void ProcessChildShape(const btCollisionShape* childShape, int index)
{
btAssert(index >= 0);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btAssert(index < compoundShape->getNumChildShapes());
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
//backup
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans * childTrans;
//perform an AABB check first
btVector3 aabbMin0, aabbMax0;
childShape->getAabb(newChildWorldTrans, aabbMin0, aabbMax0);
btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
aabbMin0 -= extendAabb;
aabbMax0 += extendAabb;
btVector3 aabbMin1, aabbMax1;
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(), aabbMin1, aabbMax1);
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
{
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index);
btCollisionAlgorithm* algo = 0;
bool allocatedAlgorithm = false;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
allocatedAlgorithm = true;
}
else
{
//the contactpoint is still projected back using the original inverted worldtrans
if (!m_childCollisionAlgorithms[index])
{
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
}
algo = m_childCollisionAlgorithms[index];
}
const btCollisionObjectWrapper* tmpWrap = 0;
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&compoundWrap);
m_resultOut->setShapeIdentifiersA(-1, index);
}
else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&compoundWrap);
m_resultOut->setShapeIdentifiersB(-1, index);
}
algo->processCollision(&compoundWrap, m_otherObjWrap, m_dispatchInfo, m_resultOut);
#if 0
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
}
#endif
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
}
else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
if (allocatedAlgorithm)
{
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
}
}
}
