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lol/src/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

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  1. /*

  2. Bullet Continuous Collision Detection and Physics Library

  3. Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

  4. 

  5. This software is provided 'as-is', without any express or implied warranty.

  6. In no event will the authors be held liable for any damages arising from the use of this software.

  7. Permission is granted to anyone to use this software for any purpose,

  8. including commercial applications, and to alter it and redistribute it freely,

  9. subject to the following restrictions:

  10. 

  11. 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.

  12. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.

  13. 3. This notice may not be removed or altered from any source distribution.

  14. */

  15. 

  16. #include "btCollisionWorld.h"

  17. #include "btCollisionDispatcher.h"

  18. #include "BulletCollision/CollisionDispatch/btCollisionObject.h"

  19. #include "BulletCollision/CollisionShapes/btCollisionShape.h"

  20. #include "BulletCollision/CollisionShapes/btConvexShape.h"

  21. #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"

  22. #include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting

  23. #include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting

  24. #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"

  25. #include "BulletCollision/CollisionShapes/btCompoundShape.h"

  26. #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"

  27. #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"

  28. #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"

  29. #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"

  30. #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"

  31. #include "BulletCollision/BroadphaseCollision/btDbvt.h"

  32. #include "LinearMath/btAabbUtil2.h"

  33. #include "LinearMath/btQuickprof.h"

  34. #include "LinearMath/btStackAlloc.h"

  35. #include "LinearMath/btSerializer.h"

  36. #include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"

  37. 

  38. //#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION

  39. 

  40. 

  41. //#define USE_BRUTEFORCE_RAYBROADPHASE 1

  42. //RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest

  43. //#define RECALCULATE_AABB_RAYCAST 1

  44. 

  45. //When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)

  46. #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"

  47. #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"

  48. #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"

  49. 

  50. 

  51. ///for debug drawing

  52. 

  53. //for debug rendering

  54. #include "BulletCollision/CollisionShapes/btBoxShape.h"

  55. #include "BulletCollision/CollisionShapes/btCapsuleShape.h"

  56. #include "BulletCollision/CollisionShapes/btCompoundShape.h"

  57. #include "BulletCollision/CollisionShapes/btConeShape.h"

  58. #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"

  59. #include "BulletCollision/CollisionShapes/btCylinderShape.h"

  60. #include "BulletCollision/CollisionShapes/btMultiSphereShape.h"

  61. #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"

  62. #include "BulletCollision/CollisionShapes/btSphereShape.h"

  63. #include "BulletCollision/CollisionShapes/btTriangleCallback.h"

  64. #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"

  65. #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"

  66. 

  67. 

  68. 

  69. btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache, btCollisionConfiguration* collisionConfiguration)

  70. :m_dispatcher1(dispatcher),

  71. m_broadphasePairCache(pairCache),

  72. m_debugDrawer(0),

  73. m_forceUpdateAllAabbs(true)

  74. {

  75. 	m_stackAlloc = collisionConfiguration->getStackAllocator();

  76. 	m_dispatchInfo.m_stackAllocator = m_stackAlloc;

  77. }

  78. 

  79. 

  80. btCollisionWorld::~btCollisionWorld()

  81. {

  82. 

  83. 	//clean up remaining objects

  84. 	int i;

  85. 	for (i=0;i<m_collisionObjects.size();i++)

  86. 	{

  87. 		btCollisionObject* collisionObject= m_collisionObjects[i];

  88. 

  89. 		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();

  90. 		if (bp)

  91. 		{

  92. 			//

  93. 			// only clear the cached algorithms

  94. 			//

  95. 			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);

  96. 			getBroadphase()->destroyProxy(bp,m_dispatcher1);

  97. 			collisionObject->setBroadphaseHandle(0);

  98. 		}

  99. 	}

  100. 

  101. 

  102. }

  103. 

  104. 

  105. 

  106. 

  107. 

  108. 

  109. 

  110. 

  111. 

  112. 

  113. void	btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)

  114. {

  115. 

  116. 	btAssert(collisionObject);

  117. 

  118. 	//check that the object isn't already added

  119. 	btAssert( m_collisionObjects.findLinearSearch(collisionObject)  == m_collisionObjects.size());

  120. 

  121. 	m_collisionObjects.push_back(collisionObject);

  122. 

  123. 	//calculate new AABB

  124. 	btTransform trans = collisionObject->getWorldTransform();

  125. 

  126. 	btVector3	minAabb;

  127. 	btVector3	maxAabb;

  128. 	collisionObject->getCollisionShape()->getAabb(trans,minAabb,maxAabb);

  129. 

  130. 	int type = collisionObject->getCollisionShape()->getShapeType();

  131. 	collisionObject->setBroadphaseHandle( getBroadphase()->createProxy(

  132. 		minAabb,

  133. 		maxAabb,

  134. 		type,

  135. 		collisionObject,

  136. 		collisionFilterGroup,

  137. 		collisionFilterMask,

  138. 		m_dispatcher1,0

  139. 		))	;

  140. 

  141. 

  142. 

  143. 

  144. 

  145. }

  146. 

  147. 

  148. 

  149. void	btCollisionWorld::updateSingleAabb(btCollisionObject* colObj)

  150. {

  151. 	btVector3 minAabb,maxAabb;

  152. 	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);

  153. 	//need to increase the aabb for contact thresholds

  154. 	btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);

  155. 	minAabb -= contactThreshold;

  156. 	maxAabb += contactThreshold;

  157. 

  158. 	if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())

  159. 	{

  160. 		btVector3 minAabb2,maxAabb2;

  161. 		colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);

  162. 		minAabb2 -= contactThreshold;

  163. 		maxAabb2 += contactThreshold;

  164. 		minAabb.setMin(minAabb2);

  165. 		maxAabb.setMax(maxAabb2);

  166. 	}

  167. 

  168. 	btBroadphaseInterface* bp = (btBroadphaseInterface*)m_broadphasePairCache;

  169. 

  170. 	//moving objects should be moderately sized, probably something wrong if not

  171. 	if ( colObj->isStaticObject() || ((maxAabb-minAabb).length2() < btScalar(1e12)))

  172. 	{

  173. 		bp->setAabb(colObj->getBroadphaseHandle(),minAabb,maxAabb, m_dispatcher1);

  174. 	} else

  175. 	{

  176. 		//something went wrong, investigate

  177. 		//this assert is unwanted in 3D modelers (danger of loosing work)

  178. 		colObj->setActivationState(DISABLE_SIMULATION);

  179. 

  180. 		static bool reportMe = true;

  181. 		if (reportMe && m_debugDrawer)

  182. 		{

  183. 			reportMe = false;

  184. 			m_debugDrawer->reportErrorWarning("Overflow in AABB, object removed from simulation");

  185. 			m_debugDrawer->reportErrorWarning("If you can reproduce this, please email bugs@continuousphysics.com\n");

  186. 			m_debugDrawer->reportErrorWarning("Please include above information, your Platform, version of OS.\n");

  187. 			m_debugDrawer->reportErrorWarning("Thanks.\n");

  188. 		}

  189. 	}

  190. }

  191. 

  192. void	btCollisionWorld::updateAabbs()

  193. {

  194. 	BT_PROFILE("updateAabbs");

  195. 

  196. 	btTransform predictedTrans;

  197. 	for ( int i=0;i<m_collisionObjects.size();i++)

  198. 	{

  199. 		btCollisionObject* colObj = m_collisionObjects[i];

  200. 

  201. 		//only update aabb of active objects

  202. 		if (m_forceUpdateAllAabbs || colObj->isActive())

  203. 		{

  204. 			updateSingleAabb(colObj);

  205. 		}

  206. 	}

  207. }

  208. 

  209. 

  210. 

  211. void	btCollisionWorld::performDiscreteCollisionDetection()

  212. {

  213. 	BT_PROFILE("performDiscreteCollisionDetection");

  214. 

