Examples with CollisionShape spacegraph.space3d.phys.shape.CollisionShape used on opensource projects

Example 1 with CollisionShape

use of spacegraph.space3d.phys.shape.CollisionShape in project narchy by automenta.

the class ConvexTriangleCallback method processTriangle.

@Override
public void processTriangle(v3[] triangle, int partId, int triangleIndex) {
    // just for debugging purposes
    // printf("triangle %d",m_triangleCount++);
    // aabb filter is already applied!
    ci.intersecter1 = intersecter;
    Collidable ob = triBody;
    if (convexBody.shape().isConvex()) {
        tm.init(triangle[0], triangle[1], triangle[2]);
        tm.setMargin(collisionMarginTriangle);
        CollisionShape tmpShape = ob.shape();
        ob.internalSetTemporaryCollisionShape(tm);
        CollisionAlgorithm colAlgo = ci.intersecter1.findAlgorithm(convexBody, triBody, manifoldPtr);
        // this should use the btDispatcher, so the actual registered algorithm is used
        // btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
        resultOut.setShapeIdentifiers(-1, -1, partId, triangleIndex);
        // cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
        // cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
        colAlgo.processCollision(convexBody, triBody, dispatchInfoPtr, resultOut);
        // colAlgo.destroy();
        Intersecter.freeCollisionAlgorithm(colAlgo);
        ob.internalSetTemporaryCollisionShape(tmpShape);
    }
}

Example 2 with CollisionShape

use of spacegraph.space3d.phys.shape.CollisionShape in project narchy by automenta.

the class CompoundCollisionAlgorithm method init.

public void init(CollisionAlgorithmConstructionInfo ci, Collidable body0, Collidable body1, boolean isSwapped) {
    super.init(ci);
    this.isSwapped = isSwapped;
    Collidable colObj = isSwapped ? body1 : body0;
    Collidable otherObj = isSwapped ? body0 : body1;
    assert (colObj.shape().isCompound());
    CompoundShape compoundShape = (CompoundShape) colObj.shape();
    int numChildren = compoundShape.getNumChildShapes();
    int i;
    // childCollisionAlgorithms.resize(numChildren);
    for (i = 0; i < numChildren; i++) {
        CollisionShape tmpShape = colObj.shape();
        CollisionShape childShape = compoundShape.getChildShape(i);
        colObj.internalSetTemporaryCollisionShape(childShape);
        childCollisionAlgorithms.add(ci.intersecter1.findAlgorithm(colObj, otherObj));
        colObj.internalSetTemporaryCollisionShape(tmpShape);
    }
}

Example 3 with CollisionShape

use of spacegraph.space3d.phys.shape.CollisionShape in project narchy by automenta.

the class CompoundCollisionAlgorithm method processCollision.

@Override
public void processCollision(Collidable body0, Collidable body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    Collidable colObj = isSwapped ? body1 : body0;
    Collidable otherObj = isSwapped ? body0 : body1;
    assert (colObj.shape().isCompound());
    CompoundShape compoundShape = (CompoundShape) colObj.shape();
    // 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 = new Transform();
    Transform orgTrans = new Transform();
    Transform childTrans = new Transform();
    Transform orgInterpolationTrans = new Transform();
    Transform newChildWorldTrans = new Transform();
    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.transform(newChildWorldTrans);
        colObj.setInterpolationWorldTransform(newChildWorldTrans);
        // the contactpoint is still projected back using the original inverted worldtrans
        CollisionShape tmpShape = colObj.shape();
        colObj.internalSetTemporaryCollisionShape(childShape);
        // return array[index];
        childCollisionAlgorithms.get(i).processCollision(colObj, otherObj, dispatchInfo, resultOut);
        // revert back
        colObj.internalSetTemporaryCollisionShape(tmpShape);
        colObj.transform(orgTrans);
        colObj.setInterpolationWorldTransform(orgInterpolationTrans);
    }
}

Example 4 with CollisionShape

use of spacegraph.space3d.phys.shape.CollisionShape in project narchy by automenta.

the class CompoundCollisionAlgorithm method calculateTimeOfImpact.

@Override
public float calculateTimeOfImpact(Collidable body0, Collidable body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    Collidable colObj = isSwapped ? body1 : body0;
    Collidable otherObj = isSwapped ? body0 : body1;
    assert (colObj.shape().isCompound());
    CompoundShape compoundShape = (CompoundShape) colObj.shape();
    // 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 = new Transform();
    Transform orgTrans = new Transform();
    Transform childTrans = new Transform();
    float hitFraction = 1f;
    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);
        compoundShape.getChildTransform(i, childTrans);
        // btTransform	newChildWorldTrans = orgTrans*childTrans ;
        tmpTrans.set(orgTrans);
        tmpTrans.mul(childTrans);
        colObj.transform(tmpTrans);
        CollisionShape tmpShape = colObj.shape();
        colObj.internalSetTemporaryCollisionShape(childShape);
        // return array[index];
        float frac = childCollisionAlgorithms.get(i).calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
        if (frac < hitFraction) {
            hitFraction = frac;
        }
        // revert back
        colObj.internalSetTemporaryCollisionShape(tmpShape);
        colObj.transform(orgTrans);
    }
    return hitFraction;
}

Example 5 with CollisionShape

use of spacegraph.space3d.phys.shape.CollisionShape in project narchy by automenta.

the class ConvexTriangleCallback method setTimeStepAndCounters.

public void setTimeStepAndCounters(float collisionMarginTriangle, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    this.dispatchInfoPtr = dispatchInfo;
    this.collisionMarginTriangle = collisionMarginTriangle;
    this.resultOut = resultOut;
    // recalc aabbs
    Transform convexInTriangleSpace = new Transform();
    triBody.getWorldTransform(convexInTriangleSpace);
    convexInTriangleSpace.inverse();
    convexInTriangleSpace.mul(convexBody.getWorldTransform(new Transform()));
    CollisionShape convexShape = convexBody.shape();
    // CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
    convexShape.getAabb(convexInTriangleSpace, aabbMin, aabbMax);
    float extraMargin = collisionMarginTriangle;
    v3 extra = new v3();
    extra.set(extraMargin, extraMargin, extraMargin);
    aabbMax.add(extra);
    aabbMin.sub(extra);
}