Package com.bulletphysics.collision.shapes

Examples of com.bulletphysics.collision.shapes.ConcaveShape

584
585
586
587
588
589
590
591
592
593
594
      //}

      if (col.getShapeType() == BroadphaseNativeType.GIMPACT_SHAPE_PROXYTYPE) {

        ConcaveShape polyshape = (ConcaveShape) col;
        /*
        int i;
        for (i=0;i<polyshape.getNumEdges();i++)
        {
          Vector3f a = Stack.alloc(Vector3f.class);
View Full Code Here
245
246
247
248
249
250
251
252
253
254
255
      CompoundShape compoundshape = (CompoundShape) shape1;
      gimpact_vs_compoundshape(body0, body1, shape0, compoundshape, swapped);
      return;
    }
    else if (shape1.isConcave()) {
      ConcaveShape concaveshape = (ConcaveShape) shape1;
      gimpact_vs_concave(body0, body1, shape0, concaveshape, swapped);
      return;
    }

    Transform orgtrans0 = body0.getWorldTransform(Stack.alloc(Transform.class));
View Full Code Here
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
//        {
//    #else   
      if (shape.isConcave())//>getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE||shape->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
      //    if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
      {
        ConcaveShape concaveMesh = (ConcaveShape) shape;
        //btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
        //btVector3 aabbMax(100,100,100);//btScalar(1e30),btScalar(1e30),btScalar(1e30));

        //todo pass camera, for some culling
        Vector3f aabbMax = vectorsPool.get();
        aabbMax.set(1e30f, 1e30f, 1e30f);
        Vector3f aabbMin = vectorsPool.get();
        aabbMin.set(-1e30f, -1e30f, -1e30f);

        GlDrawcallback drawCallback = new GlDrawcallback(gl);
        drawCallback.wireframe = (debugMode & DebugDrawModes.DRAW_WIREFRAME) != 0;

        concaveMesh.processAllTriangles(drawCallback, aabbMin, aabbMax);
       
        vectorsPool.release(aabbMax);
        vectorsPool.release(aabbMin);
      }
      //#endif
View Full Code Here
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
          BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
          rcb.hitFraction = resultCallback.closestHitFraction;
          triangleMesh.performRaycast(rcb, rayFromLocal, rayToLocal);
        }
        else {
          ConcaveShape triangleMesh = (ConcaveShape)collisionShape;

          Transform worldTocollisionObject = Stack.alloc(Transform.class);
          worldTocollisionObject.inverse(colObjWorldTransform);

          Vector3f rayFromLocal = Stack.alloc(rayFromTrans.origin);
          worldTocollisionObject.transform(rayFromLocal);
          Vector3f rayToLocal = Stack.alloc(rayToTrans.origin);
          worldTocollisionObject.transform(rayToLocal);

          BridgeTriangleRaycastCallback rcb = new BridgeTriangleRaycastCallback(rayFromLocal, rayToLocal, resultCallback, collisionObject, triangleMesh);
          rcb.hitFraction = resultCallback.closestHitFraction;

          Vector3f rayAabbMinLocal = Stack.alloc(rayFromLocal);
          VectorUtil.setMin(rayAabbMinLocal, rayToLocal);
          Vector3f rayAabbMaxLocal = Stack.alloc(rayFromLocal);
          VectorUtil.setMax(rayAabbMaxLocal, rayToLocal);

          triangleMesh.processAllTriangles(rcb, rayAabbMinLocal, rayAabbMaxLocal);
        }
      }
      else {
        // todo: use AABB tree or other BVH acceleration structure!
        if (collisionShape.isCompound()) {
View Full Code Here
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
          Vector3f boxMaxLocal = Stack.alloc(Vector3f.class);
          castShape.getAabb(rotationXform, boxMinLocal, boxMaxLocal);
          triangleMesh.performConvexcast(tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
        }
        else {
          ConcaveShape triangleMesh = (ConcaveShape)collisionShape;
          Transform worldTocollisionObject = Stack.alloc(Transform.class);
          worldTocollisionObject.inverse(colObjWorldTransform);

