//------------------------------------------------------------------------
// NodeyBSPTree::ProcessAllTriangles_R
//------------------------------------------------------------------------
//
void NodeyBSPTree::ProcessAllTriangles_R( const Node* pNode, const AABB& aabb, btTriangleCallback* callback ) const
{
if ( pNode->IsInternal() )
{
const E_PlaneSide eRelation = pNode->GetPlane().ClassifyVolumeRelation( aabb );
if ( eRelation == SIDE_FRONT ) {
ProcessAllTriangles_R( pNode->FrontChild, aabb, callback );
}
else if ( eRelation == SIDE_BACK ) {
ProcessAllTriangles_R( pNode->BackChild, aabb, callback );
}
else // SIDE_CROSS
{
#if 0
// Process all triangles in this node.
for ( TIndex iTriIndex = 0; iTriIndex <= pNode->Data.NumTriangles; ++iTriIndex )
{
const IndexTriple & rTri = m_pRenderMesh->Triangles[ iTriIndex + pNode->Data.FirstTriangle ];
btVector3 triangle[3];
for ( u32 i = 0; i < 3; i++ ) {
Assign( triangle[i], m_pRenderMesh->GetPos( rTri[i] ) );
}
if ( TestTriangleAgainstAabb2( triangle, Convert(aabb.MinEdge), Convert(aabb.MaxEdge) ) )
{
callback->processTriangle( triangle, 0, (int)iTriIndex );
}
}
#else
const Polygon * polygon = pNode->Faces;
while ( polygon != NULL )
{
const u32 numTriangles = polygon->NumVertices() - 2;
const Vec3D & basePoint = polygon->Vertices[ 0 ].Pos;
btVector3 triangle[3];
Assign( triangle[0], basePoint );
for ( u32 i = 1; i < numTriangles + 1; i++ )
{
Assign( triangle[ 1 ], polygon->Vertices[ i ].Pos );
Assign( triangle[ 2 ], polygon->Vertices[ i+1 ].Pos );
//if ( TestTriangleAgainstAabb2( triangle, Convert(aabb.MinEdge), Convert(aabb.MaxEdge) ) )
{
callback->processTriangle( triangle, 0, i );
}
}
polygon = polygon->GetNext();
}
#endif
ProcessAllTriangles_R( pNode->FrontChild, aabb, callback );
ProcessAllTriangles_R( pNode->BackChild, aabb, callback );
}
}//End If Node Is Internal
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
{
//check aabb in triangle-space, before doing this
m_callback->processTriangle(triangle,partId,triangleIndex);
}
}
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
return;
}
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
#if 0
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
}
#endif
if (m_convexBodyWrap->getCollisionShape()->isConvex())
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
const btCollisionObjectWrapper* tmpWrap = 0;
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
}
else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
}
colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
} else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
}
}
void btConvexTriangleCallback::processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
return;
}
//just for debugging purposes
//printf("triangle %d", m_triangleCount++);
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
#if 1
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
btVector3 color(1,1,0);
const btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]), tr(triangle[1]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]), tr(triangle[2]), color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]), tr(triangle[0]), color);
}
#endif
if (m_convexBodyWrap->getCollisionShape()->isConvex())
{
btTriangleShape tm(triangle[0], triangle[1], triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionObjectWrapper triObWrap(m_triBodyWrap, &tm, m_triBodyWrap->getCollisionObject(), m_triBodyWrap->getWorldTransform(), partId, triangleIndex);//correct transform?
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr);
const btCollisionObjectWrapper* tmpWrap = 0;
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersA(partId, triangleIndex);
}
else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersB(partId, triangleIndex);
}
colAlgo->processCollision(m_convexBodyWrap, &triObWrap, *m_dispatchInfoPtr, m_resultOut);
btIDebugDraw *drawer = NULL;
if (m_dispatchInfoPtr) {
drawer = m_dispatchInfoPtr->m_debugDraw;
}
// Compensate for any internal edge contact points
btPersistentManifold *manifold = m_resultOut->getPersistentManifold();
for (int i = 0; i < manifold->getNumContacts(); i++)
{
btManifoldPoint &pt = manifold->getContactPoint(i);
btAdjustInternalEdgeContacts(pt, &triObWrap, m_convexBodyWrap, partId, triangleIndex, BT_TRIANGLE_CONVEX_DOUBLE_SIDED | BT_TRIANGLE_CONCAVE_DOUBLE_SIDED, drawer);
}
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
} else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
}
}
