void
btTriangleConvexcastCallback::processTriangle (btVector3* triangle, int partId, int triangleIndex)
{
//BTREVIEW 0.6%
btTriangleShape triangleShape (triangle[0], triangle[1], triangle[2]);
triangleShape.setMargin(m_triangleCollisionMargin);
btVoronoiSimplexSolver simplexSolver;
btGjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver;
//#define USE_SUBSIMPLEX_CONVEX_CAST 1
//if you reenable USE_SUBSIMPLEX_CONVEX_CAST see commented out code below
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(m_convexShape, &triangleShape, &simplexSolver);
#else
//btGjkConvexCast convexCaster(m_convexShape,&triangleShape,&simplexSolver);
btContinuousConvexCollision convexCaster(m_convexShape,&triangleShape,&simplexSolver,&gjkEpaPenetrationSolver);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
btConvexCast::CastResult castResult;
castResult.m_fraction = btScalar(1.);
castResult.m_allowedPenetration = m_allowedPenetration;
if (convexCaster.calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
{
//add hit
if (castResult.m_normal.length2() > btScalar(0.0001))
{
if (castResult.m_fraction < m_hitFraction)
{
/* btContinuousConvexCast's normal is already in world space */
/*
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = m_convexShapeFrom.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
*/
castResult.m_normal.normalize();
reportHit (castResult.m_normal,
castResult.m_hitPoint,
castResult.m_fraction,
partId,
triangleIndex);
}
}
}
}
virtual void processTriangle(btVector3* triangleVerts, int partId, int triangleIndex)
{
if (!m_oncePerSphere)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(m_curSpherePos);
btTriangleShape triangleShape(triangleVerts[0],triangleVerts[1],triangleVerts[2]);
SphereTriangleDetector detector(m_sphereChildShape,&triangleShape,0.);
btVector3 hitPos,hitNormal;
btScalar hitDepth,timeOfImpact;
if (detector.collide(m_curSpherePos,hitPos,hitNormal,hitDepth,timeOfImpact,0.))
{
m_oncePerSphere = true;
m_bunnyCompound->addChildShape(tr,m_sphereChildShape);
}
}
}
Void ConcaveSphereCollision::CollisionQuery::ProcessTransformed( const ShapeConcave::TriangleLeaf & triLeaf )
{
// Build triangle shape
ShapeTriangle triangleShape( triLeaf.vTriangle );
TransformedShapeConvex triangleTrShape( &triangleShape, Transform3::Identity );
// Set transformed shapes
TransformedShapeConvex *pTrShapeA, *pTrShapeB;
if ( pThis->m_bReverseNormal ) {
pTrShapeA = pThis->m_pSphere;
pTrShapeB = &triangleTrShape;
} else {
pTrShapeA = &triangleTrShape;
pTrShapeB = pThis->m_pSphere;
}
// Compute collision
TriangleSphereCollision hCollision( pTrShapeA, pTrShapeB );
hCollision.Initialize();
if ( hCollision.DetectCollision( bGenerateContactPoints ) )
bCollisionFound = true;
// Build contact manifold
if ( bGenerateContactPoints ) {
ContactPointID curCPID;
curCPID.dwSpecifierA = triLeaf.dwTriangleID;
curCPID.dwSpecifierB = 0;
curCPID.dwFeatureA = 0;
curCPID.dwFeatureB = 0;
if ( pThis->m_bReverseNormal )
curCPID.ReverseObjects();
const ContactPoint * pCP = hCollision.GetManifold()->GetContactPoint(0);
pThis->m_pCollisionManifold->AddPoint( curCPID, pCP->vWorldPointA, pCP->vWorldPointB, pCP->vWorldNormalBA, pCP->fDistance );
}
}
