mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-02-19 06:33:49 +00:00
Updated SDL, Bullet and OpenAL soft libs
Fixed case sensitivity problem Fixed clang compiler problem with having the class namespace used in an inline for the == operator Tweaked some theme stuff to be more consistent. Added initial test of no-pie for linux test sidestep of getTexCoord in shadergen hlsl feature so we don't assert when getting the terrain's shaderstuffs(which uses float3 instead of normal float2)
This commit is contained in:
Areloch
parent
e87dc787ee
commit
f8750dd8ed
1102 changed files with 205083 additions and 62836 deletions
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@ -13,7 +13,6 @@ subject to the following restrictions:
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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 "btSoftBodyConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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@ -27,34 +26,28 @@ subject to the following restrictions:
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletSoftBody/btSoftBody.h"
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#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
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#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06) //make this configurable
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btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
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: btCollisionAlgorithm(ci),
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m_isSwapped(isSwapped),
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m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
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btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped)
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: btCollisionAlgorithm(ci),
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m_isSwapped(isSwapped),
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m_btSoftBodyTriangleCallback(ci.m_dispatcher1, body0Wrap, body1Wrap, isSwapped)
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{
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}
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btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
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{
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}
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btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
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m_dispatcher(dispatcher),
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m_dispatchInfoPtr(0)
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btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped) : m_dispatcher(dispatcher),
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m_dispatchInfoPtr(0)
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{
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m_softBody = (isSwapped? (btSoftBody*)body1Wrap->getCollisionObject():(btSoftBody*)body0Wrap->getCollisionObject());
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m_triBody = isSwapped? body0Wrap->getCollisionObject():body1Wrap->getCollisionObject();
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m_softBody = (isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject());
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m_triBody = isSwapped ? body0Wrap->getCollisionObject() : body1Wrap->getCollisionObject();
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//
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// create the manifold from the dispatcher 'manifold pool'
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@ -68,46 +61,42 @@ btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
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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 btSoftBodyTriangleCallback::clearCache()
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void btSoftBodyTriangleCallback::clearCache()
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{
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for (int i=0;i<m_shapeCache.size();i++)
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for (int i = 0; i < m_shapeCache.size(); i++)
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{
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btTriIndex* tmp = m_shapeCache.getAtIndex(i);
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btAssert(tmp);
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btAssert(tmp->m_childShape);
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m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
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m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape); //necessary?
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delete tmp->m_childShape;
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}
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m_shapeCache.clear();
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}
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void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
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void btSoftBodyTriangleCallback::processTriangle(btVector3* 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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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher1 = m_dispatcher;
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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() &btIDebugDraw::DBG_DrawWireframe))
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if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawWireframe))
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{
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btVector3 color(1,1,0);
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btVector3 color(1, 1, 0);
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const btTransform& tr = m_triBody->getWorldTransform();
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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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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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}
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btTriIndex triIndex(partId,triangleIndex,0);
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btTriIndex triIndex(partId, triangleIndex, 0);
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btHashKey<btTriIndex> triKey(triIndex.getUid());
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btTriIndex* shapeIndex = m_shapeCache[triKey];
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if (shapeIndex)
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{
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@ -117,82 +106,73 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
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//copy over user pointers to temporary shape
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tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
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btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
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btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
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//btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//??
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btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);
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btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex);
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ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0, algoType);//m_manifoldPtr);
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType); //m_manifoldPtr);
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colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
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colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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return;
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}
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//aabb filter is already applied!
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//aabb filter is already applied!