  215. 	btDispatcherInfo& dispatchInfo = getDispatchInfo();

  216. 

  217. 	updateAabbs();

  218. 

  219. 	{

  220. 		BT_PROFILE("calculateOverlappingPairs");

  221. 		m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1);

  222. 	}

  223. 

  224. 

  225. 	btDispatcher* dispatcher = getDispatcher();

  226. 	{

  227. 		BT_PROFILE("dispatchAllCollisionPairs");

  228. 		if (dispatcher)

  229. 			dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1);

  230. 	}

  231. 

  232. }

  233. 

  234. 

  235. 

  236. void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)

  237. {

  238. 

  239. 

  240. 	//bool removeFromBroadphase = false;

  241. 

  242. 	{

  243. 

  244. 		btBroadphaseProxy* bp = collisionObject->getBroadphaseHandle();

  245. 		if (bp)

  246. 		{

  247. 			//

  248. 			// only clear the cached algorithms

  249. 			//

  250. 			getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(bp,m_dispatcher1);

  251. 			getBroadphase()->destroyProxy(bp,m_dispatcher1);

  252. 			collisionObject->setBroadphaseHandle(0);

  253. 		}

  254. 	}

  255. 

  256. 

  257. 	//swapremove

  258. 	m_collisionObjects.remove(collisionObject);

  259. 

  260. }

  261. 

  262. 

  263. 

  264. void	btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,

  265. 										btCollisionObject* collisionObject,

  266. 										const btCollisionShape* collisionShape,

  267. 										const btTransform& colObjWorldTransform,

  268. 										RayResultCallback& resultCallback)

  269. {

  270. 	btSphereShape pointShape(btScalar(0.0));

  271. 	pointShape.setMargin(0.f);

  272. 	const btConvexShape* castShape = &pointShape;

  273. 

  274. 	if (collisionShape->isConvex())

  275. 	{

  276. 		//		BT_PROFILE("rayTestConvex");

  277. 		btConvexCast::CastResult castResult;

  278. 		castResult.m_fraction = resultCallback.m_closestHitFraction;

  279. 

  280. 		btConvexShape* convexShape = (btConvexShape*) collisionShape;

  281. 		btVoronoiSimplexSolver	simplexSolver;

  282. #define USE_SUBSIMPLEX_CONVEX_CAST 1

  283. #ifdef USE_SUBSIMPLEX_CONVEX_CAST

  284. 		btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);

  285. #else

  286. 		//btGjkConvexCast	convexCaster(castShape,convexShape,&simplexSolver);

  287. 		//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);

  288. #endif //#USE_SUBSIMPLEX_CONVEX_CAST

  289. 

  290. 		if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))

  291. 		{

  292. 			//add hit

  293. 			if (castResult.m_normal.length2() > btScalar(0.0001))

  294. 			{

  295. 				if (castResult.m_fraction < resultCallback.m_closestHitFraction)

  296. 				{

  297. #ifdef USE_SUBSIMPLEX_CONVEX_CAST

  298. 					//rotate normal into worldspace

  299. 					castResult.m_normal = rayFromTrans.getBasis() * castResult.m_normal;

  300. #endif //USE_SUBSIMPLEX_CONVEX_CAST

  301. 

  302. 					castResult.m_normal.normalize();

  303. 					btCollisionWorld::LocalRayResult localRayResult

  304. 						(

  305. 						collisionObject,

  306. 						0,

  307. 						castResult.m_normal,

  308. 						castResult.m_fraction

  309. 						);

  310. 

  311. 					bool normalInWorldSpace = true;

  312. 					resultCallback.addSingleResult(localRayResult, normalInWorldSpace);

  313. 

  314. 				}

  315. 			}

  316. 		}

  317. 	} else {

  318. 		if (collisionShape->isConcave())

  319. 		{

  320. 			//			BT_PROFILE("rayTestConcave");

  321. 			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)

  322. 			{

  323. 				///optimized version for btBvhTriangleMeshShape

  324. 				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;

  325. 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();

  326. 				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();

  327. 				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();

  328. 

  329. 				//ConvexCast::CastResult

  330. 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback

  331. 				{

  332. 					btCollisionWorld::RayResultCallback* m_resultCallback;

  333. 					btCollisionObject*	m_collisionObject;

  334. 					btTriangleMeshShape*	m_triangleMesh;

  335. 

  336. 					btTransform m_colObjWorldTransform;

  337. 

  338. 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,

  339. 						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh,const btTransform& colObjWorldTransform):

  340. 					//@BP Mod

  341. 					btTriangleRaycastCallback(from,to, resultCallback->m_flags),

  342. 						m_resultCallback(resultCallback),

  343. 						m_collisionObject(collisionObject),

  344. 						m_triangleMesh(triangleMesh),

  345. 						m_colObjWorldTransform(colObjWorldTransform)

  346. 					{

  347. 					}

  348. 

  349. 

  350. 					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )

  351. 					{

  352. 						btCollisionWorld::LocalShapeInfo	shapeInfo;

  353. 						shapeInfo.m_shapePart = partId;

  354. 						shapeInfo.m_triangleIndex = triangleIndex;

  355. 

  356. 						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

  357. 

  358. 						btCollisionWorld::LocalRayResult rayResult

  359. 							(m_collisionObject,

  360. 							&shapeInfo,

  361. 							hitNormalWorld,

  362. 							hitFraction);

  363. 

  364. 						bool	normalInWorldSpace = true;

  365. 						return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);

  366. 					}

  367. 

  368. 				};

  369. 

  370. 				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,triangleMesh,colObjWorldTransform);

  371. 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;

  372. 				triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);

  373. 			} else

  374. 			{

  375. 				//generic (slower) case

  376. 				btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;

  377. 

  378. 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();

  379. 

  380. 				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();

  381. 				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();

  382. 

  383. 				//ConvexCast::CastResult

  384. 

  385. 				struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback

  386. 				{

  387. 					btCollisionWorld::RayResultCallback* m_resultCallback;

  388. 					btCollisionObject*	m_collisionObject;

  389. 					btConcaveShape*	m_triangleMesh;

  390. 

  391. 					btTransform m_colObjWorldTransform;

  392. 

  393. 					BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,

  394. 						btCollisionWorld::RayResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& colObjWorldTransform):

  395. 					//@BP Mod

  396. 					btTriangleRaycastCallback(from,to, resultCallback->m_flags),

  397. 						m_resultCallback(resultCallback),

  398. 						m_collisionObject(collisionObject),

  399. 						m_triangleMesh(triangleMesh),

  400. 						m_colObjWorldTransform(colObjWorldTransform)

  401. 					{

  402. 					}

  403. 

  404. 

  405. 					virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )

  406. 					{

  407. 						btCollisionWorld::LocalShapeInfo	shapeInfo;

  408. 						shapeInfo.m_shapePart = partId;

  409. 						shapeInfo.m_triangleIndex = triangleIndex;

  410. 

  411. 						btVector3 hitNormalWorld = m_colObjWorldTransform.getBasis() * hitNormalLocal;

  412. 

  413. 						btCollisionWorld::LocalRayResult rayResult

  414. 							(m_collisionObject,

  415. 							&shapeInfo,

  416. 							hitNormalWorld,

  417. 							hitFraction);

  418. 

  419. 						bool	normalInWorldSpace = true;

  420. 						return m_resultCallback->addSingleResult(rayResult,normalInWorldSpace);

  421. 					}

  422. 

  423. 				};

  424. 

  425. 

  426. 				BridgeTriangleRaycastCallback	rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);

  427. 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;

  428. 

  429. 				btVector3 rayAabbMinLocal = rayFromLocal;

  430. 				rayAabbMinLocal.setMin(rayToLocal);

  431. 				btVector3 rayAabbMaxLocal = rayFromLocal;

  432. 				rayAabbMaxLocal.setMax(rayToLocal);

  433. 

