject, btCollisionWorld *world, btCollisionWorld::ContactResultCallback &resultCallback)
virtual bool process(const btBroadphaseProxy *proxy)
btCollisionWorld * m_world
const btCollisionWorld * m_world
virtual bool process(const btBroadphaseProxy *proxy)
btSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btCollisionWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
btCollisionWorld::RayResultCallback & m_resultCallback
const btConvexShape * m_castShape
virtual bool process(const btBroadphaseProxy *proxy)
const btCollisionWorld * m_world
btCollisionWorld::ConvexResultCallback & m_resultCallback
btSingleSweepCallback(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionWorld *world, btCollisionWorld::ConvexResultCallback &resultCallback, btScalar allowedPenetration)