void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
clearCache();
m_resultOut = resultOut;
m_dispatchInfo = &dispatchInfo;
btGImpactShapeInterface * gimpactshape0;
btGImpactShapeInterface * gimpactshape1;
if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
}
else
{
gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
}
}
else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
}
}
void btGImpactCollisionAlgorithm::processCollision (const btCollisionProcessInfo& processInfo)
{
clearCache(processInfo.m_dispatcher);
m_resultOut = processInfo.m_result;
m_dispatchInfo = &processInfo.m_dispatchInfo;
const btGImpactShapeInterface * gimpactshape0;
const btGImpactShapeInterface * gimpactshape1;
if (processInfo.m_body0.getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape0 = static_cast<const btGImpactShapeInterface *>(processInfo.m_body0.getCollisionShape());
if (processInfo.m_body1.getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<const btGImpactShapeInterface *>(processInfo.m_body1.getCollisionShape());
gimpact_vs_gimpact(
processInfo.m_dispatcher,
&processInfo.m_body0,
&processInfo.m_body1,
gimpactshape0,
gimpactshape1
);
}
else
{
gimpact_vs_shape(
processInfo.m_dispatcher,
&processInfo.m_body0,
&processInfo.m_body1,
gimpactshape0,
processInfo.m_body1.getCollisionShape(),
false
);
}
}
else if (processInfo.m_body1.getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<const btGImpactShapeInterface *>(processInfo.m_body1.getCollisionShape());
gimpact_vs_shape(
processInfo.m_dispatcher,
&processInfo.m_body1,
&processInfo.m_body0,
gimpactshape1,
processInfo.m_body0.getCollisionShape(),
true
);
}
}
void btGImpactCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
clearCache();
m_resultOut = resultOut;
m_triface0 = m_resultOut->m_index0;
m_part0 = m_resultOut->m_partId0;
m_triface1 = m_resultOut->m_index1;
m_part1 = m_resultOut->m_partId1;
m_dispatchInfo = &dispatchInfo;
btGImpactShapeInterface * gimpactshape0;
btGImpactShapeInterface * gimpactshape1;
// if the gimpact shape is nested in a compound shape, we can be given a swapped body0 and body1
// so ensure this is not the case
if (m_resultOut->getBody0Internal() == body1)
{
swap(body0, body1);
swap(m_triface0, m_triface1);
swap(m_part0, m_part1);
}
if (body0->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape0 = static_cast<btGImpactShapeInterface *>(body0->getCollisionShape());
if( body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
gimpact_vs_gimpact(body0,body1,gimpactshape0,gimpactshape1);
}
else
{
gimpact_vs_shape(body0,body1,gimpactshape0,body1->getCollisionShape(),false);
}
}
else if (body1->getCollisionShape()->getShapeType()==GIMPACT_SHAPE_PROXYTYPE )
{
gimpactshape1 = static_cast<btGImpactShapeInterface *>(body1->getCollisionShape());
// hack: swap the original values, they get swapped back again later
swap(m_triface0, m_triface1);
swap(m_part0, m_part1);
gimpact_vs_shape(body1,body0,gimpactshape1,body0->getCollisionShape(),true);
}
}
void btGImpactCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
clearCache();
m_resultOut = resultOut;
m_dispatchInfo = &dispatchInfo;
const btGImpactShapeInterface* gimpactshape0;
const btGImpactShapeInterface* gimpactshape1;
if (body0Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape0 = static_cast<const btGImpactShapeInterface*>(body0Wrap->getCollisionShape());
if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
gimpact_vs_gimpact(body0Wrap, body1Wrap, gimpactshape0, gimpactshape1);
}
else
{
gimpact_vs_shape(body0Wrap, body1Wrap, gimpactshape0, body1Wrap->getCollisionShape(), false);
}
}
else if (body1Wrap->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
{
gimpactshape1 = static_cast<const btGImpactShapeInterface*>(body1Wrap->getCollisionShape());
gimpact_vs_shape(body1Wrap, body0Wrap, gimpactshape1, body0Wrap->getCollisionShape(), true);
}
// Ensure that gContactProcessedCallback is called for concave shapes.
if (getLastManifold())
{
m_resultOut->refreshContactPoints();
}
}
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btGImpactShapeInterface * shape1)
{
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
m_part0 = meshshape0->getMeshPartCount();
while(m_part0--)
{
gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
}
return;
}
if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
m_part1 = meshshape1->getMeshPartCount();
while(m_part1--)
{
gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
}
return;
}
btTransform orgtrans0 = body0->getWorldTransform();
btTransform orgtrans1 = body1->getWorldTransform();
btPairSet pairset;
gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset);
if(pairset.size()== 0) return;
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
{
btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
//specialized function
#ifdef BULLET_TRIANGLE_COLLISION
collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
#else
collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
#endif
return;
}
//general function
shape0->lockChildShapes();
shape1->lockChildShapes();
GIM_ShapeRetriever retriever0(shape0);
GIM_ShapeRetriever retriever1(shape1);
bool child_has_transform0 = shape0->childrenHasTransform();
bool child_has_transform1 = shape1->childrenHasTransform();
int i = pairset.size();
while(i--)
{
GIM_PAIR * pair = &pairset[i];
m_triface0 = pair->m_index1;
m_triface1 = pair->m_index2;
btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
}
if(child_has_transform1)
{
body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
}
//collide two convex shapes
convex_vs_convex_collision(body0,body1,colshape0,colshape1);
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0);
}
if(child_has_transform1)
{
body1->setWorldTransform(orgtrans1);
}
}
shape0->unlockChildShapes();
shape1->unlockChildShapes();
}