/**
* ManifoldResult is a helper class to manage contact results.
*
* @author jezek2
*/
public class ManifoldResult implements DiscreteCollisionDetectorInterface.Result {
protected final BulletStack stack = BulletStack.get();
protected final ObjectPool<ManifoldPoint> pointsPool = BulletPool.get(ManifoldPoint.class);
private PersistentManifold manifoldPtr;
// we need this for compounds
private final Transform rootTransA = new Transform();
private final Transform rootTransB = new Transform();
private CollisionObject body0;
private CollisionObject body1;
private int partId0;
private int partId1;
private int index0;
private int index1;
public ManifoldResult() {}
public ManifoldResult(CollisionObject body0, CollisionObject body1) {
init(body0, body1);
}
public void init(CollisionObject body0, CollisionObject body1) {
this.body0 = body0;
this.body1 = body1;
this.rootTransA.set(body0.getWorldTransform());
this.rootTransB.set(body1.getWorldTransform());
}
public PersistentManifold getPersistentManifold() {
return manifoldPtr;
}
public void setPersistentManifold(PersistentManifold manifoldPtr) {
this.manifoldPtr = manifoldPtr;
}
public void setShapeIdentifiers(int partId0, int index0, int partId1, int index1) {
this.partId0 = partId0;
this.partId1 = partId1;
this.index0 = index0;
this.index1 = index1;
}
public void addContactPoint(Vector3f normalOnBInWorld, Vector3f pointInWorld, float depth) {
assert (manifoldPtr != null);
// order in manifold needs to match
if (depth > manifoldPtr.getContactBreakingThreshold()) {
return;
}
stack.vectors.push();
try {
boolean isSwapped = manifoldPtr.getBody0() != body0;
Vector3f pointA = stack.vectors.get();
pointA.scaleAdd(depth, normalOnBInWorld, pointInWorld);
Vector3f localA = stack.vectors.get();
Vector3f localB = stack.vectors.get();
if (isSwapped) {
rootTransB.invXform(pointA, localA);
rootTransA.invXform(pointInWorld, localB);
} else {
rootTransA.invXform(pointA, localA);
rootTransB.invXform(pointInWorld, localB);
}
ManifoldPoint newPt = pointsPool.get();
newPt.init(localA, localB, normalOnBInWorld, depth);
newPt.positionWorldOnA.set(pointA);
newPt.positionWorldOnB.set(pointInWorld);
int insertIndex = manifoldPtr.getCacheEntry(newPt);
newPt.combinedFriction = calculateCombinedFriction(body0, body1);
newPt.combinedRestitution = calculateCombinedRestitution(body0, body1);
/// todo, check this for any side effects
if (insertIndex >= 0) {
// const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
manifoldPtr.replaceContactPoint(newPt, insertIndex);
} else {
manifoldPtr.addManifoldPoint(newPt);
}
// User can override friction and/or restitution
if (BulletGlobals.gContactAddedCallback != null
&&
// and if either of the two bodies requires custom material
((body0.getCollisionFlags() & CollisionFlags.CUSTOM_MATERIAL_CALLBACK) != 0
|| (body1.getCollisionFlags() & CollisionFlags.CUSTOM_MATERIAL_CALLBACK) != 0)) {
// experimental feature info, for per-triangle material etc.
CollisionObject obj0 = isSwapped ? body1 : body0;
CollisionObject obj1 = isSwapped ? body0 : body1;
BulletGlobals.gContactAddedCallback.invoke(
newPt, obj0, partId0, index0, obj1, partId1, index1);
}
pointsPool.release(newPt);
} finally {
stack.vectors.pop();
}
}
/// User can override this material combiner by implementing gContactAddedCallback and setting
// body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
private static float calculateCombinedFriction(CollisionObject body0, CollisionObject body1) {
float friction = body0.getFriction() * body1.getFriction();
float MAX_FRICTION = 10f;
if (friction < -MAX_FRICTION) {
friction = -MAX_FRICTION;
}
if (friction > MAX_FRICTION) {
friction = MAX_FRICTION;
}
return friction;
}
private static float calculateCombinedRestitution(CollisionObject body0, CollisionObject body1) {
return body0.getRestitution() * body1.getRestitution();
}
public void refreshContactPoints() {
assert (manifoldPtr != null);
if (manifoldPtr.getNumContacts() == 0) {
return;
}
boolean isSwapped = manifoldPtr.getBody0() != body0;
if (isSwapped) {
manifoldPtr.refreshContactPoints(rootTransB, rootTransA);
} else {
manifoldPtr.refreshContactPoints(rootTransA, rootTransB);
}
}
}
/**
* Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy
* optimization. Uses an interface to access the triangles to allow for sharing graphics/physics
* triangles.
