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* Added in the manifold point dept on collision desc. In BulletSim engine BulletXNA.

user_profiles
teravus 2013-01-24 07:36:24 -05:00
parent ba9d6b7337
commit d5b950633d
1 changed files with 63 additions and 4 deletions
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67
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
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@ -1821,7 +1821,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
RecordCollision(this, objA, objB, contactPoint, contactNormal); RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance());
m_collisionsThisFrame ++; m_collisionsThisFrame ++;
if (m_collisionsThisFrame >= 9999999) if (m_collisionsThisFrame >= 9999999)
break; break;
@ -1858,8 +1858,64 @@ private sealed class BulletConstraintXNA : BulletConstraint
} }
return numSimSteps; return numSimSteps;
} }
public void RecordGhostCollisions(PairCachingGhostObject obj)
{
/*
*void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj)
{
btManifoldArray manifoldArray;
btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray();
int numPairs = pairArray.size();
private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) // For all the pairs of sets of contact points
for (int i=0; i < numPairs; i++)
{
if (m_collisionsThisFrame >= m_maxCollisionsPerFrame)
break;
manifoldArray.clear();
const btBroadphasePair& pair = pairArray[i];
// The real representation is over in the world pair cache
btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1);
if (!collisionPair)
continue;
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(manifoldArray);
// The collision pair has sets of collision points (manifolds)
for (int j=0; j < manifoldArray.size(); j++)
{
btPersistentManifold* contactManifold = manifoldArray[j];
int numContacts = contactManifold->getNumContacts();
const btCollisionObject* objA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
const btCollisionObject* objB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
// TODO: this is a more thurough check than the regular collision code --
// here we find the penetrating contact in the manifold but for regular
// collisions we assume the first point in the manifold is good enough.
// Decide of this extra checking is required or if first point is good enough.
for (int p=0; p < numContacts; p++)
{
const btManifoldPoint& pt = contactManifold->getContactPoint(p);
// If a penetrating contact, this is a hit
if (pt.getDistance()<0.f)
{
const btVector3& contactPoint = pt.getPositionWorldOnA();
const btVector3& normalOnA = -pt.m_normalWorldOnB;
RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance());
// Only one contact point for each set of colliding objects
break;
}
}
}
}
}
*/
}
private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration)
{ {
IndexedVector3 contactNormal = norm; IndexedVector3 contactNormal = norm;
@ -1885,7 +1941,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
aID = idA, aID = idA,
bID = idB, bID = idB,
point = new Vector3(contact.X,contact.Y,contact.Z), point = new Vector3(contact.X,contact.Y,contact.Z),
normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z) normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z),
penetration = penetration
}; };
if (world.LastCollisionDesc < world.UpdatedCollisions.Length) if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
@ -1911,7 +1969,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
return ent; return ent;
} }
public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; } public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */
return false; }
public override Vector3 GetLocalScaling(BulletShape pShape) public override Vector3 GetLocalScaling(BulletShape pShape)
{ {