watrbx-game-engine/App/v8world/BulletShapeContact.cpp

/* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
#include "stdafx.h"

#include "V8World/BulletShapeContact.h"
#include "V8Kernel/BulletShapeConnectors.h"
#include "V8Kernel/Kernel.h"
#include "V8World/Primitive.h"
#include "V8World/World.h"

#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "btBulletCollisionCommon.h"
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"


namespace RBX {

BulletShapeContact::BulletShapeContact(Primitive* p0, Primitive* p1, World* contactWorld) : Contact(p0, p1)
		, bulletManifold(NULL)
		, bulletNPAlgorithm(NULL)
		, world(contactWorld)
{ 
}

BulletShapeContact::~BulletShapeContact()
{
	deleteConnectors(polyConnectors);

	if (bulletNPAlgorithm)
	{
		bulletNPAlgorithm->~btCollisionAlgorithm();
		world->getBulletCollisionDispatcher()->freeCollisionAlgorithm(bulletNPAlgorithm);
	}
	RBXASSERT(polyConnectors.size() == 0);
}

ContactConnector* BulletShapeContact::getConnector(int i)	
{
	return polyConnectors[i];
}

void BulletShapeContact::deleteAllConnectors()
{
	deleteConnectors(polyConnectors);
}


void BulletShapeContact::deleteConnectors(BulletConnectorArray& deleteConnectors)
{
	removeAllConnectorsFromKernel();

	for (size_t i = 0; i < deleteConnectors.size(); ++i) {
		RBXASSERT(!deleteConnectors[i]->isInKernel());
		delete deleteConnectors[i];
	}

	deleteConnectors.fastClear();
}


void BulletShapeContact::removeAllConnectorsFromKernel()
{
	Kernel* kernel = NULL;
	for (size_t i = 0; i < polyConnectors.size(); ++i) {
		if (polyConnectors[i]->isInKernel()) {
			kernel = kernel ? kernel : getKernel();		// small optimization - getKernel walks the IPipelines
			kernel->removeConnector(polyConnectors[i]);
		}
	}
}

void BulletShapeContact::putAllConnectorsInKernel()
{
	Kernel* kernel = NULL;
	for (size_t i = 0; i < polyConnectors.size(); ++i) {
		//if (!polyConnectors[i]->isInKernel()  &&
		//	 polyConnectors[i]->getContactPoint().length < -ContactConnector::overlapGoal()) {
		if (!polyConnectors[i]->isInKernel())
		{
			kernel = kernel ? kernel : getKernel();		// small optimization - getKernel walks the IPipelines
			kernel->insertConnector(polyConnectors[i]);
		}
	}
}

bool BulletShapeContact::stepContact() 
{
	if (computeIsColliding(0.0f)) {
		if (inKernel()) {
			putAllConnectorsInKernel();
		}
		return true;
	}
	else {
		removeAllConnectorsFromKernel();
		return false;
	}
}

void BulletShapeContact::invalidateContactCache() 
{
	deleteAllConnectors();

	if (bulletNPAlgorithm)
	{
		btManifoldArray manifoldArray;
		bulletNPAlgorithm->getAllContactManifolds(manifoldArray);

		for (int i = 0; i < manifoldArray.size(); ++i)
            manifoldArray[i]->clearManifold();
	}
}

bool BulletShapeContact::computeIsColliding(float overlapIgnored)
{
	updateClosestFeatures();
	if (polyConnectors.size() > 0) 
	{
		float overlap = worstFeatureOverlap();
		if (overlap > overlapIgnored) 
		{
			return true;
		}
	}

	return false;
}

void BulletShapeContact::updateClosestFeatures()
{
	BulletConnectorArray newConnectors;

	findClosestFeatures(newConnectors);

	matchClosestFeatures(newConnectors);

	deleteConnectors(polyConnectors);		// any remaining not matched
		
	// set bullet's manifold point references back to roblox kernel connectors
	for (size_t i = 0; i < newConnectors.size(); ++i)
	{
		btManifoldArray manifoldArray;
		bulletNPAlgorithm->getAllContactManifolds(manifoldArray);
		int manIndex = newConnectors[i]->getBulletManifoldIndex();
		int ptIndex = newConnectors[i]->getBulletPointCacheIndex();
		manifoldArray[manIndex]->getContactPoint(ptIndex).m_userPersistentData = newConnectors[i];
	}

	polyConnectors = newConnectors;			// transfer over the pointers

	updateContactPoints();
}

float BulletShapeContact::worstFeatureOverlap()
{
	float worstOverlap = -FLT_MAX;		// i.e. not overlapping
	RBXASSERT(polyConnectors.size() > 0);
	for (size_t i = 0; i < polyConnectors.size(); ++i) {				// may not have any overlapping features!
		float overlap = polyConnectors[i]->computeOverlap();				// computeLength returns negative
		worstOverlap = std::max(worstOverlap, overlap);
	}
	return worstOverlap;
}

void BulletShapeContact::matchClosestFeatures(BulletConnectorArray& newConnectors)
{
	for (size_t i = 0; i < newConnectors.size(); ++i) {
		if (BulletShapeConnector* match = matchClosestFeature(newConnectors[i])) {
			delete newConnectors[i];
			newConnectors.replace(i, match);
		}
	}
}