*
* @author jezek2
*/
public class BvhTriangleMeshShape extends TriangleMeshShape {
private OptimizedBvh bvh;
private boolean useQuantizedAabbCompression;
private boolean ownsBvh;
private ObjectPool<MyNodeOverlapCallback> myNodeCallbacks =
BulletPool.get(MyNodeOverlapCallback.class);
public BvhTriangleMeshShape() {
super(null);
this.bvh = null;
this.ownsBvh = false;
}
public BvhTriangleMeshShape(
StridingMeshInterface meshInterface, boolean useQuantizedAabbCompression) {
this(meshInterface, useQuantizedAabbCompression, true);
}
public BvhTriangleMeshShape(
StridingMeshInterface meshInterface, boolean useQuantizedAabbCompression, boolean buildBvh) {
super(meshInterface);
this.bvh = null;
this.useQuantizedAabbCompression = useQuantizedAabbCompression;
this.ownsBvh = false;
// construct bvh from meshInterface
// #ifndef DISABLE_BVH
Vector3f bvhAabbMin = new Vector3f(), bvhAabbMax = new Vector3f();
meshInterface.calculateAabbBruteForce(bvhAabbMin, bvhAabbMax);
if (buildBvh) {
bvh = new OptimizedBvh();
bvh.build(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax);
ownsBvh = true;
}
// JAVA NOTE: moved from TriangleMeshShape
recalcLocalAabb();
// #endif //DISABLE_BVH
}
/**
* Optionally pass in a larger bvh aabb, used for quantization. This allows for deformations
* within this aabb.
*/
public BvhTriangleMeshShape(
StridingMeshInterface meshInterface,
boolean useQuantizedAabbCompression,
Vector3f bvhAabbMin,
Vector3f bvhAabbMax) {
this(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax, true);
}
/**
* Optionally pass in a larger bvh aabb, used for quantization. This allows for deformations
* within this aabb.
*/
public BvhTriangleMeshShape(
StridingMeshInterface meshInterface,
boolean useQuantizedAabbCompression,
Vector3f bvhAabbMin,
Vector3f bvhAabbMax,
boolean buildBvh) {
super(meshInterface);
this.bvh = null;
this.useQuantizedAabbCompression = useQuantizedAabbCompression;
this.ownsBvh = false;
// construct bvh from meshInterface
// #ifndef DISABLE_BVH
if (buildBvh) {
bvh = new OptimizedBvh();
bvh.build(meshInterface, useQuantizedAabbCompression, bvhAabbMin, bvhAabbMax);
ownsBvh = true;
}
// JAVA NOTE: moved from TriangleMeshShape
recalcLocalAabb();
// #endif //DISABLE_BVH
}
@Override
public BroadphaseNativeType getShapeType() {
return BroadphaseNativeType.TRIANGLE_MESH_SHAPE_PROXYTYPE;
}
public void performRaycast(
TriangleRaycastCallback callback, Vector3f raySource, Vector3f rayTarget) {
MyNodeOverlapCallback myNodeCallback = myNodeCallbacks.get();
myNodeCallback.init(callback, meshInterface);
bvh.reportRayOverlappingNodex(myNodeCallback, raySource, rayTarget);
myNodeCallbacks.release(myNodeCallback);
}
public void performConvexcast(
TriangleConvexcastCallback callback,
Vector3f raySource,
Vector3f rayTarget,
Vector3f aabbMin,
Vector3f aabbMax) {
MyNodeOverlapCallback myNodeCallback = myNodeCallbacks.get();
myNodeCallback.init(callback, meshInterface);
bvh.reportBoxCastOverlappingNodex(myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
myNodeCallbacks.release(myNodeCallback);
}
/** Perform bvh tree traversal and report overlapping triangles to 'callback'. */
@Override
public void processAllTriangles(TriangleCallback callback, Vector3f aabbMin, Vector3f aabbMax) {
// #ifdef DISABLE_BVH
// // brute force traverse all triangles
// btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
// #else
// first get all the nodes
MyNodeOverlapCallback myNodeCallback = myNodeCallbacks.get();
myNodeCallback.init(callback, meshInterface);
bvh.reportAabbOverlappingNodex(myNodeCallback, aabbMin, aabbMax);
myNodeCallbacks.release(myNodeCallback);
// #endif//DISABLE_BVH
}
public void refitTree() {
bvh.refit(meshInterface);
recalcLocalAabb();
}
/**
* For a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will
* become more conservative, it never shrinks.
