void btGImpactCollisionAlgorithm::collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactMeshShapePart* shape0,
const btGImpactMeshShapePart* shape1,
const int* pairs, int pair_count)
{
btTriangleShapeEx tri0;
btTriangleShapeEx tri1;
shape0->lockChildShapes();
shape1->lockChildShapes();
const int* pair_pointer = pairs;
while (pair_count--)
{
m_triface0 = *(pair_pointer);
m_triface1 = *(pair_pointer + 1);
pair_pointer += 2;
shape0->getBulletTriangle(m_triface0, tri0);
shape1->getBulletTriangle(m_triface1, tri1);
//collide two convex shapes
if (tri0.overlap_test_conservative(tri1))
{
convex_vs_convex_collision(body0Wrap, body1Wrap, &tri0, &tri1);
}
}
shape0->unlockChildShapes();
shape1->unlockChildShapes();
}
void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
btCollisionObject * body0,
btCollisionObject * body1,
btGImpactShapeInterface * shape0,
btGImpactShapeInterface * shape1)
{
if(shape0->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape0 = static_cast<btGImpactMeshShape *>(shape0);
m_part0 = meshshape0->getMeshPartCount();
while(m_part0--)
{
gimpact_vs_gimpact(body0,body1,meshshape0->getMeshPart(m_part0),shape1);
}
return;
}
if(shape1->getGImpactShapeType()==CONST_GIMPACT_TRIMESH_SHAPE)
{
btGImpactMeshShape * meshshape1 = static_cast<btGImpactMeshShape *>(shape1);
m_part1 = meshshape1->getMeshPartCount();
while(m_part1--)
{
gimpact_vs_gimpact(body0,body1,shape0,meshshape1->getMeshPart(m_part1));
}
return;
}
btTransform orgtrans0 = body0->getWorldTransform();
btTransform orgtrans1 = body1->getWorldTransform();
btPairSet pairset;
gimpact_vs_gimpact_find_pairs(orgtrans0,orgtrans1,shape0,shape1,pairset);
if(pairset.size()== 0) return;
if(shape0->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART &&
shape1->getGImpactShapeType() == CONST_GIMPACT_TRIMESH_SHAPE_PART)
{
btGImpactMeshShapePart * shapepart0 = static_cast<btGImpactMeshShapePart * >(shape0);
btGImpactMeshShapePart * shapepart1 = static_cast<btGImpactMeshShapePart * >(shape1);
//specialized function
#ifdef BULLET_TRIANGLE_COLLISION
collide_gjk_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
#else
collide_sat_triangles(body0,body1,shapepart0,shapepart1,&pairset[0].m_index1,pairset.size());
#endif
return;
}
//general function
shape0->lockChildShapes();
shape1->lockChildShapes();
GIM_ShapeRetriever retriever0(shape0);
GIM_ShapeRetriever retriever1(shape1);
bool child_has_transform0 = shape0->childrenHasTransform();
bool child_has_transform1 = shape1->childrenHasTransform();
int i = pairset.size();
while(i--)
{
GIM_PAIR * pair = &pairset[i];
m_triface0 = pair->m_index1;
m_triface1 = pair->m_index2;
btCollisionShape * colshape0 = retriever0.getChildShape(m_triface0);
btCollisionShape * colshape1 = retriever1.getChildShape(m_triface1);
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0*shape0->getChildTransform(m_triface0));
}
if(child_has_transform1)
{
body1->setWorldTransform(orgtrans1*shape1->getChildTransform(m_triface1));
}
//collide two convex shapes
convex_vs_convex_collision(body0,body1,colshape0,colshape1);
if(child_has_transform0)
{
body0->setWorldTransform(orgtrans0);
}
if(child_has_transform1)
{
body1->setWorldTransform(orgtrans1);
}
}
shape0->unlockChildShapes();
shape1->unlockChildShapes();
}
