From d5b950633d1fea8c868dd21fbdbc548553b1b13c Mon Sep 17 00:00:00 2001
From: teravus
Date: Thu, 24 Jan 2013 07:36:24 -0500
Subject: * Added in the manifold point dept on collision desc. In BulletSim
engine BulletXNA.
---
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 69 ++++++++++++++++++++++--
1 file changed, 64 insertions(+), 5 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index 57c1308..f63d83c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -1821,7 +1821,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
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 ++;
if (m_collisionsThisFrame >= 9999999)
break;
@@ -1858,8 +1858,64 @@ private sealed class BulletConstraintXNA : BulletConstraint
}
return numSimSteps;
}
-
- private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
+ public void RecordGhostCollisions(PairCachingGhostObject obj)
+ {
+ /*
+ *void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj)
+{
+ btManifoldArray manifoldArray;
+ btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray();
+ int numPairs = pairArray.size();
+
+ // 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;
@@ -1885,7 +1941,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
aID = idA,
bID = idB,
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)
world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
@@ -1911,7 +1969,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
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)
{
--
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