28 #define USE_LOCAL_STACK 1 42 btAssert(col1ObjWrap->getCollisionShape()->isCompound());
62 for (i = 0; i < pairs.
size(); i++)
64 if (pairs[i].m_userPointer)
75 int numChildren = pairs.
size();
77 for (i = 0; i < numChildren; i++)
79 if (pairs[i].m_userPointer)
116 BT_PROFILE(
"btCompoundCompoundLeafCallback::Process");
126 btAssert(childIndex0 < compoundShape0->getNumChildShapes());
129 btAssert(childIndex1 < compoundShape1->getNumChildShapes());
137 btTransform newChildWorldTrans0 = orgTrans0 * childTrans0;
141 btTransform newChildWorldTrans1 = orgTrans1 * childTrans1;
144 btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
145 childShape0->
getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
146 childShape1->
getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
150 aabbMin0 -= thresholdVec;
151 aabbMax0 += thresholdVec;
165 bool removePair =
false;
183 pair->m_userPointer = colAlgo;
220 newmin -=
btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
221 newmax +=
btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
236 #ifdef USE_LOCAL_STACK 248 if (depth > treshold)
251 treshold = stkStack.
size() - 4;
295 const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
297 if (!tree0 || !tree1)
317 #ifdef USE_LOCAL_STACK 322 for (i = 0; i < pairs.
size(); i++)
324 if (pairs[i].m_userPointer)
360 btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
362 for (i = 0; i < pairs.size(); i++)
364 if (pairs[i].m_userPointer)
372 childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
373 const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
375 childShape0->
getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
378 aabbMin0 -= thresholdVec;
379 aabbMax0 += thresholdVec;
384 childShape1 = compoundShape1->
getChildShape(pairs[i].m_indexB);
387 childShape1->
getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
390 aabbMin1 -= thresholdVec;
391 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)
DBVT_INLINE const btVector3 & Mins() const
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual btSimplePair * addOverlappingPair(int indexA, int indexB)
const btCollisionObjectWrapper * getBody0Wrap() const
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0
class btPersistentManifold * m_sharedManifold
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
const btDbvt * getDynamicAabbTree() const
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()
int getUpdateRevision() const
const btCollisionShape * getCollisionShape() 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()
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...
DBVT_INLINE const btVector3 & Maxs() const
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
btTransform & getChildTransform(int index)
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
const btCollisionObject * getCollisionObject() const
class btHashedSimplePairCache * m_childCollisionAlgorithmCache
#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)
int m_compoundShapeRevision1
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)=0
int size() const
return the number of elements in the array
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())
DBVT_INLINE bool isinternal() const
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
const btTransform & getWorldTransform() const
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)
const btCollisionObjectWrapper * getBody1Wrap() const
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
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