BulletShapeConnector* BulletShapeContact::matchClosestFeature(BulletShapeConnector* newConnector)
{
	for (size_t i = 0; i < polyConnectors.size(); ++i) {
		BulletShapeConnector* answer = polyConnectors[i];
		if (BulletShapeConnector::match(answer, newConnector)) {
			polyConnectors.fastRemove(i);
			return answer;
		}
	}
	return NULL;
}

void BulletShapeContact::updateContactPoints()
{
	for (size_t i = 0; i < polyConnectors.size(); ++i)
	{
		polyConnectors[i]->findValidContactAfterNarrowphase();
	}
}

BulletShapeConnector* BulletShapeContact::newBulletShapeConnector(btCollisionObject* bulletColObj0, btCollisionObject* bulletColObj1,
																  btCollisionAlgorithm* algo, int manifoldIndex, int contactIndex, bool swapped = false)
{
    if(contactParams)
    {
		return new BulletShapeConnector(getPrimitive(0)->getBody(),
										getPrimitive(1)->getBody(),
										*contactParams,
										bulletColObj0,
										bulletColObj1,
										algo,
										manifoldIndex,
										contactIndex
										);			// id of this face
    }
    else
        return NULL;
}

void BulletShapeContact::findClosestFeatures(BulletConnectorArray& newConnectors)
{
	if(!contactParams) 
        generateDataForMovingAssemblyStage();

	// Early out if CFrame is invalid
	if (Math::isNanInfVector3(getPrimitive(0)->getCoordinateFrame().translation) || Math::isNanInfVector3(getPrimitive(1)->getCoordinateFrame().translation))
		return;

	getPrimitive(0)->updateBulletCollisionObject();
	getPrimitive(1)->updateBulletCollisionObject();

	btManifoldArray manifoldArray;
	computeManifoldsWithBulletNarrowPhase(manifoldArray);

	int totalNumConnectors = 0;
	for (int i = 0; i < manifoldArray.size(); i++)
	{
		for (int j = 0; j < manifoldArray[i]->getNumContacts(); j++)
		{
			bool valid = manifoldArray[i]->validContactDistance(manifoldArray[i]->getContactPoint(j));
			float dis = manifoldArray[i]->getContactPoint(j).getDistance();
			if (valid && dis < 0.0f)
			{
				RBXASSERT(totalNumConnectors < BULLET_CONTACT_ARRAY_SIZE);
				if (totalNumConnectors < BULLET_CONTACT_ARRAY_SIZE)
				{
					BulletShapeConnector* cylConn = newBulletShapeConnector(getPrimitive(0)->getGeometry()->getBulletCollisionObject(),
																			getPrimitive(1)->getGeometry()->getBulletCollisionObject(),
																			bulletNPAlgorithm, i, j);
					if (cylConn)
					{
						newConnectors.push_back(cylConn);
					}
				}
			}
		}
	}
}

void BulletShapeContact::computeManifoldsWithBulletNarrowPhase(btManifoldArray& manifoldArray)
{
	btCollisionDispatcher* dispatcher;
	dispatcher = world->getBulletCollisionDispatcher();

	btCollisionObject* colObj0 = getPrimitive(0)->getGeometry()->getBulletCollisionObject();
	btCollisionObject* colObj1 = getPrimitive(1)->getGeometry()->getBulletCollisionObject();

	btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
	btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);

	if (!bulletNPAlgorithm)
		bulletNPAlgorithm = dispatcher->findAlgorithm(&obj0Wrap,&obj1Wrap);

	btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
	btDispatcherInfo disInfo;
	bulletNPAlgorithm->processCollision(&obj0Wrap, &obj1Wrap, disInfo, &contactPointResult);	
	bulletNPAlgorithm->getAllContactManifolds(manifoldArray);

	if (colObj0->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE || 
		colObj1->getCollisionShape()->getShapeType() == GIMPACT_SHAPE_PROXYTYPE)
	{
		//GImpact collision algorithm should only yield 1 Manifold
		RBXASSERT(manifoldArray.size() <= 1);
		if (manifoldArray.size())
		{
			manifoldArray[0]->refreshContactPoints(colObj0->getWorldTransform(), colObj1->getWorldTransform());
		}
	}
}

} // namespace