Examples with CollisionShape com.bulletphysics.collision.shapes.CollisionShape used on opensource projects

Example 1 with CollisionShape

use of com.bulletphysics.collision.shapes.CollisionShape in project bdx by GoranM.

the class CollisionWorld method rayTestSingle.

// TODO
public static void rayTestSingle(Transform rayFromTrans, Transform rayToTrans, CollisionObject collisionObject, CollisionShape collisionShape, Transform colObjWorldTransform, RayResultCallback resultCallback) {
    Stack stack = Stack.enter();
    SphereShape pointShape = new SphereShape(0f);
    pointShape.setMargin(0f);
    ConvexShape castShape = pointShape;
    if (collisionShape.isConvex()) {
        CastResult castResult = new CastResult();
        castResult.fraction = resultCallback.closestHitFraction;
        ConvexShape convexShape = (ConvexShape) collisionShape;
        VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
        //#define USE_SUBSIMPLEX_CONVEX_CAST 1
        //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
        SubsimplexConvexCast convexCaster = new SubsimplexConvexCast(castShape, convexShape, simplexSolver);
        if (convexCaster.calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult)) {
            //add hit
            if (castResult.normal.lengthSquared() > 0.0001f) {
                if (castResult.fraction < resultCallback.closestHitFraction) {
                    //#ifdef USE_SUBSIMPLEX_CONVEX_CAST
                    //rotate normal into worldspace
                    rayFromTrans.basis.transform(castResult.normal);
                    //#endif //USE_SUBSIMPLEX_CONVEX_CAST
                    castResult.normal.normalize();
                    LocalRayResult localRayResult = new LocalRayResult(collisionObject, null, castResult.normal, castResult.fraction);
                    boolean normalInWorldSpace = true;
                    resultCallback.addSingleResult(localRayResult, normalInWorldSpace);
                }
            }
        }
    } else {
        if (collisionShape.isConcave()) {
            if (collisionShape.getShapeType() == BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE) {
                // optimized version for BvhTriangleMeshShape
                BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f rayFromLocal = stack.alloc(rayFromTrans.origin);
                worldTocollisionObject.transform(rayFromLocal);
                Vector3f rayToLocal = stack.alloc(rayToTrans.origin);
                worldTocollisionObject.transform(rayToLocal);
                BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
                rcb.hitFraction = resultCallback.closestHitFraction;
                triangleMesh.performRaycast(rcb, rayFromLocal, rayToLocal);
            } else {
                ConcaveShape triangleMesh = (ConcaveShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f rayFromLocal = stack.alloc(rayFromTrans.origin);
                worldTocollisionObject.transform(rayFromLocal);
                Vector3f rayToLocal = stack.alloc(rayToTrans.origin);
                worldTocollisionObject.transform(rayToLocal);
                BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
                rcb.hitFraction = resultCallback.closestHitFraction;
                Vector3f rayAabbMinLocal = stack.alloc(rayFromLocal);
                VectorUtil.setMin(rayAabbMinLocal, rayToLocal);
                Vector3f rayAabbMaxLocal = stack.alloc(rayFromLocal);
                VectorUtil.setMax(rayAabbMaxLocal, rayToLocal);
                triangleMesh.processAllTriangles(rcb, rayAabbMinLocal, rayAabbMaxLocal);
            }
        } else {
            // todo: use AABB tree or other BVH acceleration structure!
            if (collisionShape.isCompound()) {
                CompoundShape compoundShape = (CompoundShape) collisionShape;
                int i = 0;
                Transform childTrans = stack.allocTransform();
                for (i = 0; i < compoundShape.getNumChildShapes(); i++) {
                    compoundShape.getChildTransform(i, childTrans);
                    CollisionShape childCollisionShape = compoundShape.getChildShape(i);
                    Transform childWorldTrans = stack.alloc(colObjWorldTransform);
                    childWorldTrans.mul(childTrans);
                    // replace collision shape so that callback can determine the triangle
                    CollisionShape saveCollisionShape = collisionObject.getCollisionShape();
                    collisionObject.internalSetTemporaryCollisionShape(childCollisionShape);
                    rayTestSingle(rayFromTrans, rayToTrans, collisionObject, childCollisionShape, childWorldTrans, resultCallback);
                    // restore
                    collisionObject.internalSetTemporaryCollisionShape(saveCollisionShape);
                }
            }
        }
    }
    stack.leave();
}

Example 2 with CollisionShape

use of com.bulletphysics.collision.shapes.CollisionShape in project bdx by GoranM.

the class CollisionWorld method objectQuerySingle.

