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

Example 1 with ConcaveShape

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

the class ConvexConcaveCollisionAlgorithm method calculateTimeOfImpact.

@Override
public float calculateTimeOfImpact(Collidable body0, Collidable body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    v3 tmp = new v3();
    Collidable convexbody = isSwapped ? body1 : body0;
    Collidable triBody = isSwapped ? body0 : body1;
    // quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
    // only perform CCD above a certain threshold, this prevents blocking on the long run
    // because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
    tmp.sub(convexbody.getInterpolationWorldTransform(new Transform()), convexbody.getWorldTransform(new Transform()));
    float squareMot0 = tmp.lengthSquared();
    if (squareMot0 < convexbody.getCcdSquareMotionThreshold()) {
        return 1f;
    }
    Transform tmpTrans = new Transform();
    // const btVector3& from = convexbody->m_worldTransform.getOrigin();
    // btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
    // todo: only do if the motion exceeds the 'radius'
    Transform triInv = triBody.getWorldTransform(new Transform());
    triInv.inverse();
    Transform convexFromLocal = new Transform();
    convexFromLocal.mul(triInv, convexbody.getWorldTransform(tmpTrans));
    Transform convexToLocal = new Transform();
    convexToLocal.mul(triInv, convexbody.getInterpolationWorldTransform(tmpTrans));
    if (triBody.shape().isConcave()) {
        v3 rayAabbMin = new v3(convexFromLocal);
        VectorUtil.setMin(rayAabbMin, convexToLocal);
        v3 rayAabbMax = new v3(convexFromLocal);
        VectorUtil.setMax(rayAabbMax, convexToLocal);
        float ccdRadius0 = convexbody.getCcdSweptSphereRadius();
        tmp.set(ccdRadius0, ccdRadius0, ccdRadius0);
        rayAabbMin.sub(tmp);
        rayAabbMax.add(tmp);
        // is this available?
        float curHitFraction = 1f;
        LocalTriangleSphereCastCallback raycastCallback = new LocalTriangleSphereCastCallback(convexFromLocal, convexToLocal, convexbody.getCcdSweptSphereRadius(), curHitFraction);
        raycastCallback.hitFraction = convexbody.getHitFraction();
        Collidable concavebody = triBody;
        ConcaveShape triangleMesh = (ConcaveShape) concavebody.shape();
        if (triangleMesh != null) {
            triangleMesh.processAllTriangles(raycastCallback, rayAabbMin, rayAabbMax);
        }
        if (raycastCallback.hitFraction < convexbody.getHitFraction()) {
            convexbody.setHitFraction(raycastCallback.hitFraction);
            return raycastCallback.hitFraction;
        }
    }
    return 1f;
}

Example 2 with ConcaveShape

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

the class ConvexConcaveCollisionAlgorithm method processCollision.

@Override
public void processCollision(Collidable body0, Collidable body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
    Collidable convexBody = isSwapped ? body1 : body0;
    Collidable triBody = isSwapped ? body0 : body1;
    if (triBody.shape().isConcave()) {
        Collidable triOb = triBody;
        ConcaveShape concaveShape = (ConcaveShape) triOb.shape();
        if (convexBody.shape().isConvex()) {
            float collisionMarginTriangle = concaveShape.getMargin();
            resultOut.setPersistentManifold(btConvexTriangleCallback.manifoldPtr);
            btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, resultOut);
            // Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
            // m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
            btConvexTriangleCallback.manifoldPtr.setBodies(convexBody, triBody);
            concaveShape.processAllTriangles(btConvexTriangleCallback, btConvexTriangleCallback.getAabbMin(new v3()), btConvexTriangleCallback.getAabbMax(new v3()));
            resultOut.refreshContactPoints();
        }
    }
}