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

Example 1 with StaticPlaneShape

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

the class ConvexPlaneCollisionAlgorithm method processCollision.

@Override
public void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    if (manifoldPtr == null) {
        return;
    }
    Stack stack = Stack.enter();
    Transform tmpTrans = stack.allocTransform();
    CollisionObject convexObj = isSwapped ? body1 : body0;
    CollisionObject planeObj = isSwapped ? body0 : body1;
    ConvexShape convexShape = (ConvexShape) convexObj.getCollisionShape();
    StaticPlaneShape planeShape = (StaticPlaneShape) planeObj.getCollisionShape();
    boolean hasCollision = false;
    Vector3f planeNormal = planeShape.getPlaneNormal(stack.allocVector3f());
    float planeConstant = planeShape.getPlaneConstant();
    Transform planeInConvex = stack.allocTransform();
    convexObj.getWorldTransform(planeInConvex);
    planeInConvex.inverse();
    planeInConvex.mul(planeObj.getWorldTransform(tmpTrans));
    Transform convexInPlaneTrans = stack.allocTransform();
    convexInPlaneTrans.inverse(planeObj.getWorldTransform(tmpTrans));
    convexInPlaneTrans.mul(convexObj.getWorldTransform(tmpTrans));
    Vector3f tmp = stack.allocVector3f();
    tmp.negate(planeNormal);
    planeInConvex.basis.transform(tmp);
    Vector3f vtx = convexShape.localGetSupportingVertex(tmp, stack.allocVector3f());
    Vector3f vtxInPlane = stack.alloc(vtx);
    convexInPlaneTrans.transform(vtxInPlane);
    float distance = (planeNormal.dot(vtxInPlane) - planeConstant);
    Vector3f vtxInPlaneProjected = stack.allocVector3f();
    tmp.scale(distance, planeNormal);
    vtxInPlaneProjected.sub(vtxInPlane, tmp);
    Vector3f vtxInPlaneWorld = stack.alloc(vtxInPlaneProjected);
    planeObj.getWorldTransform(tmpTrans).transform(vtxInPlaneWorld);
    hasCollision = distance < manifoldPtr.getContactBreakingThreshold();
    resultOut.setPersistentManifold(manifoldPtr);
    if (hasCollision) {
        // report a contact. internally this will be kept persistent, and contact reduction is done
        Vector3f normalOnSurfaceB = stack.alloc(planeNormal);
        planeObj.getWorldTransform(tmpTrans).basis.transform(normalOnSurfaceB);
        Vector3f pOnB = stack.alloc(vtxInPlaneWorld);
        resultOut.addContactPoint(normalOnSurfaceB, pOnB, distance);
    }
    if (ownManifold) {
        if (manifoldPtr.getNumContacts() != 0) {
            resultOut.refreshContactPoints();
        }
    }
    stack.leave();
}

Example 2 with StaticPlaneShape

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

the class GImpactCollisionAlgorithm method gimpacttrimeshpart_vs_plane_collision.

protected void gimpacttrimeshpart_vs_plane_collision(CollisionObject body0, CollisionObject body1, GImpactMeshShapePart shape0, StaticPlaneShape shape1, boolean swapped) {
    Stack stack = Stack.enter();
    Transform orgtrans0 = body0.getWorldTransform(stack.allocTransform());
    Transform orgtrans1 = body1.getWorldTransform(stack.allocTransform());
    StaticPlaneShape planeshape = shape1;
    Vector4f plane = stack.allocVector4f();
    PlaneShape.get_plane_equation_transformed(planeshape, orgtrans1, plane);
    // test box against plane
    AABB tribox = stack.allocAABB();
    shape0.getAabb(orgtrans0, tribox.min, tribox.max);
    tribox.increment_margin(planeshape.getMargin());
    if (tribox.plane_classify(plane) != PlaneIntersectionType.COLLIDE_PLANE) {
        return;
    }
    shape0.lockChildShapes();
    float margin = shape0.getMargin() + planeshape.getMargin();
    Vector3f vertex = stack.allocVector3f();
    Vector3f tmp = stack.allocVector3f();
    int vi = shape0.getVertexCount();
    while ((vi--) != 0) {
        shape0.getVertex(vi, vertex);
        orgtrans0.transform(vertex);
        float distance = VectorUtil.dot3(vertex, plane) - plane.w - margin;
        if (//add contact
        distance < 0f) {
            if (swapped) {
                tmp.set(-plane.x, -plane.y, -plane.z);
                addContactPoint(body1, body0, vertex, tmp, distance);
            } else {
                tmp.set(plane.x, plane.y, plane.z);
                addContactPoint(body0, body1, vertex, tmp, distance);
            }
        }
    }
    shape0.unlockChildShapes();
    stack.leave();
}

