virtual void processNode(int nodeSubPart, int nodeShapeIndex)
{
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundCollider.getCollisionShape());
const btCollisionShape* childShape = compoundShape->getChildShape(nodeShapeIndex);
//backup
btTransform orgTrans = m_compoundCollider.getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(nodeShapeIndex);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//the contactpoint is still projected back using the original inverted worldtrans
btCollider childCollider(&m_compoundCollider, childShape,m_compoundCollider.getCollisionObject(), newChildWorldTrans);
if (!m_childCollisionAlgorithms[nodeShapeIndex])
m_childCollisionAlgorithms[nodeShapeIndex] = m_dispatcher->findAlgorithm(&childCollider,&m_collidingObj,m_sharedManifold);
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundCollider.getCollisionObject())
{
m_resultOut->setShapeIdentifiersA(-1,nodeShapeIndex);
} else
{
m_resultOut->setShapeIdentifiersB(-1,nodeShapeIndex);
}
btCollisionProcessInfo processInfo(childCollider, m_collidingObj, m_dispatchInfo, m_resultOut, m_dispatcher);
m_childCollisionAlgorithms[nodeShapeIndex]->processCollision(processInfo);
}
void ProcessChildShape(btCollisionShape* childShape,int index)
{
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
//backup
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
m_compoundColObj->setWorldTransform( newChildWorldTrans);
m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj)
{
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
m_resultOut->setShapeIdentifiersB(-1,index);
}
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
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));
}
//revert back transform
m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
m_compoundColObj->setWorldTransform( orgTrans );
m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
}
void ProcessChildShape(const btCollisionShape* childShape,int index)
{
btAssert(index>=0);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObj->getCollisionShape());
btAssert(index<compoundShape->getNumChildShapes());
//backup
btTransform orgTrans = m_compoundColObj->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
//the contactpoint is still projected back using the original inverted worldtrans
btCollider childCollider(m_compoundColObj, childShape, m_compoundColObj->getCollisionObject(), newChildWorldTrans);
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&childCollider,m_otherObj,m_sharedManifold);
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj->getCollisionObject())
{
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
m_resultOut->setShapeIdentifiersB(-1,index);
}
btCollisionProcessInfo processInfo(childCollider, *m_otherObj, m_dispatchInfo, m_resultOut, m_dispatcher);
m_childCollisionAlgorithms[index]->processCollision(processInfo);
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));
}
}
}
void ProcessChildShape(const btCollisionShape* childShape,int index)
{
btAssert(index>=0);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btAssert(index<compoundShape->getNumChildShapes());
//backup
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
//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);
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);
}
m_childCollisionAlgorithms[index]->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);
}
}
}