forked from bartvdbraak/blender
307 lines
10 KiB
C++
307 lines
10 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ConvexConcaveCollisionAlgorithm.h"
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#include "CollisionDispatch/CollisionObject.h"
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#include "CollisionShapes/MultiSphereShape.h"
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#include "ConvexConvexAlgorithm.h"
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#include "BroadphaseCollision/BroadphaseProxy.h"
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#include "CollisionShapes/ConcaveShape.h"
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#include "CollisionDispatch/ManifoldResult.h"
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#include "NarrowPhaseCollision/RaycastCallback.h"
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#include "CollisionShapes/TriangleShape.h"
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#include "CollisionShapes/SphereShape.h"
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#include "IDebugDraw.h"
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#include "NarrowPhaseCollision/SubSimplexConvexCast.h"
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ConvexConcaveCollisionAlgorithm::ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
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: CollisionAlgorithm(ci),m_convex(*proxy0),m_concave(*proxy1),
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m_ConvexTriangleCallback(ci.m_dispatcher,proxy0,proxy1)
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{
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}
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ConvexConcaveCollisionAlgorithm::~ConvexConcaveCollisionAlgorithm()
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{
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}
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ConvexTriangleCallback::ConvexTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1):
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m_convexProxy(proxy0),m_triangleProxy(*proxy1),m_dispatcher(dispatcher),
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m_dispatchInfoPtr(0)
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{
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//
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// create the manifold from the dispatcher 'manifold pool'
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//
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m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
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ClearCache();
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}
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ConvexTriangleCallback::~ConvexTriangleCallback()
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{
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ClearCache();
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m_dispatcher->ReleaseManifold( m_manifoldPtr );
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}
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void ConvexTriangleCallback::ClearCache()
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{
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m_dispatcher->ClearManifold(m_manifoldPtr);
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};
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void ConvexTriangleCallback::ProcessTriangle(SimdVector3* triangle,int partId, int triangleIndex)
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{
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//just for debugging purposes
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//printf("triangle %d",m_triangleCount++);
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//aabb filter is already applied!
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CollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher = m_dispatcher;
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CollisionObject* ob = static_cast<CollisionObject*>(m_triangleProxy.m_clientObject);
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///debug drawing of the overlapping triangles
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if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->GetDebugMode() > 0)
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{
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SimdVector3 color(255,255,0);
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SimdTransform& tr = ob->m_worldTransform;
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m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(triangle[1]),color);
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m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(triangle[2]),color);
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m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(triangle[0]),color);
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//SimdVector3 center = triangle[0] + triangle[1]+triangle[2];
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//center *= 0.333333f;
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//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[0]),tr(center),color);
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//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[1]),tr(center),color);
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//m_dispatchInfoPtr->m_debugDraw->DrawLine(tr(triangle[2]),tr(center),color);
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}
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CollisionObject* colObj = static_cast<CollisionObject*>(m_convexProxy->m_clientObject);
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if (colObj->m_collisionShape->IsConvex())
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{
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TriangleShape tm(triangle[0],triangle[1],triangle[2]);
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tm.SetMargin(m_collisionMarginTriangle);
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CollisionShape* tmpShape = ob->m_collisionShape;
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ob->m_collisionShape = &tm;
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ConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexProxy,&m_triangleProxy);
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cvxcvxalgo.SetShapeIdentifiers(-1,-1,partId,triangleIndex);
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cvxcvxalgo.ProcessCollision(m_convexProxy,&m_triangleProxy,*m_dispatchInfoPtr);
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ob->m_collisionShape = tmpShape;
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}
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}
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void ConvexTriangleCallback::SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo)
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{
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m_dispatchInfoPtr = &dispatchInfo;
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m_collisionMarginTriangle = collisionMarginTriangle;
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//recalc aabbs
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CollisionObject* convexBody = (CollisionObject* )m_convexProxy->m_clientObject;
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CollisionObject* triBody = (CollisionObject* )m_triangleProxy.m_clientObject;
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SimdTransform convexInTriangleSpace;
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convexInTriangleSpace = triBody->m_worldTransform.inverse() * convexBody->m_worldTransform;
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CollisionShape* convexShape = static_cast<CollisionShape*>(convexBody->m_collisionShape);
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//CollisionShape* triangleShape = static_cast<CollisionShape*>(triBody->m_collisionShape);
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convexShape->GetAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
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float extraMargin = collisionMarginTriangle;//CONVEX_DISTANCE_MARGIN;//+0.1f;
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SimdVector3 extra(extraMargin,extraMargin,extraMargin);
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m_aabbMax += extra;
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m_aabbMin -= extra;
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}
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void ConvexConcaveCollisionAlgorithm::ClearCache()
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{
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m_ConvexTriangleCallback.ClearCache();
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}
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void ConvexConcaveCollisionAlgorithm::ProcessCollision (BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
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{
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CollisionObject* convexBody = static_cast<CollisionObject* >(m_convex.m_clientObject);
