28 #define USE_LOCAL_STACK 1 43 btAssert (col1ObjWrap->getCollisionShape()->isCompound());
66 for (i=0;i<pairs.
size();i++)
68 if (pairs[i].m_userPointer)
81 int numChildren = pairs.
size();
83 for (i=0;i<numChildren;i++)
85 if (pairs[i].m_userPointer)
118 :m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
119 m_childCollisionAlgorithmCache(childAlgorithmsCache),
120 m_sharedManifold(sharedManifold)
130 BT_PROFILE(
"btCompoundCompoundLeafCallback::Process");
143 btAssert(childIndex0<compoundShape0->getNumChildShapes());
146 btAssert(childIndex1<compoundShape1->getNumChildShapes());
154 btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ;
158 btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ;
162 btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
163 childShape0->
getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
164 childShape1->
getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
168 aabbMin0 -= thresholdVec;
169 aabbMax0 += thresholdVec;
184 bool removePair =
false;
203 pair->m_userPointer = colAlgo;
222 colAlgo->
processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
243 newmin -=
btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
244 newmax +=
btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
261 #ifdef USE_LOCAL_STACK 265 stkStack.
resize(btDbvt::DOUBLE_STACKSIZE);
275 treshold=stkStack.
size()-4;
320 const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
322 if (!tree0 || !tree1)
344 #ifdef USE_LOCAL_STACK 349 for (i=0;i<pairs.
size();i++)
351 if (pairs[i].m_userPointer)
355 for (
int m=0;m<manifoldArray.
size();m++)
357 if (manifoldArray[m]->getNumContacts())
395 btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
397 for (i=0;i<pairs.size();i++)
399 if (pairs[i].m_userPointer)
407 childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
408 const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
410 childShape0->
getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
413 aabbMin0 -= thresholdVec;
414 aabbMax0 += thresholdVec;
419 childShape1 = compoundShape1->
getChildShape(pairs[i].m_indexB);
422 childShape1->
getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
425 aabbMin1 -= thresholdVec;
426 aabbMax1 += thresholdVec;
void Process(const btDbvtNode *leaf0, const btDbvtNode *leaf1)
btDispatcher * m_dispatcher
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void push_back(const T &_Val)
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual btSimplePair * addOverlappingPair(int indexA, int indexB)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
class btPersistentManifold * m_sharedManifold
int getUpdateRevision() const
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
int m_compoundShapeRevision0
btCompoundCompoundCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
void setPersistentManifold(btPersistentManifold *manifoldPtr)
const btCollisionObjectWrapper * m_compound0ColObjWrap
btPersistentManifold * m_sharedManifold
virtual ~btCompoundCompoundCollisionAlgorithm()
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
void refreshContactPoints()
btManifoldResult is a helper class to manage contact results.
virtual ~btCollisionAlgorithm()
const btCollisionObjectWrapper * getBody1Wrap() const
const btDbvt * getDynamicAabbTree() const
btCompoundCompoundLeafCallback(const btCollisionObjectWrapper *compound1ObjWrap, const btCollisionObjectWrapper *compound0ObjWrap, btDispatcher *dispatcher, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut, btHashedSimplePairCache *childAlgorithmsCache, btPersistentManifold *sharedManifold)
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
btSimplePairArray & getOverlappingPairArray()
DBVT_INLINE bool isinternal() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
btDispatcher * m_dispatcher
const btDispatcherInfo & m_dispatchInfo
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0), to reduce performance overhead of run-time memory (de)allocations.
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btManifoldResult * m_resultOut
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btScalar m_closestPointDistanceThreshold
int size() const
return the number of elements in the array
const btCollisionObjectWrapper * getBody0Wrap() const
btTransform & getChildTransform(int index)
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
const btTransform & getWorldTransform() const
#define btAlignedFree(ptr)
btCollisionObject can be used to manage collision detection objects.
void initializeFromBuffer(void *buffer, int size, int capacity)
void removeChildAlgorithms()
bool(* btShapePairCallback)(const btCollisionShape *pShape0, const btCollisionShape *pShape1)
static DBVT_INLINE bool MyIntersect(const btDbvtAabbMm &a, const btDbvtAabbMm &b, const btTransform &xform, btScalar distanceThreshold)
virtual void freeCollisionAlgorithm(void *ptr)=0
virtual void setShapeIdentifiersB(int partId1, int index1)
const btCollisionShape * getCollisionShape() const
int m_compoundShapeRevision1
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
DBVT_INLINE const btVector3 & Maxs() const
static void MycollideTT(const btDbvtNode *root0, const btDbvtNode *root1, const btTransform &xform, btCompoundCompoundLeafCallback *callback, btScalar distanceThreshold)
btManifoldArray manifoldArray
void resize(int newsize, const T &fillData=T())
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
btSimplePair * findPair(int indexA, int indexB)
const btCollisionObjectWrapper * m_compound1ColObjWrap
DBVT_INLINE bool Intersect(const btDbvtAabbMm &a, const btDbvtAabbMm &b)
#define btAlignedAlloc(size, alignment)
virtual ~btHashedSimplePairCache()
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
btSimplePairArray m_removePairs
DBVT_INLINE const btVector3 & Mins() const
btCollisionShape * getChildShape(int index)
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
virtual void * removeOverlappingPair(int indexA, int indexB)
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btShapePairCallback gCompoundCompoundChildShapePairCallback
const btCollisionObject * getCollisionObject() const