  434. 				concaveShape->processAllTriangles(&rcb,rayAabbMinLocal,rayAabbMaxLocal);

  435. 			}

  436. 		} else {

  437. 			//			BT_PROFILE("rayTestCompound");

  438. 			if (collisionShape->isCompound())

  439. 			{

  440. 				struct LocalInfoAdder2 : public RayResultCallback

  441. 				{

  442. 					RayResultCallback* m_userCallback;

  443. 					int m_i;

  444. 					

  445. 					LocalInfoAdder2 (int i, RayResultCallback *user)

  446. 						: m_userCallback(user), m_i(i)

  447. 					{ 

  448. 						m_closestHitFraction = m_userCallback->m_closestHitFraction;

  449. 					}

  450. 					virtual bool needsCollision(btBroadphaseProxy* p) const

  451. 					{

  452. 						return m_userCallback->needsCollision(p);

  453. 					}

  454. 

  455. 					virtual btScalar addSingleResult (btCollisionWorld::LocalRayResult &r, bool b)

  456. 					{

  457. 						btCollisionWorld::LocalShapeInfo shapeInfo;

  458. 						shapeInfo.m_shapePart = -1;

  459. 						shapeInfo.m_triangleIndex = m_i;

  460. 						if (r.m_localShapeInfo == NULL)

  461. 							r.m_localShapeInfo = &shapeInfo;

  462. 

  463. 						const btScalar result = m_userCallback->addSingleResult(r, b);

  464. 						m_closestHitFraction = m_userCallback->m_closestHitFraction;

  465. 						return result;

  466. 					}

  467. 				};

  468. 				

  469. 				struct RayTester : btDbvt::ICollide

  470. 				{

  471. 					btCollisionObject* m_collisionObject;

  472. 					const btCompoundShape* m_compoundShape;

  473. 					const btTransform& m_colObjWorldTransform;

  474. 					const btTransform& m_rayFromTrans;

  475. 					const btTransform& m_rayToTrans;

  476. 					RayResultCallback& m_resultCallback;

  477. 					

  478. 					RayTester(btCollisionObject* collisionObject,

  479. 							const btCompoundShape* compoundShape,

  480. 							const btTransform& colObjWorldTransform,

  481. 							const btTransform& rayFromTrans,

  482. 							const btTransform& rayToTrans,

  483. 							RayResultCallback& resultCallback):

  484. 						m_collisionObject(collisionObject),

  485. 						m_compoundShape(compoundShape),

  486. 						m_colObjWorldTransform(colObjWorldTransform),

  487. 						m_rayFromTrans(rayFromTrans),

  488. 						m_rayToTrans(rayToTrans),

  489. 						m_resultCallback(resultCallback)

  490. 					{

  491. 						

  492. 					}

  493. 					

  494. 					void Process(int i)

  495. 					{

  496. 						const btCollisionShape* childCollisionShape = m_compoundShape->getChildShape(i);

  497. 						const btTransform& childTrans = m_compoundShape->getChildTransform(i);

  498. 						btTransform childWorldTrans = m_colObjWorldTransform * childTrans;

  499. 						

  500. 						// replace collision shape so that callback can determine the triangle

  501. 						btCollisionShape* saveCollisionShape = m_collisionObject->getCollisionShape();

  502. 						m_collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);

  503. 

  504. 						LocalInfoAdder2 my_cb(i, &m_resultCallback);

  505. 

  506. 						rayTestSingle(

  507. 							m_rayFromTrans,

  508. 							m_rayToTrans,

  509. 							m_collisionObject,

  510. 							childCollisionShape,

  511. 							childWorldTrans,

  512. 							my_cb);

  513. 						

  514. 						// restore

  515. 						m_collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);

  516. 					}

  517. 					

  518. 					void Process(const btDbvtNode* leaf)

  519. 					{

  520. 						Process(leaf->dataAsInt);

  521. 					}

  522. 				};

  523. 				

  524. 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);

  525. 				const btDbvt* dbvt = compoundShape->getDynamicAabbTree();

  526. 

  527. 

  528. 				RayTester rayCB(

  529. 					collisionObject,

  530. 					compoundShape,

  531. 					colObjWorldTransform,

  532. 					rayFromTrans,

  533. 					rayToTrans,

  534. 					resultCallback);

  535. #ifndef	DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION

  536. 				if (dbvt)

  537. 				{

  538. 					btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();

  539. 					btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();

  540. 					btDbvt::rayTest(dbvt->m_root, localRayFrom , localRayTo, rayCB);

  541. 				}

  542. 				else

  543. #endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION

  544. 				{

  545. 					for (int i = 0, n = compoundShape->getNumChildShapes(); i < n; ++i)

  546. 					{

  547. 						rayCB.Process(i);

  548. 					}	

  549. 				}

  550. 			}

  551. 		}

  552. 	}

  553. }

  554. 

  555. void	btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,

  556. 											btCollisionObject* collisionObject,

  557. 											const btCollisionShape* collisionShape,

  558. 											const btTransform& colObjWorldTransform,

  559. 											ConvexResultCallback& resultCallback, btScalar allowedPenetration)

  560. {

  561. 	if (collisionShape->isConvex())

  562. 	{

  563. 		//BT_PROFILE("convexSweepConvex");

  564. 		btConvexCast::CastResult castResult;

  565. 		castResult.m_allowedPenetration = allowedPenetration;

  566. 		castResult.m_fraction = resultCallback.m_closestHitFraction;//btScalar(1.);//??

  567. 

  568. 		btConvexShape* convexShape = (btConvexShape*) collisionShape;

  569. 		btVoronoiSimplexSolver	simplexSolver;

  570. 		btGjkEpaPenetrationDepthSolver	gjkEpaPenetrationSolver;

  571. 

  572. 		btContinuousConvexCollision convexCaster1(castShape,convexShape,&simplexSolver,&gjkEpaPenetrationSolver);

  573. 		//btGjkConvexCast convexCaster2(castShape,convexShape,&simplexSolver);

  574. 		//btSubsimplexConvexCast convexCaster3(castShape,convexShape,&simplexSolver);

  575. 

  576. 		btConvexCast* castPtr = &convexCaster1;

  577. 

  578. 

  579. 

  580. 		if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))

  581. 		{

  582. 			//add hit

  583. 			if (castResult.m_normal.length2() > btScalar(0.0001))

  584. 			{

  585. 				if (castResult.m_fraction < resultCallback.m_closestHitFraction)

  586. 				{

  587. 					castResult.m_normal.normalize();

  588. 					btCollisionWorld::LocalConvexResult localConvexResult

  589. 						(

  590. 						collisionObject,

  591. 						0,

  592. 						castResult.m_normal,

  593. 						castResult.m_hitPoint,

  594. 						castResult.m_fraction

  595. 						);

  596. 

  597. 					bool normalInWorldSpace = true;

  598. 					resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);

  599. 

  600. 				}

  601. 			}

  602. 		}

  603. 	} else {

  604. 		if (collisionShape->isConcave())

  605. 		{

  606. 			if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)

  607. 			{

  608. 				//BT_PROFILE("convexSweepbtBvhTriangleMesh");

  609. 				btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;

  610. 				btTransform worldTocollisionObject = colObjWorldTransform.inverse();

  611. 				btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();

  612. 				btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();

  613. 				// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation

  614. 				btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());

  615. 

  616. 				//ConvexCast::CastResult

  617. 				struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback

  618. 				{

  619. 					btCollisionWorld::ConvexResultCallback* m_resultCallback;

  620. 					btCollisionObject*	m_collisionObject;

  621. 					btTriangleMeshShape*	m_triangleMesh;

  622. 

  623. 					BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,

  624. 						btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btTriangleMeshShape*	triangleMesh, const btTransform& triangleToWorld):

  625. 					btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),

  626. 						m_resultCallback(resultCallback),

  627. 						m_collisionObject(collisionObject),

  628. 						m_triangleMesh(triangleMesh)

  629. 					{

  630. 					}

  631. 

  632. 

