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https://github.com/copyrighttxt/watrbx-game-engine.git
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GEEKING
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watrabi
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/* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
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#include "stdafx.h"
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#include "V8World/BulletShapeContact.h"
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#include "V8Kernel/BulletShapeConnectors.h"
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#include "V8Kernel/Kernel.h"
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#include "V8World/Primitive.h"
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#include "V8World/World.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#include "btBulletCollisionCommon.h"
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#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
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namespace RBX {
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BulletShapeContact::BulletShapeContact(Primitive* p0, Primitive* p1, World* contactWorld) : Contact(p0, p1)
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, bulletManifold(NULL)
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, bulletNPAlgorithm(NULL)
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, world(contactWorld)
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{
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}
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BulletShapeContact::~BulletShapeContact()
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{
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deleteConnectors(polyConnectors);
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if (bulletNPAlgorithm)
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{
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bulletNPAlgorithm->~btCollisionAlgorithm();
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world->getBulletCollisionDispatcher()->freeCollisionAlgorithm(bulletNPAlgorithm);
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}
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RBXASSERT(polyConnectors.size() == 0);
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}
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ContactConnector* BulletShapeContact::getConnector(int i)
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{
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return polyConnectors[i];
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}
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void BulletShapeContact::deleteAllConnectors()
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{
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deleteConnectors(polyConnectors);
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}
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void BulletShapeContact::deleteConnectors(BulletConnectorArray& deleteConnectors)
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{
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removeAllConnectorsFromKernel();
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for (size_t i = 0; i < deleteConnectors.size(); ++i) {
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RBXASSERT(!deleteConnectors[i]->isInKernel());
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delete deleteConnectors[i];
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}
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deleteConnectors.fastClear();
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}
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void BulletShapeContact::removeAllConnectorsFromKernel()
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{
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Kernel* kernel = NULL;
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for (size_t i = 0; i < polyConnectors.size(); ++i) {
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if (polyConnectors[i]->isInKernel()) {
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kernel = kernel ? kernel : getKernel(); // small optimization - getKernel walks the IPipelines
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kernel->removeConnector(polyConnectors[i]);
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}
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}
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}
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void BulletShapeContact::putAllConnectorsInKernel()
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{
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Kernel* kernel = NULL;
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for (size_t i = 0; i < polyConnectors.size(); ++i) {
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//if (!polyConnectors[i]->isInKernel() &&
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// polyConnectors[i]->getContactPoint().length < -ContactConnector::overlapGoal()) {
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if (!polyConnectors[i]->isInKernel())
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{
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kernel = kernel ? kernel : getKernel(); // small optimization - getKernel walks the IPipelines
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kernel->insertConnector(polyConnectors[i]);
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}
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}
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}
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bool BulletShapeContact::stepContact()
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{
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if (computeIsColliding(0.0f)) {
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if (inKernel()) {
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putAllConnectorsInKernel();
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}
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return true;
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}
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else {
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removeAllConnectorsFromKernel();
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return false;
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}
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}
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void BulletShapeContact::invalidateContactCache()
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{
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deleteAllConnectors();
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if (bulletNPAlgorithm)
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{
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btManifoldArray manifoldArray;
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bulletNPAlgorithm->getAllContactManifolds(manifoldArray);
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for (int i = 0; i < manifoldArray.size(); ++i)
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manifoldArray[i]->clearManifold();
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}
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}
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bool BulletShapeContact::computeIsColliding(float overlapIgnored)
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{
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updateClosestFeatures();
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if (polyConnectors.size() > 0)
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{
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float overlap = worstFeatureOverlap();
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if (overlap > overlapIgnored)
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{
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return true;
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}
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}
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return false;
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}
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void BulletShapeContact::updateClosestFeatures()
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{
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BulletConnectorArray newConnectors;
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findClosestFeatures(newConnectors);
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matchClosestFeatures(newConnectors);
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deleteConnectors(polyConnectors); // any remaining not matched
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// set bullet's manifold point references back to roblox kernel connectors
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for (size_t i = 0; i < newConnectors.size(); ++i)
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{
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btManifoldArray manifoldArray;
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bulletNPAlgorithm->getAllContactManifolds(manifoldArray);
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int manIndex = newConnectors[i]->getBulletManifoldIndex();
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int ptIndex = newConnectors[i]->getBulletPointCacheIndex();
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manifoldArray[manIndex]->getContactPoint(ptIndex).m_userPersistentData = newConnectors[i];
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}
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polyConnectors = newConnectors; // transfer over the pointers
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updateContactPoints();
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}
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float BulletShapeContact::worstFeatureOverlap()
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{
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float worstOverlap = -FLT_MAX; // i.e. not overlapping
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RBXASSERT(polyConnectors.size() > 0);
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for (size_t i = 0; i < polyConnectors.size(); ++i) { // may not have any overlapping features!