Example 3 with StaticPlaneShape

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

the class GImpactCollisionAlgorithm method gimpact_vs_shape.

public void gimpact_vs_shape(CollisionObject body0, CollisionObject body1, GImpactShapeInterface shape0, CollisionShape shape1, boolean swapped) {
    if (shape0.getGImpactShapeType() == ShapeType.TRIMESH_SHAPE) {
        GImpactMeshShape meshshape0 = (GImpactMeshShape) shape0;
        part0 = meshshape0.getMeshPartCount();
        while ((part0--) != 0) {
            gimpact_vs_shape(body0, body1, meshshape0.getMeshPart(part0), shape1, swapped);
        }
        return;
    }
    //#ifdef GIMPACT_VS_PLANE_COLLISION
    if (shape0.getGImpactShapeType() == ShapeType.TRIMESH_SHAPE_PART && shape1.getShapeType() == BroadphaseNativeType.STATIC_PLANE_PROXYTYPE) {
        GImpactMeshShapePart shapepart = (GImpactMeshShapePart) shape0;
        StaticPlaneShape planeshape = (StaticPlaneShape) shape1;
        gimpacttrimeshpart_vs_plane_collision(body0, body1, shapepart, planeshape, swapped);
        return;
    }
    if (shape1.isCompound()) {
        CompoundShape compoundshape = (CompoundShape) shape1;
        gimpact_vs_compoundshape(body0, body1, shape0, compoundshape, swapped);
        return;
    } else if (shape1.isConcave()) {
        ConcaveShape concaveshape = (ConcaveShape) shape1;
        gimpact_vs_concave(body0, body1, shape0, concaveshape, swapped);
        return;
    }
    Stack stack = Stack.enter();
    Transform orgtrans0 = body0.getWorldTransform(stack.allocTransform());
    Transform orgtrans1 = body1.getWorldTransform(stack.allocTransform());
    IntArrayList collided_results = new IntArrayList();
    gimpact_vs_shape_find_pairs(orgtrans0, orgtrans1, shape0, shape1, collided_results);
    if (collided_results.size() == 0) {
        return;
    }
    shape0.lockChildShapes();
    GIM_ShapeRetriever retriever0 = new GIM_ShapeRetriever(shape0);
    boolean child_has_transform0 = shape0.childrenHasTransform();
    Transform tmpTrans = stack.allocTransform();
    int i = collided_results.size();
    while ((i--) != 0) {
        int child_index = collided_results.get(i);
        if (swapped) {
            triface1 = child_index;
        } else {
            triface0 = child_index;
        }
        CollisionShape colshape0 = retriever0.getChildShape(child_index);
        if (child_has_transform0) {
            tmpTrans.mul(orgtrans0, shape0.getChildTransform(child_index));
            body0.setWorldTransform(tmpTrans);
        }
        // collide two shapes
        if (swapped) {
            shape_vs_shape_collision(body1, body0, shape1, colshape0);
        } else {
            shape_vs_shape_collision(body0, body1, colshape0, shape1);
        }
        // restore transforms
        if (child_has_transform0) {
            body0.setWorldTransform(orgtrans0);
        }
    }
    shape0.unlockChildShapes();
    stack.leave();
}

Example 4 with StaticPlaneShape

use of com.bulletphysics.collision.shapes.StaticPlaneShape in project jmonkeyengine by jMonkeyEngine.

the class PlaneCollisionShape method createShape.

protected void createShape() {
    cShape = new StaticPlaneShape(Converter.convert(plane.getNormal()), plane.getConstant());
    cShape.setLocalScaling(Converter.convert(getScale()));
    cShape.setMargin(margin);
}