  633. 					virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )

  634. 					{

  635. 						btCollisionWorld::LocalShapeInfo	shapeInfo;

  636. 						shapeInfo.m_shapePart = partId;

  637. 						shapeInfo.m_triangleIndex = triangleIndex;

  638. 						if (hitFraction <= m_resultCallback->m_closestHitFraction)

  639. 						{

  640. 

  641. 							btCollisionWorld::LocalConvexResult convexResult

  642. 								(m_collisionObject,

  643. 								&shapeInfo,

  644. 								hitNormalLocal,

  645. 								hitPointLocal,

  646. 								hitFraction);

  647. 

  648. 							bool	normalInWorldSpace = true;

  649. 

  650. 

  651. 							return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);

  652. 						}

  653. 						return hitFraction;

  654. 					}

  655. 

  656. 				};

  657. 

  658. 				BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,triangleMesh, colObjWorldTransform);

  659. 				tccb.m_hitFraction = resultCallback.m_closestHitFraction;

  660. 				tccb.m_allowedPenetration = allowedPenetration;

  661. 				btVector3 boxMinLocal, boxMaxLocal;

  662. 				castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);

  663. 				triangleMesh->performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);

  664. 			} else

  665. 			{

  666. 				if (collisionShape->getShapeType()==STATIC_PLANE_PROXYTYPE)

  667. 				{

  668. 					btConvexCast::CastResult castResult;

  669. 					castResult.m_allowedPenetration = allowedPenetration;

  670. 					castResult.m_fraction = resultCallback.m_closestHitFraction;

  671. 					btStaticPlaneShape* planeShape = (btStaticPlaneShape*) collisionShape;

  672. 					btContinuousConvexCollision convexCaster1(castShape,planeShape);

  673. 					btConvexCast* castPtr = &convexCaster1;

  674. 

  675. 					if (castPtr->calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))

  676. 					{

  677. 						//add hit

  678. 						if (castResult.m_normal.length2() > btScalar(0.0001))

  679. 						{

  680. 							if (castResult.m_fraction < resultCallback.m_closestHitFraction)

  681. 							{

  682. 								castResult.m_normal.normalize();

  683. 								btCollisionWorld::LocalConvexResult localConvexResult

  684. 									(

  685. 									collisionObject,

  686. 									0,

  687. 									castResult.m_normal,

  688. 									castResult.m_hitPoint,

  689. 									castResult.m_fraction

  690. 									);

  691. 

  692. 								bool normalInWorldSpace = true;

  693. 								resultCallback.addSingleResult(localConvexResult, normalInWorldSpace);

  694. 							}

  695. 						}

  696. 					}

  697. 

  698. 				} else

  699. 				{

  700. 					//BT_PROFILE("convexSweepConcave");

  701. 					btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;

  702. 					btTransform worldTocollisionObject = colObjWorldTransform.inverse();

  703. 					btVector3 convexFromLocal = worldTocollisionObject * convexFromTrans.getOrigin();

  704. 					btVector3 convexToLocal = worldTocollisionObject * convexToTrans.getOrigin();

  705. 					// rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation

  706. 					btTransform rotationXform = btTransform(worldTocollisionObject.getBasis() * convexToTrans.getBasis());

  707. 

  708. 					//ConvexCast::CastResult

  709. 					struct BridgeTriangleConvexcastCallback : public btTriangleConvexcastCallback

  710. 					{

  711. 						btCollisionWorld::ConvexResultCallback* m_resultCallback;

  712. 						btCollisionObject*	m_collisionObject;

  713. 						btConcaveShape*	m_triangleMesh;

  714. 

  715. 						BridgeTriangleConvexcastCallback(const btConvexShape* castShape, const btTransform& from,const btTransform& to,

  716. 							btCollisionWorld::ConvexResultCallback* resultCallback, btCollisionObject* collisionObject,btConcaveShape*	triangleMesh, const btTransform& triangleToWorld):

  717. 						btTriangleConvexcastCallback(castShape, from,to, triangleToWorld, triangleMesh->getMargin()),

  718. 							m_resultCallback(resultCallback),

  719. 							m_collisionObject(collisionObject),

  720. 							m_triangleMesh(triangleMesh)

  721. 						{

  722. 						}

  723. 

  724. 

  725. 						virtual btScalar reportHit(const btVector3& hitNormalLocal, const btVector3& hitPointLocal, btScalar hitFraction, int partId, int triangleIndex )

  726. 						{

  727. 							btCollisionWorld::LocalShapeInfo	shapeInfo;

  728. 							shapeInfo.m_shapePart = partId;

  729. 							shapeInfo.m_triangleIndex = triangleIndex;

  730. 							if (hitFraction <= m_resultCallback->m_closestHitFraction)

  731. 							{

  732. 

  733. 								btCollisionWorld::LocalConvexResult convexResult

  734. 									(m_collisionObject,

  735. 									&shapeInfo,

  736. 									hitNormalLocal,

  737. 									hitPointLocal,

  738. 									hitFraction);

  739. 

  740. 								bool	normalInWorldSpace = false;

  741. 

  742. 								return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);

  743. 							}

  744. 							return hitFraction;

  745. 						}

  746. 

  747. 					};

  748. 

  749. 					BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,collisionObject,concaveShape, colObjWorldTransform);

  750. 					tccb.m_hitFraction = resultCallback.m_closestHitFraction;

  751. 					tccb.m_allowedPenetration = allowedPenetration;

  752. 					btVector3 boxMinLocal, boxMaxLocal;

  753. 					castShape->getAabb(rotationXform, boxMinLocal, boxMaxLocal);

  754. 

  755. 					btVector3 rayAabbMinLocal = convexFromLocal;

  756. 					rayAabbMinLocal.setMin(convexToLocal);

  757. 					btVector3 rayAabbMaxLocal = convexFromLocal;

  758. 					rayAabbMaxLocal.setMax(convexToLocal);

  759. 					rayAabbMinLocal += boxMinLocal;

  760. 					rayAabbMaxLocal += boxMaxLocal;

  761. 					concaveShape->processAllTriangles(&tccb,rayAabbMinLocal,rayAabbMaxLocal);

  762. 				}

  763. 			}

  764. 		} else {

  765. 			///@todo : use AABB tree or other BVH acceleration structure!

  766. 			if (collisionShape->isCompound())

  767. 			{

  768. 				BT_PROFILE("convexSweepCompound");

  769. 				const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);

  770. 				int i=0;

  771. 				for (i=0;i<compoundShape->getNumChildShapes();i++)

  772. 				{

  773. 					btTransform childTrans = compoundShape->getChildTransform(i);

  774. 					const btCollisionShape* childCollisionShape = compoundShape->getChildShape(i);

  775. 					btTransform childWorldTrans = colObjWorldTransform * childTrans;

  776. 					// replace collision shape so that callback can determine the triangle

  777. 					btCollisionShape* saveCollisionShape = collisionObject->getCollisionShape();

  778. 					collisionObject->internalSetTemporaryCollisionShape((btCollisionShape*)childCollisionShape);

  779.                     struct	LocalInfoAdder : public ConvexResultCallback {

  780.                             ConvexResultCallback* m_userCallback;

  781. 							int m_i;

  782. 

  783.                             LocalInfoAdder (int i, ConvexResultCallback *user)

  784. 								: m_userCallback(user), m_i(i)

  785. 							{

  786. 								m_closestHitFraction = m_userCallback->m_closestHitFraction;

  787. 							}

  788. 							virtual bool needsCollision(btBroadphaseProxy* p) const

  789. 							{

  790. 								return m_userCallback->needsCollision(p);

  791. 							}

  792.                             virtual btScalar addSingleResult (btCollisionWorld::LocalConvexResult&	r,	bool b)

  793.                             {

  794.                                     btCollisionWorld::LocalShapeInfo	shapeInfo;

  795.                                     shapeInfo.m_shapePart = -1;

  796.                                     shapeInfo.m_triangleIndex = m_i;

  797.                                     if (r.m_localShapeInfo == NULL)

  798.                                         r.m_localShapeInfo = &shapeInfo;

  799. 									const btScalar result = m_userCallback->addSingleResult(r, b);

  800. 									m_closestHitFraction = m_userCallback->m_closestHitFraction;

  801. 									return result;

  802.                                     