/**
	 * objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
	 */
public static void objectQuerySingle(ConvexShape castShape, Transform convexFromTrans, Transform convexToTrans, CollisionObject collisionObject, CollisionShape collisionShape, Transform colObjWorldTransform, ConvexResultCallback resultCallback, float allowedPenetration) {
    Stack stack = Stack.enter();
    if (collisionShape.isConvex()) {
        CastResult castResult = new CastResult();
        castResult.allowedPenetration = allowedPenetration;
        // ??
        castResult.fraction = 1f;
        ConvexShape convexShape = (ConvexShape) collisionShape;
        VoronoiSimplexSolver simplexSolver = new VoronoiSimplexSolver();
        GjkEpaPenetrationDepthSolver gjkEpaPenetrationSolver = new GjkEpaPenetrationDepthSolver();
        // JAVA TODO: should be convexCaster1
        //ContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);
        GjkConvexCast convexCaster2 = new GjkConvexCast(castShape, convexShape, simplexSolver);
        //btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);
        ConvexCast castPtr = convexCaster2;
        if (castPtr.calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult)) {
            // add hit
            if (castResult.normal.lengthSquared() > 0.0001f) {
                if (castResult.fraction < resultCallback.closestHitFraction) {
                    castResult.normal.normalize();
                    LocalConvexResult localConvexResult = new LocalConvexResult(collisionObject, null, castResult.normal, castResult.hitPoint, castResult.fraction);
                    boolean normalInWorldSpace = true;
                    resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);
                }
            }
        }
    } else {
        if (collisionShape.isConcave()) {
            if (collisionShape.getShapeType() == BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE) {
                BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f convexFromLocal = stack.allocVector3f();
                convexFromLocal.set(convexFromTrans.origin);
                worldTocollisionObject.transform(convexFromLocal);
                Vector3f convexToLocal = stack.allocVector3f();
                convexToLocal.set(convexToTrans.origin);
                worldTocollisionObject.transform(convexToLocal);
                // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
                Transform rotationXform = stack.allocTransform();
                Matrix3f tmpMat = stack.allocMatrix3f();
                tmpMat.mul(worldTocollisionObject.basis, convexToTrans.basis);
                rotationXform.set(tmpMat);
                BridgeTriangleConvexcastCallback tccb = new BridgeTriangleConvexcastCallback(castShape, convexFromTrans, convexToTrans, resultCallback, collisionObject, triangleMesh, colObjWorldTransform);
                tccb.hitFraction = resultCallback.closestHitFraction;
                tccb.normalInWorldSpace = true;
                Vector3f boxMinLocal = stack.allocVector3f();
                Vector3f boxMaxLocal = stack.allocVector3f();
                castShape.getAabb(rotationXform, boxMinLocal, boxMaxLocal);
                triangleMesh.performConvexcast(tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
            } else {
                BvhTriangleMeshShape triangleMesh = (BvhTriangleMeshShape) collisionShape;
                Transform worldTocollisionObject = stack.allocTransform();
                worldTocollisionObject.inverse(colObjWorldTransform);
                Vector3f convexFromLocal = stack.allocVector3f();
                convexFromLocal.set(convexFromTrans.origin);
                worldTocollisionObject.transform(convexFromLocal);
                Vector3f convexToLocal = stack.allocVector3f();
                convexToLocal.set(convexToTrans.origin);
                worldTocollisionObject.transform(convexToLocal);
                // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
                Transform rotationXform = stack.allocTransform();
                Matrix3f tmpMat = stack.allocMatrix3f();
                tmpMat.mul(worldTocollisionObject.basis, convexToTrans.basis);
                rotationXform.set(tmpMat);
                BridgeTriangleConvexcastCallback tccb = new BridgeTriangleConvexcastCallback(castShape, convexFromTrans, convexToTrans, resultCallback, collisionObject, triangleMesh, colObjWorldTransform);
                tccb.hitFraction = resultCallback.closestHitFraction;
                tccb.normalInWorldSpace = false;
                Vector3f boxMinLocal = stack.allocVector3f();
                Vector3f boxMaxLocal = stack.allocVector3f();
                castShape.getAabb(rotationXform, boxMinLocal, boxMaxLocal);
                Vector3f rayAabbMinLocal = stack.alloc(convexFromLocal);
                VectorUtil.setMin(rayAabbMinLocal, convexToLocal);
                Vector3f rayAabbMaxLocal = stack.alloc(convexFromLocal);
                VectorUtil.setMax(rayAabbMaxLocal, convexToLocal);
                rayAabbMinLocal.add(boxMinLocal);
                rayAabbMaxLocal.add(boxMaxLocal);
                triangleMesh.processAllTriangles(tccb, rayAabbMinLocal, rayAabbMaxLocal);
            }
        } else {
            // todo: use AABB tree or other BVH acceleration structure!
            if (collisionShape.isCompound()) {
                CompoundShape compoundShape = (CompoundShape) collisionShape;
                for (int i = 0; i < compoundShape.getNumChildShapes(); i++) {
                    Transform childTrans = compoundShape.getChildTransform(i, stack.allocTransform());
                    CollisionShape childCollisionShape = compoundShape.getChildShape(i);
                    Transform childWorldTrans = stack.allocTransform();
                    childWorldTrans.mul(colObjWorldTransform, childTrans);
                    // replace collision shape so that callback can determine the triangle
                    CollisionShape saveCollisionShape = collisionObject.getCollisionShape();
                    collisionObject.internalSetTemporaryCollisionShape(childCollisionShape);
                    objectQuerySingle(castShape, convexFromTrans, convexToTrans, collisionObject, childCollisionShape, childWorldTrans, resultCallback, allowedPenetration);
                    // restore
                    collisionObject.internalSetTemporaryCollisionShape(saveCollisionShape);
                }
            }
        }
    }
    stack.leave();
}

Example 3 with CollisionShape

use of com.bulletphysics.collision.shapes.CollisionShape in project bdx by GoranM.

the class CompoundCollisionAlgorithm method processCollision.

