btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0,body1),
m_isSwapped(isSwapped),
m_sharedManifold(ci.m_manifold)
{
m_ownsManifold = false;
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btAssert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
m_compoundShapeRevision = compoundShape->getUpdateRevision();
preallocateChildAlgorithms(body0,body1);
}
void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btAssert (colObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
{
///clear and update all
removeChildAlgorithms();
preallocateChildAlgorithms(body0Wrap,body1Wrap);
m_compoundShapeRevision = compoundShape->getUpdateRevision();
}
if (m_childCollisionAlgorithms.size()==0)
return;
const btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
int i;
manifoldArray.resize(0);
for (i=0;i<m_childCollisionAlgorithms.size();i++)
{
if (m_childCollisionAlgorithms[i])
{
m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
for (int m=0;m<manifoldArray.size();m++)
{
if (manifoldArray[m]->getNumContacts())
{
resultOut->setPersistentManifold(manifoldArray[m]);
resultOut->refreshContactPoints();
resultOut->setPersistentManifold(0);//??necessary?
}
}
manifoldArray.resize(0);
}
}
}
if (tree)
{
btVector3 localAabbMin,localAabbMax;
btTransform otherInCompoundSpace;
otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds
tree->collideTVNoStackAlloc(tree->m_root,bounds,stack2,callback);
} else
{
void btCompoundCollisionAlgorithm::processCollision (const btCollisionProcessInfo& processInfo)
{
const btCollider& colObj = m_isSwapped ? processInfo.m_body1 : processInfo.m_body0;
const btCollider& otherObj = m_isSwapped ? processInfo.m_body0 : processInfo.m_body1;
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObj.getCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
if (compoundShape->getUpdateRevision() != m_compoundShapeRevision && !compoundShape->getBvhTree())
{
///clear and update all
removeChildAlgorithms(processInfo.m_dispatcher);
preallocateChildAlgorithms(processInfo.m_dispatcher, processInfo.m_body0, processInfo.m_body1);
}
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
for (int i=0; i < m_childCollisionAlgorithms.size(); i++)
{
if (m_childCollisionAlgorithms[i])
{
m_childCollisionAlgorithms[i]->getAllContactManifolds(m_manifoldArray);
for (int m = 0; m < m_manifoldArray.size(); m++)
{
if (m_manifoldArray[m]->getNumContacts())
{
processInfo.m_result->setPersistentManifold(m_manifoldArray[m]);
processInfo.m_result->refreshContactPoints();
processInfo.m_result->setPersistentManifold(0);//??necessary?
}
}
m_manifoldArray.resize(0);
}
}
}
const btDbvt* tree = compoundShape->getDynamicAabbTree();
const btQuantizedBvh* obvh = compoundShape->getBvhTree();
if (obvh)
{
btVector3 aabbMin, aabbMax;
MyCompoundNodeOverlapCallback myCallback(colObj, otherObj, processInfo.m_dispatcher, processInfo.m_dispatchInfo, processInfo.m_result, &m_childCollisionAlgorithms[0], m_manifoldPtr);
btTransform collidingInCompoundSpace = colObj.getWorldTransform().inverse() * otherObj.getWorldTransform();
otherObj.getCollisionShape()->getAabb(collidingInCompoundSpace, aabbMin, aabbMax);
// Query bvh-tree here.
obvh->reportAabbOverlappingNodex(&myCallback,aabbMin,aabbMax);
}
else if (tree)
{
//use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(
&colObj,
&otherObj,
processInfo.m_dispatcher,
processInfo.m_dispatchInfo,
processInfo.m_result,
&m_childCollisionAlgorithms[0],
m_manifoldPtr
);
btVector3 localAabbMin,localAabbMax;
btTransform otherInCompoundSpace;
otherInCompoundSpace = colObj.getWorldTransform().inverse() * otherObj.getWorldTransform();
otherObj.getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds
tree->collideTV(tree->m_root,bounds,callback);
} else
{