  803.                             }

  804.                     };

  805. 

  806.                     LocalInfoAdder my_cb(i, &resultCallback);

  807. 					

  808. 

  809. 					objectQuerySingle(castShape, convexFromTrans,convexToTrans,

  810. 						collisionObject,

  811. 						childCollisionShape,

  812. 						childWorldTrans,

  813. 						my_cb, allowedPenetration);

  814. 					// restore

  815. 					collisionObject->internalSetTemporaryCollisionShape(saveCollisionShape);

  816. 				}

  817. 			}

  818. 		}

  819. 	}

  820. }

  821. 

  822. 

  823. struct btSingleRayCallback : public btBroadphaseRayCallback

  824. {

  825. 

  826. 	btVector3	m_rayFromWorld;

  827. 	btVector3	m_rayToWorld;

  828. 	btTransform	m_rayFromTrans;

  829. 	btTransform	m_rayToTrans;

  830. 	btVector3	m_hitNormal;

  831. 

  832. 	const btCollisionWorld*	m_world;

  833. 	btCollisionWorld::RayResultCallback&	m_resultCallback;

  834. 

  835. 	btSingleRayCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld,const btCollisionWorld* world,btCollisionWorld::RayResultCallback& resultCallback)

  836. 		:m_rayFromWorld(rayFromWorld),

  837. 		m_rayToWorld(rayToWorld),

  838. 		m_world(world),

  839. 		m_resultCallback(resultCallback)

  840. 	{

  841. 		m_rayFromTrans.setIdentity();

  842. 		m_rayFromTrans.setOrigin(m_rayFromWorld);

  843. 		m_rayToTrans.setIdentity();

  844. 		m_rayToTrans.setOrigin(m_rayToWorld);

  845. 

  846. 		btVector3 rayDir = (rayToWorld-rayFromWorld);

  847. 

  848. 		rayDir.normalize ();

  849. 		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT

  850. 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];

  851. 		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];

  852. 		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];

  853. 		m_signs[0] = m_rayDirectionInverse[0] < 0.0;

  854. 		m_signs[1] = m_rayDirectionInverse[1] < 0.0;

  855. 		m_signs[2] = m_rayDirectionInverse[2] < 0.0;

  856. 

  857. 		m_lambda_max = rayDir.dot(m_rayToWorld-m_rayFromWorld);

  858. 

  859. 	}

  860. 

  861. 

  862. 

  863. 	virtual bool	process(const btBroadphaseProxy* proxy)

  864. 	{

  865. 		///terminate further ray tests, once the closestHitFraction reached zero

  866. 		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))

  867. 			return false;

  868. 

  869. 		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;

  870. 

  871. 		//only perform raycast if filterMask matches

  872. 		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 

  873. 		{

  874. 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();

  875. 			//btVector3 collisionObjectAabbMin,collisionObjectAabbMax;

  876. #if 0

  877. #ifdef RECALCULATE_AABB

  878. 			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;

  879. 			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);

  880. #else

  881. 			//getBroadphase()->getAabb(collisionObject->getBroadphaseHandle(),collisionObjectAabbMin,collisionObjectAabbMax);

  882. 			const btVector3& collisionObjectAabbMin = collisionObject->getBroadphaseHandle()->m_aabbMin;

  883. 			const btVector3& collisionObjectAabbMax = collisionObject->getBroadphaseHandle()->m_aabbMax;

  884. #endif

  885. #endif

  886. 			//btScalar hitLambda = m_resultCallback.m_closestHitFraction;

  887. 			//culling already done by broadphase

  888. 			//if (btRayAabb(m_rayFromWorld,m_rayToWorld,collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,m_hitNormal))

  889. 			{

  890. 				m_world->rayTestSingle(m_rayFromTrans,m_rayToTrans,

  891. 					collisionObject,

  892. 					collisionObject->getCollisionShape(),

  893. 					collisionObject->getWorldTransform(),

  894. 					m_resultCallback);

  895. 			}

  896. 		}

  897. 		return true;

  898. 	}

  899. };

  900. 

  901. void	btCollisionWorld::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const

  902. {

  903. 	//BT_PROFILE("rayTest");

  904. 	/// use the broadphase to accelerate the search for objects, based on their aabb

  905. 	/// and for each object with ray-aabb overlap, perform an exact ray test

  906. 	btSingleRayCallback rayCB(rayFromWorld,rayToWorld,this,resultCallback);

  907. 

  908. #ifndef USE_BRUTEFORCE_RAYBROADPHASE

  909. 	m_broadphasePairCache->rayTest(rayFromWorld,rayToWorld,rayCB);

  910. #else

  911. 	for (int i=0;i<this->getNumCollisionObjects();i++)

  912. 	{

  913. 		rayCB.process(m_collisionObjects[i]->getBroadphaseHandle());

  914. 	}	

  915. #endif //USE_BRUTEFORCE_RAYBROADPHASE

  916. 

  917. }

  918. 

  919. 

  920. struct btSingleSweepCallback : public btBroadphaseRayCallback

  921. {

  922. 

  923. 	btTransform	m_convexFromTrans;

  924. 	btTransform	m_convexToTrans;

  925. 	btVector3	m_hitNormal;

  926. 	const btCollisionWorld*	m_world;

  927. 	btCollisionWorld::ConvexResultCallback&	m_resultCallback;

  928. 	btScalar	m_allowedCcdPenetration;

  929. 	const btConvexShape* m_castShape;

  930. 

  931. 

  932. 	btSingleSweepCallback(const btConvexShape* castShape, const btTransform& convexFromTrans,const btTransform& convexToTrans,const btCollisionWorld* world,btCollisionWorld::ConvexResultCallback& resultCallback,btScalar allowedPenetration)

  933. 		:m_convexFromTrans(convexFromTrans),

  934. 		m_convexToTrans(convexToTrans),

  935. 		m_world(world),

  936. 		m_resultCallback(resultCallback),

  937. 		m_allowedCcdPenetration(allowedPenetration),

  938. 		m_castShape(castShape)

  939. 	{

  940. 		btVector3 unnormalizedRayDir = (m_convexToTrans.getOrigin()-m_convexFromTrans.getOrigin());

  941. 		btVector3 rayDir = unnormalizedRayDir.normalized();

  942. 		///what about division by zero? --> just set rayDirection[i] to INF/BT_LARGE_FLOAT

  943. 		m_rayDirectionInverse[0] = rayDir[0] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[0];

  944. 		m_rayDirectionInverse[1] = rayDir[1] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[1];

  945. 		m_rayDirectionInverse[2] = rayDir[2] == btScalar(0.0) ? btScalar(BT_LARGE_FLOAT) : btScalar(1.0) / rayDir[2];

  946. 		m_signs[0] = m_rayDirectionInverse[0] < 0.0;

  947. 		m_signs[1] = m_rayDirectionInverse[1] < 0.0;

  948. 		m_signs[2] = m_rayDirectionInverse[2] < 0.0;

  949. 

  950. 		m_lambda_max = rayDir.dot(unnormalizedRayDir);

  951. 

  952. 	}

  953. 

  954. 	virtual bool	process(const btBroadphaseProxy* proxy)

  955. 	{

  956. 		///terminate further convex sweep tests, once the closestHitFraction reached zero

  957. 		if (m_resultCallback.m_closestHitFraction == btScalar(0.f))

  958. 			return false;

  959. 

  960. 		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;

  961. 