          Vector3f convexFromLocal = Stack.alloc(Vector3f.class);
          convexFromLocal.set(convexFromTrans.origin);
          worldTocollisionObject.transform(convexFromLocal);

          Vector3f convexToLocal = Stack.alloc(Vector3f.class);
          convexToLocal.set(convexToTrans.origin);
          worldTocollisionObject.transform(convexToLocal);

          // rotation of box in local mesh space = MeshRotation^-1 * ConvexToRotation
          Transform rotationXform = Stack.alloc(Transform.class);
          Matrix3f tmpMat = Stack.alloc(Matrix3f.class);
          tmpMat.mul(worldTocollisionObject.basis, convexToTrans.basis);
          rotationXform.set(tmpMat);

          BridgeTriangleConvexcastCallback tccb = new BridgeTriangleConvexcastCallback(castShape, convexFromTrans, convexToTrans, resultCallback, collisionObject, triangleMesh, colObjWorldTransform);
          tccb.hitFraction = resultCallback.closestHitFraction;
          tccb.normalInWorldSpace = false;
          Vector3f boxMinLocal = Stack.alloc(Vector3f.class);
          Vector3f boxMaxLocal = Stack.alloc(Vector3f.class);
          castShape.getAabb(rotationXform, boxMinLocal, boxMaxLocal);

          Vector3f rayAabbMinLocal = Stack.alloc(convexFromLocal);
          VectorUtil.setMin(rayAabbMinLocal, convexToLocal);
          Vector3f rayAabbMaxLocal = Stack.alloc(convexFromLocal);
          VectorUtil.setMax(rayAabbMaxLocal, convexToLocal);
          rayAabbMinLocal.add(boxMinLocal);
          rayAabbMaxLocal.add(boxMaxLocal);
          triangleMesh.processAllTriangles(tccb, rayAabbMinLocal, rayAabbMaxLocal);
        }
      }
      else {
        // todo: use AABB tree or other BVH acceleration structure!
        if (collisionShape.isCompound()) {
View Full Code Here
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
    CollisionObject convexBody = isSwapped ? body1 : body0;
    CollisionObject triBody = isSwapped ? body0 : body1;

    if (triBody.getCollisionShape().isConcave()) {
      CollisionObject triOb = triBody;
      ConcaveShape concaveShape = (ConcaveShape)triOb.getCollisionShape();

      if (convexBody.getCollisionShape().isConvex()) {
        float collisionMarginTriangle = concaveShape.getMargin();

        resultOut.setPersistentManifold(btConvexTriangleCallback.manifoldPtr);
        btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, dispatchInfo, resultOut);

        // Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
        //m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);

        btConvexTriangleCallback.manifoldPtr.setBodies(convexBody, triBody);

        concaveShape.processAllTriangles(
            btConvexTriangleCallback,
            btConvexTriangleCallback.getAabbMin(Stack.alloc(Vector3f.class)),
            btConvexTriangleCallback.getAabbMax(Stack.alloc(Vector3f.class)));

        resultOut.refreshContactPoints();
View Full Code Here
143
144
145
146
147
148
149
150
151
152
153
154
155
156
      raycastCallback.hitFraction = convexbody.getHitFraction();

      CollisionObject concavebody = triBody;

      ConcaveShape triangleMesh = (ConcaveShape)concavebody.getCollisionShape();

      if (triangleMesh != null) {
        triangleMesh.processAllTriangles(raycastCallback, rayAabbMin, rayAabbMax);
      }

      if (raycastCallback.hitFraction < convexbody.getHitFraction()) {
        convexbody.setHitFraction(raycastCallback.hitFraction);
        return raycastCallback.hitFraction;
View Full Code Here
TOP

Related Classes of com.bulletphysics.collision.shapes.ConcaveShape

  • cc.sketchchair.core.jBullet
  • com.bulletphysics.collision.dispatch.CollisionWorld
  • com.bulletphysics.collision.dispatch.ConvexConcaveCollisionAlgorithm
  • com.bulletphysics.demos.opengl.GLShapeDrawer
  • com.bulletphysics.extras.gimpact.GImpactCollisionAlgorithm
    • Copyright © 2018 www.massapicom. All rights reserved.
    All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.