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CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
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if (triBody->m_collisionShape->IsConcave())
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{
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if (!m_dispatcher->NeedsCollision(m_convex,m_concave))
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return;
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CollisionObject* triOb = static_cast<CollisionObject*>(m_concave.m_clientObject);
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ConcaveShape* concaveShape = static_cast<ConcaveShape*>( triOb->m_collisionShape);
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if (convexBody->m_collisionShape->IsConvex())
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{
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float collisionMarginTriangle = concaveShape->GetMargin();
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m_ConvexTriangleCallback.SetTimeStepAndCounters(collisionMarginTriangle,dispatchInfo);
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//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
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//m_dispatcher->ClearManifold(m_ConvexTriangleCallback.m_manifoldPtr);
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m_ConvexTriangleCallback.m_manifoldPtr->SetBodies(m_convex.m_clientObject,m_concave.m_clientObject);
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concaveShape->ProcessAllTriangles( &m_ConvexTriangleCallback,m_ConvexTriangleCallback.GetAabbMin(),m_ConvexTriangleCallback.GetAabbMax());
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}
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}
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}
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float ConvexConcaveCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* ,BroadphaseProxy* ,const DispatcherInfo& dispatchInfo)
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{
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//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the ConvexCast)
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CollisionObject* convexbody = (CollisionObject* )m_convex.m_clientObject;
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CollisionObject* triBody = static_cast<CollisionObject* >(m_concave.m_clientObject);
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//only perform CCD above a certain treshold, this prevents blocking on the long run
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//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
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float squareMot0 = (convexbody->m_interpolationWorldTransform.getOrigin() - convexbody->m_worldTransform.getOrigin()).length2();
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if (squareMot0 < convexbody->m_ccdSquareMotionTreshold)
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{
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return 1.f;
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}
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//const SimdVector3& from = convexbody->m_worldTransform.getOrigin();
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//SimdVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
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//todo: only do if the motion exceeds the 'radius'
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SimdTransform convexFromLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_worldTransform;
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SimdTransform convexToLocal = triBody->m_cachedInvertedWorldTransform * convexbody->m_interpolationWorldTransform;
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struct LocalTriangleSphereCastCallback : public TriangleCallback
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{
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SimdTransform m_ccdSphereFromTrans;
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SimdTransform m_ccdSphereToTrans;
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SimdTransform m_meshTransform;
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float m_ccdSphereRadius;
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float m_hitFraction;
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LocalTriangleSphereCastCallback(const SimdTransform& from,const SimdTransform& to,float ccdSphereRadius,float hitFraction)
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:m_ccdSphereFromTrans(from),
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m_ccdSphereToTrans(to),
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m_ccdSphereRadius(ccdSphereRadius),
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m_hitFraction(hitFraction)
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{
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}
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virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex)
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{
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//do a swept sphere for now
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SimdTransform ident;
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ident.setIdentity();
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ConvexCast::CastResult castResult;
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castResult.m_fraction = m_hitFraction;
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SphereShape pointShape(m_ccdSphereRadius);
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TriangleShape triShape(triangle[0],triangle[1],triangle[2]);
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VoronoiSimplexSolver simplexSolver;
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SubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
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//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
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//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
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//local space?
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if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
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ident,ident,castResult))
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{
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if (m_hitFraction > castResult.m_fraction)
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m_hitFraction = castResult.m_fraction;
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}
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}
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};
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if (triBody->m_collisionShape->IsConcave())
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{
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SimdVector3 rayAabbMin = convexFromLocal.getOrigin();
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rayAabbMin.setMin(convexToLocal.getOrigin());
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SimdVector3 rayAabbMax = convexFromLocal.getOrigin();
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rayAabbMax.setMax(convexToLocal.getOrigin());
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rayAabbMin -= SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
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rayAabbMax += SimdVector3(convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius,convexbody->m_ccdSweptShereRadius);
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float curHitFraction = 1.f; //is this available?
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LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
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convexbody->m_ccdSweptShereRadius,curHitFraction);
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raycastCallback.m_hitFraction = convexbody->m_hitFraction;
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CollisionObject* concavebody = (CollisionObject* )m_concave.m_clientObject;
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ConcaveShape* triangleMesh = (ConcaveShape*) concavebody->m_collisionShape;
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if (triangleMesh)
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{
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triangleMesh->ProcessAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
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}
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if (raycastCallback.m_hitFraction < convexbody->m_hitFraction)
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{
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convexbody->m_hitFraction = raycastCallback.m_hitFraction;
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return raycastCallback.m_hitFraction;
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}
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}
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return 1.f;
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}
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