  962. 		//only perform raycast if filterMask matches

  963. 		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {

  964. 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();

  965. 			m_world->objectQuerySingle(m_castShape, m_convexFromTrans,m_convexToTrans,

  966. 				collisionObject,

  967. 				collisionObject->getCollisionShape(),

  968. 				collisionObject->getWorldTransform(),

  969. 				m_resultCallback,

  970. 				m_allowedCcdPenetration);

  971. 		}

  972. 

  973. 		return true;

  974. 	}

  975. };

  976. 

  977. 

  978. 

  979. void	btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const

  980. {

  981. 

  982. 	BT_PROFILE("convexSweepTest");

  983. 	/// use the broadphase to accelerate the search for objects, based on their aabb

  984. 	/// and for each object with ray-aabb overlap, perform an exact ray test

  985. 	/// unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical

  986. 

  987. 

  988. 

  989. 	btTransform	convexFromTrans,convexToTrans;

  990. 	convexFromTrans = convexFromWorld;

  991. 	convexToTrans = convexToWorld;

  992. 	btVector3 castShapeAabbMin, castShapeAabbMax;

  993. 	/* Compute AABB that encompasses angular movement */

  994. 	{

  995. 		btVector3 linVel, angVel;

  996. 		btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);

  997. 		btVector3 zeroLinVel;

  998. 		zeroLinVel.setValue(0,0,0);

  999. 		btTransform R;

  1000. 		R.setIdentity ();

  1001. 		R.setRotation (convexFromTrans.getRotation());

  1002. 		castShape->calculateTemporalAabb (R, zeroLinVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);

  1003. 	}

  1004. 

  1005. #ifndef USE_BRUTEFORCE_RAYBROADPHASE

  1006. 

  1007. 	btSingleSweepCallback	convexCB(castShape,convexFromWorld,convexToWorld,this,resultCallback,allowedCcdPenetration);

  1008. 

  1009. 	m_broadphasePairCache->rayTest(convexFromTrans.getOrigin(),convexToTrans.getOrigin(),convexCB,castShapeAabbMin,castShapeAabbMax);

  1010. 

  1011. #else

  1012. 	/// go over all objects, and if the ray intersects their aabb + cast shape aabb,

  1013. 	// do a ray-shape query using convexCaster (CCD)

  1014. 	int i;

  1015. 	for (i=0;i<m_collisionObjects.size();i++)

  1016. 	{

  1017. 		btCollisionObject*	collisionObject= m_collisionObjects[i];

  1018. 		//only perform raycast if filterMask matches

  1019. 		if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {

  1020. 			//RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();

  1021. 			btVector3 collisionObjectAabbMin,collisionObjectAabbMax;

  1022. 			collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);

  1023. 			AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);

  1024. 			btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing

  1025. 			btVector3 hitNormal;

  1026. 			if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))

  1027. 			{

  1028. 				objectQuerySingle(castShape, convexFromTrans,convexToTrans,

  1029. 					collisionObject,

  1030. 					collisionObject->getCollisionShape(),

  1031. 					collisionObject->getWorldTransform(),

  1032. 					resultCallback,

  1033. 					allowedCcdPenetration);

  1034. 			}

  1035. 		}

  1036. 	}

  1037. #endif //USE_BRUTEFORCE_RAYBROADPHASE

  1038. }

  1039. 

  1040. 

  1041. 

  1042. struct btBridgedManifoldResult : public btManifoldResult

  1043. {

  1044. 

  1045. 	btCollisionWorld::ContactResultCallback&	m_resultCallback;

  1046. 

  1047. 	btBridgedManifoldResult( btCollisionObject* obj0,btCollisionObject* obj1,btCollisionWorld::ContactResultCallback& resultCallback )

  1048. 		:btManifoldResult(obj0,obj1),

  1049. 		m_resultCallback(resultCallback)

  1050. 	{

  1051. 	}

  1052. 

  1053. 	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)

  1054. 	{

  1055. 		bool isSwapped = m_manifoldPtr->getBody0() != m_body0;

  1056. 		btVector3 pointA = pointInWorld + normalOnBInWorld * depth;

  1057. 		btVector3 localA;

  1058. 		btVector3 localB;

  1059. 		if (isSwapped)

  1060. 		{

  1061. 			localA = m_rootTransB.invXform(pointA );

  1062. 			localB = m_rootTransA.invXform(pointInWorld);

  1063. 		} else

  1064. 		{

  1065. 			localA = m_rootTransA.invXform(pointA );

  1066. 			localB = m_rootTransB.invXform(pointInWorld);

  1067. 		}

  1068. 		

  1069. 		btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);

  1070. 		newPt.m_positionWorldOnA = pointA;

  1071. 		newPt.m_positionWorldOnB = pointInWorld;

  1072. 		

  1073. 	   //BP mod, store contact triangles.

  1074. 		if (isSwapped)

  1075. 		{

  1076. 			newPt.m_partId0 = m_partId1;

  1077. 			newPt.m_partId1 = m_partId0;

  1078. 			newPt.m_index0  = m_index1;

  1079. 			newPt.m_index1  = m_index0;

  1080. 		} else

  1081. 		{

  1082. 			newPt.m_partId0 = m_partId0;

  1083. 			newPt.m_partId1 = m_partId1;

  1084. 			newPt.m_index0  = m_index0;

  1085. 			newPt.m_index1  = m_index1;

  1086. 		}

  1087. 

  1088. 		//experimental feature info, for per-triangle material etc.

  1089. 		btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;

  1090. 		btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;

  1091. 		m_resultCallback.addSingleResult(newPt,obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);

  1092. 

  1093. 	}

  1094. 	

  1095. };

  1096. 

  1097. 

  1098. 

  1099. struct btSingleContactCallback : public btBroadphaseAabbCallback

  1100. {

  1101. 

  1102. 	btCollisionObject* m_collisionObject;

  1103. 	btCollisionWorld*	m_world;

  1104. 	btCollisionWorld::ContactResultCallback&	m_resultCallback;

  1105. 	

  1106. 	

  1107. 	btSingleContactCallback(btCollisionObject* collisionObject, btCollisionWorld* world,btCollisionWorld::ContactResultCallback& resultCallback)

  1108. 		:m_collisionObject(collisionObject),

  1109. 		m_world(world),

  1110. 		m_resultCallback(resultCallback)

  1111. 	{

  1112. 	}

  1113. 

  1114. 	virtual bool	process(const btBroadphaseProxy* proxy)

  1115. 	{

  1116. 		btCollisionObject*	collisionObject = (btCollisionObject*)proxy->m_clientObject;

  1117. 		if (collisionObject == m_collisionObject)

  1118. 			return true;

  1119. 

  1120. 		//only perform raycast if filterMask matches

  1121. 		if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) 

  1122. 		{

  1123. 			btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(m_collisionObject,collisionObject);

  1124. 			if (algorithm)

  1125. 			{

  1126. 				btBridgedManifoldResult contactPointResult(m_collisionObject,collisionObject, m_resultCallback);

  1127. 				//discrete collision detection query

  1128. 				algorithm->processCollision(m_collisionObject,collisionObject, m_world->getDispatchInfo(),&contactPointResult);

  1129. 

  1130. 				algorithm->~btCollisionAlgorithm();

  1131. 				m_world->getDispatcher()->freeCollisionAlgorithm(algorithm);

  1132. 			}

  1133. 		}

  1134. 		return true;

  1135. 	}

  1136. };

  1137. 

  1138. 

  1139. ///contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.

  1140. ///it reports one or more contact points for every overlapping object (including the one with deepest penetration)

  1141. void	btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCallback& resultCallback)

  1142. {

  1143. 	btVector3 aabbMin,aabbMax;

  1144. 	colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(),aabbMin,aabbMax);

  1145. 	btSingleContactCallback	contactCB(colObj,this,resultCallback);

  1146. 	

  1147. 	m_broadphasePairCache->aabbTest(aabbMin,aabbMax,contactCB);

  1148. }

  1149. 

  1150. 

  1151. ///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.