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float overlap = polyConnectors[i]->computeOverlap(); // computeLength returns negative
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worstOverlap = std::max(worstOverlap, overlap);
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}
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return worstOverlap;
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}
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void BulletShapeContact::matchClosestFeatures(BulletConnectorArray& newConnectors)
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{
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for (size_t i = 0; i < newConnectors.size(); ++i) {
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if (BulletShapeConnector* match = matchClosestFeature(newConnectors[i])) {
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delete newConnectors[i];
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newConnectors.replace(i, match);
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}
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}
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}
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BulletShapeConnector* BulletShapeContact::matchClosestFeature(BulletShapeConnector* newConnector)
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{
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for (size_t i = 0; i < polyConnectors.size(); ++i) {
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BulletShapeConnector* answer = polyConnectors[i];
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if (BulletShapeConnector::match(answer, newConnector)) {
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polyConnectors.fastRemove(i);
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return answer;
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}
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}
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return NULL;
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}
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void BulletShapeContact::updateContactPoints()
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{
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for (size_t i = 0; i < polyConnectors.size(); ++i)
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{
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polyConnectors[i]->findValidContactAfterNarrowphase();
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}
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}
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BulletShapeConnector* BulletShapeContact::newBulletShapeConnector(btCollisionObject* bulletColObj0, btCollisionObject* bulletColObj1,
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btCollisionAlgorithm* algo, int manifoldIndex, int contactIndex, bool swapped = false)
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{
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if(contactParams)
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{
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return new BulletShapeConnector(getPrimitive(0)->getBody(),
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getPrimitive(1)->getBody(),
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*contactParams,
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bulletColObj0,
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bulletColObj1,
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algo,
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manifoldIndex,
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contactIndex
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); // id of this face
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}
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else
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return NULL;
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}
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void BulletShapeContact::findClosestFeatures(BulletConnectorArray& newConnectors)
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{
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if(!contactParams)
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generateDataForMovingAssemblyStage();
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// Early out if CFrame is invalid
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if (Math::isNanInfVector3(getPrimitive(0)->getCoordinateFrame().translation) || Math::isNanInfVector3(getPrimitive(1)->getCoordinateFrame().translation))
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return;
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getPrimitive(0)->updateBulletCollisionObject();
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getPrimitive(1)->updateBulletCollisionObject();
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btManifoldArray manifoldArray;
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computeManifoldsWithBulletNarrowPhase(manifoldArray);
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int totalNumConnectors = 0;
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for (int i = 0; i < manifoldArray.size(); i++)
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{
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for (int j = 0; j < manifoldArray[i]->getNumContacts(); j++)
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{
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bool valid = manifoldArray[i]->validContactDistance(manifoldArray[i]->getContactPoint(j));
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float dis = manifoldArray[i]->getContactPoint(j).getDistance();
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if (valid && dis < 0.0f)
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{
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RBXASSERT(totalNumConnectors < BULLET_CONTACT_ARRAY_SIZE);
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if (totalNumConnectors < BULLET_CONTACT_ARRAY_SIZE)
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{
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BulletShapeConnector* cylConn = newBulletShapeConnector(getPrimitive(0)->getGeometry()->getBulletCollisionObject(),
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getPrimitive(1)->getGeometry()->getBulletCollisionObject(),
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bulletNPAlgorithm, i, j);
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if (cylConn)
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{
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newConnectors.push_back(cylConn);
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}
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}
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}
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}
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}
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}
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void BulletShapeContact::computeManifoldsWithBulletNarrowPhase(btManifoldArray& manifoldArray)
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{
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btCollisionDispatcher* dispatcher;
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dispatcher = world->getBulletCollisionDispatcher();
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btCollisionObject* colObj0 = getPrimitive(0)->getGeometry()->getBulletCollisionObject();
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btCollisionObject* colObj1 = getPrimitive(1)->getGeometry()->getBulletCollisionObject();
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btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
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btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);
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if (!bulletNPAlgorithm)
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bulletNPAlgorithm = dispatcher->findAlgorithm(&obj0Wrap,&obj1Wrap);
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btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
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btDispatcherInfo disInfo;
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bulletNPAlgorithm->processCollision(&obj0Wrap, &obj1Wrap, disInfo, &contactPointResult);
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bulletNPAlgorithm->getAllContactManifolds(manifoldArray);
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if (colObj0->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE ||
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colObj1->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
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{
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//GImpact collision algorithm should only yield 1 Manifold
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RBXASSERT(manifoldArray.size() <= 1);
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if (manifoldArray.size())
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{
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manifoldArray[0]->refreshContactPoints(colObj0->getWorldTransform(), colObj1->getWorldTransform());
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}
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}
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}
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} // namespace
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