static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
return true;
}
static bool CustomMaterialCombinerCallback(
btManifoldPoint& cp,
const btCollisionObject* colObj0,
int /* partId0 */,
int /* index0 */,
const btCollisionObject* colObj1,
int partId1,
int index1)
{
btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
return false;
}
bool contactAdded(btManifoldPoint& cp,
const btCollisionObjectWrapper* colObj0Wrap,
int partId0,
int index0,
const btCollisionObjectWrapper* colObj1Wrap,
int partId1,
int index1) {
btAdjustInternalEdgeContacts(cp,colObj1Wrap,colObj0Wrap, partId1,index1);
return true;
}
static bool CustomMaterialCallback(btManifoldPoint &ManifoldPoint, const btCollisionObjectWrapper *Object0, int PartID0, int Index0, const btCollisionObjectWrapper *Object1, int PartID1, int Index1) {
//if(Object0->getCollisionShape()->getShapeType()TRIANGLE_SHAPE_PROXYTYPE
//printf("before %f\n", ManifoldPoint.m_normalWorldOnB[1]);
float Before = ManifoldPoint.m_normalWorldOnB[1];
if(1) {
//printf("%d %d %d %d %d %d\n", Object0->getCollisionShape()->getShapeType(), Object1->getCollisionShape()->getShapeType(), PartID0, PartID1, Index0, Index1);
btAdjustInternalEdgeContacts(ManifoldPoint, Object1, Object0, PartID1, Index1);
}
float After = ManifoldPoint.m_normalWorldOnB[1];
//if(Before != After) printf("before %f after %f\n", Before, After);
return false;
}
static bool CustomMaterialCallback(btManifoldPoint &ManifoldPoint, const btCollisionObjectWrapper *Object0, int PartID0, int Index0, const btCollisionObjectWrapper *Object1, int PartID1, int Index1) {
if(Object1->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return false;
btScalar Before = ManifoldPoint.m_normalWorldOnB.getY();
if(USE_INTERNAL_EDGE_UTILITY) {
HitOnce = true;
btAdjustInternalEdgeContacts(ManifoldPoint, Object1, Object0, PartID1, Index1);
}
btScalar After = ManifoldPoint.m_normalWorldOnB.getY();
if(Before != After) printf("contact callback: before y=%f after y=%f\n", Before, After);
return false;
}
static bool CustomMaterialCombinerCallback(
btManifoldPoint& cp,
const btCollisionObject* colObj0,
int partId0,
int index0,
const btCollisionObject* colObj1,
int partId1,
int index1)
{
///make sure colObj0 is the triangle mesh
//if (enable)
{
btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
}
return false;
}
static bool CustomMaterialCombinerCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
if (enable)
{
btAdjustInternalEdgeContacts(cp,colObj1Wrap,colObj0Wrap, partId1,index1);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
}
float friction0 = colObj0Wrap->getCollisionObject()->getFriction();
float friction1 = colObj1Wrap->getCollisionObject()->getFriction();
float restitution0 = colObj0Wrap->getCollisionObject()->getRestitution();
float restitution1 = colObj1Wrap->getCollisionObject()->getRestitution();
if (colObj0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
friction0 = 1.0;//partId0,index0
restitution0 = 0.f;
}
if (colObj1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
{
if (index1&1)
{
friction1 = 1.0f;//partId1,index1
} else
{
friction1 = 0.f;
}
restitution1 = 0.f;
}
cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
//this return value is currently ignored, but to be on the safe side: return false if you don't calculate friction
return true;
}
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);
}
}