  1152. ///it reports one or more contact points (including the one with deepest penetration)

  1153. void	btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)

  1154. {

  1155. 	btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(colObjA,colObjB);

  1156. 	if (algorithm)

  1157. 	{

  1158. 		btBridgedManifoldResult contactPointResult(colObjA,colObjB, resultCallback);

  1159. 		//discrete collision detection query

  1160. 		algorithm->processCollision(colObjA,colObjB, getDispatchInfo(),&contactPointResult);

  1161. 

  1162. 		algorithm->~btCollisionAlgorithm();

  1163. 		getDispatcher()->freeCollisionAlgorithm(algorithm);

  1164. 	}

  1165. 

  1166. }

  1167. 

  1168. 

  1169. 

  1170. 

  1171. class DebugDrawcallback : public btTriangleCallback, public btInternalTriangleIndexCallback

  1172. {

  1173. 	btIDebugDraw*	m_debugDrawer;

  1174. 	btVector3	m_color;

  1175. 	btTransform	m_worldTrans;

  1176. 

  1177. public:

  1178. 

  1179. 	DebugDrawcallback(btIDebugDraw*	debugDrawer,const btTransform& worldTrans,const btVector3& color) :

  1180. 	  m_debugDrawer(debugDrawer),

  1181. 		  m_color(color),

  1182. 		  m_worldTrans(worldTrans)

  1183. 	  {

  1184. 	  }

  1185. 

  1186. 	  virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int  triangleIndex)

  1187. 	  {

  1188. 		  processTriangle(triangle,partId,triangleIndex);

  1189. 	  }

  1190. 

  1191. 	  virtual void processTriangle(btVector3* triangle,int partId, int triangleIndex)

  1192. 	  {

  1193. 		  (void)partId;

  1194. 		  (void)triangleIndex;

  1195. 

  1196. 		  btVector3 wv0,wv1,wv2;

  1197. 		  wv0 = m_worldTrans*triangle[0];

  1198. 		  wv1 = m_worldTrans*triangle[1];

  1199. 		  wv2 = m_worldTrans*triangle[2];

  1200. 		  btVector3 center = (wv0+wv1+wv2)*btScalar(1./3.);

  1201.           

  1202.           if (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawNormals )

  1203.           {

  1204. 		    btVector3 normal = (wv1-wv0).cross(wv2-wv0);

  1205. 		    normal.normalize();

  1206. 		    btVector3 normalColor(1,1,0);

  1207. 		    m_debugDrawer->drawLine(center,center+normal,normalColor);

  1208.           }

  1209. 		  m_debugDrawer->drawLine(wv0,wv1,m_color);

  1210. 		  m_debugDrawer->drawLine(wv1,wv2,m_color);

  1211. 		  m_debugDrawer->drawLine(wv2,wv0,m_color);

  1212. 	  }

  1213. };

  1214. 

  1215. 

  1216. void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color)

  1217. {

  1218. 	// Draw a small simplex at the center of the object

  1219. 	getDebugDrawer()->drawTransform(worldTransform,1);

  1220. 

  1221. 	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)

  1222. 	{

  1223. 		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);

  1224. 		for (int i=compoundShape->getNumChildShapes()-1;i>=0;i--)

  1225. 		{

  1226. 			btTransform childTrans = compoundShape->getChildTransform(i);

  1227. 			const btCollisionShape* colShape = compoundShape->getChildShape(i);

  1228. 			debugDrawObject(worldTransform*childTrans,colShape,color);

  1229. 		}

  1230. 

  1231. 	} else

  1232. 	{

  1233. 

  1234. 		/// for polyhedral shapes

  1235. 		if (shape->isPolyhedral())

  1236. 		{

  1237. 			btPolyhedralConvexShape* polyshape = (btPolyhedralConvexShape*) shape;

  1238. 

  1239. 			int i;

  1240. 			if (polyshape->getConvexPolyhedron())

  1241. 			{

  1242. 				const btConvexPolyhedron* poly = polyshape->getConvexPolyhedron();

  1243. 				for (i=0;i<poly->m_faces.size();i++)

  1244. 				{

  1245. 					btVector3 centroid(0,0,0);

  1246. 					int numVerts = poly->m_faces[i].m_indices.size();

  1247. 					if (numVerts)

  1248. 					{

  1249. 						int lastV = poly->m_faces[i].m_indices[numVerts-1];

  1250. 						for (int v=0;v<poly->m_faces[i].m_indices.size();v++)

  1251. 						{

  1252. 							int curVert = poly->m_faces[i].m_indices[v];

  1253. 							centroid+=poly->m_vertices[curVert];

  1254. 							getDebugDrawer()->drawLine(worldTransform*poly->m_vertices[lastV],worldTransform*poly->m_vertices[curVert],color);

  1255. 							lastV = curVert;

  1256. 						}

  1257. 					}

  1258. 					centroid*= btScalar(1.f)/btScalar(numVerts);

  1259.                     if (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawNormals)

  1260.                     {

  1261. 					  btVector3 normalColor(1,1,0);

  1262. 					  btVector3 faceNormal(poly->m_faces[i].m_plane[0],poly->m_faces[i].m_plane[1],poly->m_faces[i].m_plane[2]);

  1263. 					  getDebugDrawer()->drawLine(worldTransform*centroid,worldTransform*(centroid+faceNormal),normalColor);

  1264.                     }

  1265. 					

  1266. 				}

  1267. 

  1268. 				

  1269. 			} else

  1270. 			{

  1271. 				for (i=0;i<polyshape->getNumEdges();i++)

  1272. 				{

  1273. 					btVector3 a,b;

  1274. 					polyshape->getEdge(i,a,b);

  1275. 					btVector3 wa = worldTransform * a;

  1276. 					btVector3 wb = worldTransform * b;

  1277. 					getDebugDrawer()->drawLine(wa,wb,color);

  1278. 				}

  1279. 			}

  1280. 

  1281. 

  1282. 		}

  1283. 		else

  1284. 		{

  1285. 			switch (shape->getShapeType())

  1286. 			{

  1287. 

  1288. 			case BOX_SHAPE_PROXYTYPE:

  1289. 				{

  1290. 					const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);

  1291. 					btVector3 halfExtents = boxShape->getHalfExtentsWithMargin();

  1292. 					getDebugDrawer()->drawBox(-halfExtents,halfExtents,worldTransform,color);

  1293. 					break;

  1294. 				}

  1295. 

  1296. 			case SPHERE_SHAPE_PROXYTYPE:

  1297. 				{

  1298. 					const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);

  1299. 					btScalar radius = sphereShape->getMargin();//radius doesn't include the margin, so draw with margin

  1300. 

  1301. 					getDebugDrawer()->drawSphere(radius, worldTransform, color);

  1302. 					break;

  1303. 				}

  1304. 			case MULTI_SPHERE_SHAPE_PROXYTYPE:

  1305. 				{

  1306. 					const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);

  1307. 

  1308. 					btTransform childTransform;

  1309. 					childTransform.setIdentity();

  1310. 

  1311. 					for (int i = multiSphereShape->getSphereCount()-1; i>=0;i--)

  1312. 					{

  1313. 						childTransform.setOrigin(multiSphereShape->getSpherePosition(i));

  1314. 						getDebugDrawer()->drawSphere(multiSphereShape->getSphereRadius(i), worldTransform*childTransform, color);

  1315. 					}

  1316. 

  1317. 					break;

  1318. 				}

  1319. 			case CAPSULE_SHAPE_PROXYTYPE:

  1320. 				{

  1321. 					const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);

  1322. 

  1323. 					btScalar radius = capsuleShape->getRadius();

  1324. 					btScalar halfHeight = capsuleShape->getHalfHeight();

  1325. 

  1326. 					int upAxis = capsuleShape->getUpAxis();

  1327. 					getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);

  1328. 					break;

  1329. 				}

  1330. 			case CONE_SHAPE_PROXYTYPE:

  1331. 				{

  1332. 					const btConeShape* coneShape = static_cast<const btConeShape*>(shape);

  1333. 					btScalar radius = coneShape->getRadius();//+coneShape->getMargin();

  1334. 					btScalar height = coneShape->getHeight();//+coneShape->getMargin();

  1335. 