@Override
public void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    Stack stack = Stack.enter();
    CollisionObject colObj = isSwapped ? body1 : body0;
    CollisionObject otherObj = isSwapped ? body0 : body1;
    assert (colObj.getCollisionShape().isCompound());
    CompoundShape compoundShape = (CompoundShape) colObj.getCollisionShape();
    // We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
    // If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
    // given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
    // determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
    // then use each overlapping node AABB against Tree0
    // and vise versa.
    Transform tmpTrans = stack.allocTransform();
    Transform orgTrans = stack.allocTransform();
    Transform childTrans = stack.allocTransform();
    Transform orgInterpolationTrans = stack.allocTransform();
    Transform newChildWorldTrans = stack.allocTransform();
    int numChildren = childCollisionAlgorithms.size();
    int i;
    for (i = 0; i < numChildren; i++) {
        // temporarily exchange parent btCollisionShape with childShape, and recurse
        CollisionShape childShape = compoundShape.getChildShape(i);
        // backup
        colObj.getWorldTransform(orgTrans);
        colObj.getInterpolationWorldTransform(orgInterpolationTrans);
        compoundShape.getChildTransform(i, childTrans);
        newChildWorldTrans.mul(orgTrans, childTrans);
        colObj.setWorldTransform(newChildWorldTrans);
        colObj.setInterpolationWorldTransform(newChildWorldTrans);
        // the contactpoint is still projected back using the original inverted worldtrans
        CollisionShape tmpShape = colObj.getCollisionShape();
        colObj.internalSetTemporaryCollisionShape(childShape);
        childCollisionAlgorithms.getQuick(i).processCollision(colObj, otherObj, dispatchInfo, resultOut);
        // revert back
        colObj.internalSetTemporaryCollisionShape(tmpShape);
        colObj.setWorldTransform(orgTrans);
        colObj.setInterpolationWorldTransform(orgInterpolationTrans);
    }
    stack.leave();
}

Example 4 with CollisionShape

use of com.bulletphysics.collision.shapes.CollisionShape in project bdx by GoranM.

the class ConvexTriangleCallback method setTimeStepAndCounters.

public void setTimeStepAndCounters(float collisionMarginTriangle, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    this.dispatchInfoPtr = dispatchInfo;
    this.collisionMarginTriangle = collisionMarginTriangle;
    this.resultOut = resultOut;
    Stack stack = Stack.enter();
    // recalc aabbs
    Transform convexInTriangleSpace = stack.allocTransform();
    triBody.getWorldTransform(convexInTriangleSpace);
    convexInTriangleSpace.inverse();
    convexInTriangleSpace.mul(convexBody.getWorldTransform(stack.allocTransform()));
    CollisionShape convexShape = (CollisionShape) convexBody.getCollisionShape();
    //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
    convexShape.getAabb(convexInTriangleSpace, aabbMin, aabbMax);
    float extraMargin = collisionMarginTriangle;
    Vector3f extra = stack.allocVector3f();
    extra.set(extraMargin, extraMargin, extraMargin);
    aabbMax.add(extra);
    aabbMin.sub(extra);
    stack.leave();
}

Example 5 with CollisionShape

use of com.bulletphysics.collision.shapes.CollisionShape in project bdx by GoranM.

the class GImpactCollisionAlgorithm method shape_vs_shape_collision.

protected void shape_vs_shape_collision(CollisionObject body0, CollisionObject body1, CollisionShape shape0, CollisionShape shape1) {
    CollisionShape tmpShape0 = body0.getCollisionShape();
    CollisionShape tmpShape1 = body1.getCollisionShape();
    body0.internalSetTemporaryCollisionShape(shape0);
    body1.internalSetTemporaryCollisionShape(shape1);
    {
        CollisionAlgorithm algor = newAlgorithm(body0, body1);
        // post :	checkManifold is called
        resultOut.setShapeIdentifiers(part0, triface0, part1, triface1);
        algor.processCollision(body0, body1, dispatchInfo, resultOut);
        //algor.destroy();
        dispatcher.freeCollisionAlgorithm(algor);
    }
    body0.internalSetTemporaryCollisionShape(tmpShape0);
    body1.internalSetTemporaryCollisionShape(tmpShape1);
}