/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
*
* This software is provided 'as-is', without any express or implied warranty.
* In no event will the authors be held liable for any damages arising from
* the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 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.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
package com.bulletphysics.collision.dispatch;
import com.bulletphysics.collision.narrowphase.PersistentManifold;
import com.bulletphysics.collision.broadphase.CollisionAlgorithm;
import com.bulletphysics.collision.broadphase.CollisionAlgorithmConstructionInfo;
import com.bulletphysics.collision.broadphase.DispatcherInfo;
import com.bulletphysics.collision.shapes.CollisionShape;
import com.bulletphysics.collision.shapes.CompoundShape;
import com.bulletphysics.linearmath.Transform;
import com.bulletphysics.util.ObjectArrayList;
import com.bulletphysics.util.ObjectPool;
import cz.advel.stack.Stack;
/**
* CompoundCollisionAlgorithm supports collision between {@link CompoundShape}s and
* other collision shapes.
*
* @author jezek2
*/
public class CompoundCollisionAlgorithm extends CollisionAlgorithm {
private final ObjectArrayList<CollisionAlgorithm> childCollisionAlgorithms = new ObjectArrayList<CollisionAlgorithm>();
private boolean isSwapped;
public void init(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1, boolean isSwapped) {
super.init(ci);
this.isSwapped = isSwapped;
CollisionObject colObj = isSwapped ? body1 : body0;
CollisionObject otherObj = isSwapped ? body0 : body1;
assert (colObj.getCollisionShape().isCompound());
CompoundShape compoundShape = (CompoundShape) colObj.getCollisionShape();
int numChildren = compoundShape.getNumChildShapes();
int i;
//childCollisionAlgorithms.resize(numChildren);
for (i = 0; i < numChildren; i++) {
CollisionShape tmpShape = colObj.getCollisionShape();
CollisionShape childShape = compoundShape.getChildShape(i);
colObj.internalSetTemporaryCollisionShape(childShape);
childCollisionAlgorithms.add(ci.dispatcher1.findAlgorithm(colObj, otherObj));
colObj.internalSetTemporaryCollisionShape(tmpShape);
}
}
@Override
public void destroy() {
int numChildren = childCollisionAlgorithms.size();
for (int i=0; i<numChildren; i++) {
//childCollisionAlgorithms.get(i).destroy();
dispatcher.freeCollisionAlgorithm(childCollisionAlgorithms.getQuick(i));
}
childCollisionAlgorithms.clear();
}
@Override
public void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
CollisionObject colObj = isSwapped ? body1 : body0;
CollisionObject otherObj = isSwapped ? body0 : body1;
assert (colObj.getCollisionShape().isCompound());
CompoundShape compoundShape = (CompoundShape) colObj.getCollisionShape();
// 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 = Stack.alloc(Transform.class);
Transform orgTrans = Stack.alloc(Transform.class);
Transform childTrans = Stack.alloc(Transform.class);
Transform orgInterpolationTrans = Stack.alloc(Transform.class);
Transform newChildWorldTrans = Stack.alloc(Transform.class);
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.setWorldTransform(newChildWorldTrans);
colObj.setInterpolationWorldTransform(newChildWorldTrans);
// the contactpoint is still projected back using the original inverted worldtrans
CollisionShape tmpShape = colObj.getCollisionShape();
colObj.internalSetTemporaryCollisionShape(childShape);
childCollisionAlgorithms.getQuick(i).processCollision(colObj, otherObj, dispatchInfo, resultOut);
// revert back
colObj.internalSetTemporaryCollisionShape(tmpShape);
colObj.setWorldTransform(orgTrans);
colObj.setInterpolationWorldTransform(orgInterpolationTrans);
}
}
@Override
public float calculateTimeOfImpact(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ManifoldResult resultOut) {
CollisionObject colObj = isSwapped ? body1 : body0;
CollisionObject otherObj = isSwapped ? body0 : body1;
assert (colObj.getCollisionShape().isCompound());
CompoundShape compoundShape = (CompoundShape) colObj.getCollisionShape();
// 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 = Stack.alloc(Transform.class);
Transform orgTrans = Stack.alloc(Transform.class);
Transform childTrans = Stack.alloc(Transform.class);
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.setWorldTransform(tmpTrans);
CollisionShape tmpShape = colObj.getCollisionShape();
colObj.internalSetTemporaryCollisionShape(childShape);
float frac = childCollisionAlgorithms.getQuick(i).calculateTimeOfImpact(colObj, otherObj, dispatchInfo, resultOut);
if (frac < hitFraction) {
hitFraction = frac;
}
// revert back
colObj.internalSetTemporaryCollisionShape(tmpShape);
colObj.setWorldTransform(orgTrans);
}
return hitFraction;
}
@Override
public void getAllContactManifolds(ObjectArrayList<PersistentManifold> manifoldArray) {
for (int i=0; i<childCollisionAlgorithms.size(); i++) {
childCollisionAlgorithms.getQuick(i).getAllContactManifolds(manifoldArray);
}
}
////////////////////////////////////////////////////////////////////////////
public static class CreateFunc extends CollisionAlgorithmCreateFunc {
private final ObjectPool<CompoundCollisionAlgorithm> pool = ObjectPool.get(CompoundCollisionAlgorithm.class);
@Override
public CollisionAlgorithm createCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1) {
CompoundCollisionAlgorithm algo = pool.get();
algo.init(ci, body0, body1, false);
return algo;
}
@Override
public void releaseCollisionAlgorithm(CollisionAlgorithm algo) {
pool.release((CompoundCollisionAlgorithm)algo);
}
};
public static class SwappedCreateFunc extends CollisionAlgorithmCreateFunc {
private final ObjectPool<CompoundCollisionAlgorithm> pool = ObjectPool.get(CompoundCollisionAlgorithm.class);
@Override
public CollisionAlgorithm createCollisionAlgorithm(CollisionAlgorithmConstructionInfo ci, CollisionObject body0, CollisionObject body1) {
CompoundCollisionAlgorithm algo = pool.get();
algo.init(ci, body0, body1, true);
return algo;
}
@Override
public void releaseCollisionAlgorithm(CollisionAlgorithm algo) {
pool.release((CompoundCollisionAlgorithm)algo);
}
};
}