  1336. 					int upAxis= coneShape->getConeUpIndex();

  1337. 					getDebugDrawer()->drawCone(radius, height, upAxis, worldTransform, color);

  1338. 					break;

  1339. 

  1340. 				}

  1341. 			case CYLINDER_SHAPE_PROXYTYPE:

  1342. 				{

  1343. 					const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);

  1344. 					int upAxis = cylinder->getUpAxis();

  1345. 					btScalar radius = cylinder->getRadius();

  1346. 					btScalar halfHeight = cylinder->getHalfExtentsWithMargin()[upAxis];

  1347. 					getDebugDrawer()->drawCylinder(radius, halfHeight, upAxis, worldTransform, color);

  1348. 					break;

  1349. 				}

  1350. 

  1351. 			case STATIC_PLANE_PROXYTYPE:

  1352. 				{

  1353. 					const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);

  1354. 					btScalar planeConst = staticPlaneShape->getPlaneConstant();

  1355. 					const btVector3& planeNormal = staticPlaneShape->getPlaneNormal();

  1356. 					getDebugDrawer()->drawPlane(planeNormal, planeConst,worldTransform, color);

  1357. 					break;

  1358. 

  1359. 				}

  1360. 			default:

  1361. 				{

  1362. 

  1363. 					if (shape->isConcave())

  1364. 					{

  1365. 						btConcaveShape* concaveMesh = (btConcaveShape*) shape;

  1366. 

  1367. 						///@todo pass camera, for some culling? no -> we are not a graphics lib

  1368. 						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));

  1369. 						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));

  1370. 

  1371. 						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);

  1372. 						concaveMesh->processAllTriangles(&drawCallback,aabbMin,aabbMax);

  1373. 

  1374. 					}

  1375. 

  1376. 					if (shape->getShapeType() == CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE)

  1377. 					{

  1378. 						btConvexTriangleMeshShape* convexMesh = (btConvexTriangleMeshShape*) shape;

  1379. 						//todo: pass camera for some culling			

  1380. 						btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));

  1381. 						btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));

  1382. 						//DebugDrawcallback drawCallback;

  1383. 						DebugDrawcallback drawCallback(getDebugDrawer(),worldTransform,color);

  1384. 						convexMesh->getMeshInterface()->InternalProcessAllTriangles(&drawCallback,aabbMin,aabbMax);

  1385. 					}

  1386. 

  1387. 

  1388. 					

  1389. 				}

  1390. 			}

  1391. 		}

  1392. 	}

  1393. }

  1394. 

  1395. 

  1396. void	btCollisionWorld::debugDrawWorld()

  1397. {

  1398. 	if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)

  1399. 	{

  1400. 		int numManifolds = getDispatcher()->getNumManifolds();

  1401. 		btVector3 color(1,0.65,0);

  1402. 		for (int i=0;i<numManifolds;i++)

  1403. 		{

  1404. 			btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);

  1405. 			//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());

  1406. 			//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());

  1407. 

  1408. 			int numContacts = contactManifold->getNumContacts();

  1409. 			for (int j=0;j<numContacts;j++)

  1410. 			{

  1411. 				btManifoldPoint& cp = contactManifold->getContactPoint(j);

  1412. 				getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);

  1413. 			}

  1414. 		}

  1415. 	}

  1416. 

  1417. 	if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)))

  1418. 	{

  1419. 		int i;

  1420. 

  1421. 		for (  i=0;i<m_collisionObjects.size();i++)

  1422. 		{

  1423. 			btCollisionObject* colObj = m_collisionObjects[i];

  1424. 			if ((colObj->getCollisionFlags() & btCollisionObject::CF_DISABLE_VISUALIZE_OBJECT)==0)

  1425. 			{

  1426. 				if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))

  1427. 				{

  1428. 					btVector3 color(btScalar(1.),btScalar(1.),btScalar(1.));

  1429. 					switch(colObj->getActivationState())

  1430. 					{

  1431. 					case  ACTIVE_TAG:

  1432. 						color = btVector3(btScalar(1.),btScalar(1.),btScalar(1.)); break;

  1433. 					case ISLAND_SLEEPING:

  1434. 						color =  btVector3(btScalar(0.),btScalar(1.),btScalar(0.));break;

  1435. 					case WANTS_DEACTIVATION:

  1436. 						color = btVector3(btScalar(0.),btScalar(1.),btScalar(1.));break;

  1437. 					case DISABLE_DEACTIVATION:

  1438. 						color = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));break;

  1439. 					case DISABLE_SIMULATION:

  1440. 						color = btVector3(btScalar(1.),btScalar(1.),btScalar(0.));break;

  1441. 					default:

  1442. 						{

  1443. 							color = btVector3(btScalar(1),btScalar(0.),btScalar(0.));

  1444. 						}

  1445. 					};

  1446. 

  1447. 					debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);

  1448. 				}

  1449. 				if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))

  1450. 				{

  1451. 					btVector3 minAabb,maxAabb;

  1452. 					btVector3 colorvec(1,0,0);

  1453. 					colObj->getCollisionShape()->getAabb(colObj->getWorldTransform(), minAabb,maxAabb);

  1454. 					btVector3 contactThreshold(gContactBreakingThreshold,gContactBreakingThreshold,gContactBreakingThreshold);

  1455. 					minAabb -= contactThreshold;

  1456. 					maxAabb += contactThreshold;

  1457. 

  1458. 					btVector3 minAabb2,maxAabb2;

  1459. 

  1460. 					if(getDispatchInfo().m_useContinuous && colObj->getInternalType()==btCollisionObject::CO_RIGID_BODY && !colObj->isStaticOrKinematicObject())

  1461. 					{

  1462. 						colObj->getCollisionShape()->getAabb(colObj->getInterpolationWorldTransform(),minAabb2,maxAabb2);

  1463. 						minAabb2 -= contactThreshold;

  1464. 						maxAabb2 += contactThreshold;

  1465. 						minAabb.setMin(minAabb2);

  1466. 						maxAabb.setMax(maxAabb2);

  1467. 					}

  1468. 

  1469. 					m_debugDrawer->drawAabb(minAabb,maxAabb,colorvec);

  1470. 				}

  1471. 			}

  1472. 

  1473. 		}

  1474. 	}

  1475. }

  1476. 

  1477. 

  1478. void	btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)

  1479. {

  1480. 	int i;

  1481. 	//serialize all collision objects

  1482. 	for (i=0;i<m_collisionObjects.size();i++)

  1483. 	{

  1484. 		btCollisionObject* colObj = m_collisionObjects[i];

  1485. 		if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)

  1486. 		{

  1487. 			colObj->serializeSingleObject(serializer);

  1488. 		}

  1489. 	}

  1490. 

  1491. 	///keep track of shapes already serialized

  1492. 	btHashMap<btHashPtr,btCollisionShape*>	serializedShapes;

  1493. 

  1494. 	for (i=0;i<m_collisionObjects.size();i++)

  1495. 	{

  1496. 		btCollisionObject* colObj = m_collisionObjects[i];

  1497. 		btCollisionShape* shape = colObj->getCollisionShape();

  1498. 

  1499. 		if (!serializedShapes.find(shape))

  1500. 		{

  1501. 			serializedShapes.insert(shape,shape);

  1502. 			shape->serializeSingleShape(serializer);

  1503. 		}

  1504. 	}

  1505. 

  1506. }

  1507. 

  1508. 

  1509. void	btCollisionWorld::serialize(btSerializer* serializer)

  1510. {

  1511. 

  1512. 	serializer->startSerialization();

  1513. 	

  1514. 	serializeCollisionObjects(serializer);

  1515. 	

  1516. 	serializer->finishSerialization();

  1517. }