*/
public void partialRefitTree(Vector3f aabbMin, Vector3f aabbMax) {
bvh.refitPartial(meshInterface, aabbMin, aabbMax);
VectorUtil.setMin(localAabbMin, aabbMin);
VectorUtil.setMax(localAabbMax, aabbMax);
}
@Override
public String getName() {
return "BVHTRIANGLEMESH";
}
@Override
public void setLocalScaling(Vector3f scaling) {
stack.vectors.push();
try {
Vector3f tmp = stack.vectors.get();
tmp.sub(getLocalScaling(), scaling);
if (tmp.lengthSquared() > BulletGlobals.SIMD_EPSILON) {
super.setLocalScaling(scaling);
/*
if (ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
*/
/// m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could
// just scale aabb, but this needs some more work
bvh = new OptimizedBvh();
// rebuild the bvh...
bvh.build(meshInterface, useQuantizedAabbCompression, localAabbMin, localAabbMax);
}
} finally {
stack.vectors.pop();
}
}
public OptimizedBvh getOptimizedBvh() {
return bvh;
}
public void setOptimizedBvh(OptimizedBvh bvh) {
assert (this.bvh == null);
assert (!ownsBvh);
this.bvh = bvh;
ownsBvh = false;
}
public boolean usesQuantizedAabbCompression() {
return useQuantizedAabbCompression;
}
////////////////////////////////////////////////////////////////////////////
protected static class MyNodeOverlapCallback implements NodeOverlapCallback {
public StridingMeshInterface meshInterface;
public TriangleCallback callback;
private Vector3f[] triangle /*[3]*/ =
new Vector3f[] {new Vector3f(), new Vector3f(), new Vector3f()};
private VertexData data = new VertexData();
public MyNodeOverlapCallback() {}
public void init(TriangleCallback callback, StridingMeshInterface meshInterface) {
this.meshInterface = meshInterface;
this.callback = callback;
}
public void processNode(int nodeSubPart, int nodeTriangleIndex) {
meshInterface.getLockedReadOnlyVertexIndexBase(data, nodeSubPart);
// int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
ByteBuffer gfxbase_ptr = data.indexbase;
int gfxbase_index = (nodeTriangleIndex * data.indexstride);
assert (data.indicestype == ScalarType.PHY_INTEGER
|| data.indicestype == ScalarType.PHY_SHORT);
Vector3f meshScaling = meshInterface.getScaling();
for (int j = 2; j >= 0; j--) {
int graphicsindex;
if (data.indicestype == ScalarType.PHY_SHORT) {
graphicsindex = gfxbase_ptr.getShort(gfxbase_index + j * 2) & 0xFFFF;
} else {
graphicsindex = gfxbase_ptr.getInt(gfxbase_index + j * 4);
}
// float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
ByteBuffer graphicsbase_ptr = data.vertexbase;
int graphicsbase_index = graphicsindex * data.stride;
triangle[j].set(
graphicsbase_ptr.getFloat(graphicsbase_index + 4 * 0) * meshScaling.x,
graphicsbase_ptr.getFloat(graphicsbase_index + 4 * 1) * meshScaling.y,
graphicsbase_ptr.getFloat(graphicsbase_index + 4 * 2) * meshScaling.z);
}
/* Perform ray vs. triangle collision here */
callback.processTriangle(triangle, nodeSubPart, nodeTriangleIndex);
meshInterface.unLockReadOnlyVertexBase(nodeSubPart);
data.unref();
}
}
}