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//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
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// if (m_softBody->getCollisionShape()->getShapeType()==
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{
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// btVector3 other;
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btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
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btVector3 normal = (triangle[1] - triangle[0]).cross(triangle[2] - triangle[0]);
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normal.normalize();
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normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
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normal *= BT_SOFTBODY_TRIANGLE_EXTRUSION;
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// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
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// other+=normal*22.f;
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btVector3 pts[6] = {triangle[0]+normal,
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triangle[1]+normal,
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triangle[2]+normal,
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triangle[0]-normal,
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triangle[1]-normal,
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triangle[2]-normal};
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btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
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btVector3 pts[6] = {triangle[0] + normal,
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triangle[1] + normal,
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triangle[2] + normal,
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triangle[0] - normal,
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triangle[1] - normal,
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triangle[2] - normal};
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btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(), 6);
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// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
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//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
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//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
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// tm.setMargin(m_collisionMarginTriangle);
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//copy over user pointers to temporary shape
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tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer());
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btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1);
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btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//??
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btCollisionObjectWrapper softBody(0, m_softBody->getCollisionShape(), m_softBody, m_softBody->getWorldTransform(), -1, -1);
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btCollisionObjectWrapper triBody(0, tm, m_triBody, m_triBody->getWorldTransform(), partId, triangleIndex); //btTransform::getIdentity());//??
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ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS;
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0, algoType);//m_manifoldPtr);
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody, &triBody, 0, algoType); //m_manifoldPtr);
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colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut);
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colAlgo->processCollision(&softBody, &triBody, *m_dispatchInfoPtr, m_resultOut);
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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triIndex.m_childShape = tm;
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m_shapeCache.insert(triKey,triIndex);
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m_shapeCache.insert(triKey, triIndex);
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}
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}
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void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triBodyWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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m_dispatchInfoPtr = &dispatchInfo;
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m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
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m_collisionMarginTriangle = collisionMarginTriangle + btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
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m_resultOut = resultOut;
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btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
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m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
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btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
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btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
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btVector3 aabbWorldSpaceMin, aabbWorldSpaceMax;
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m_softBody->getAabb(aabbWorldSpaceMin, aabbWorldSpaceMax);
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btVector3 halfExtents = (aabbWorldSpaceMax - aabbWorldSpaceMin) * btScalar(0.5);
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btVector3 softBodyCenter = (aabbWorldSpaceMax + aabbWorldSpaceMin) * btScalar(0.5);
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btTransform softTransform;
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softTransform.setIdentity();
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@ -200,56 +180,45 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
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btTransform convexInTriangleSpace;
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convexInTriangleSpace = triBodyWrap->getWorldTransform().inverse() * softTransform;
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btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
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btTransformAabb(halfExtents, m_collisionMarginTriangle, convexInTriangleSpace, m_aabbMin, m_aabbMax);
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}
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void btSoftBodyConcaveCollisionAlgorithm::clearCache()
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{
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m_btSoftBodyTriangleCallback.clearCache();
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}
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void btSoftBodyConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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void btSoftBodyConcaveCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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//btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
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const btCollisionObjectWrapper* triBody = m_isSwapped ? body0Wrap : body1Wrap;
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if (triBody->getCollisionShape()->isConcave())
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{
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const btCollisionObject* triOb = triBody->getCollisionObject();
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const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triOb->getCollisionShape());
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const btCollisionObject* triOb = triBody->getCollisionObject();
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const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>(triOb->getCollisionShape());
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// if (convexBody->getCollisionShape()->isConvex())
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{
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btScalar collisionMarginTriangle = concaveShape->getMargin();
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// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
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m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,triBody,dispatchInfo,resultOut);
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m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle, triBody, dispatchInfo, resultOut);
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concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
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concaveShape->processAllTriangles(&m_btSoftBodyTriangleCallback, m_btSoftBodyTriangleCallback.getAabbMin(), m_btSoftBodyTriangleCallback.getAabbMax());
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// resultOut->refreshContactPoints();
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}
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}
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}
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btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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(void)resultOut;
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(void)dispatchInfo;
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btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
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btCollisionObject* triBody = m_isSwapped ? body0 : body1;
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//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
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//only perform CCD above a certain threshold, this prevents blocking on the long run
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@ -268,25 +237,23 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
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btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
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btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
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struct LocalTriangleSphereCastCallback : public btTriangleCallback
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struct LocalTriangleSphereCastCallback : public btTriangleCallback
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{
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btTransform m_ccdSphereFromTrans;
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btTransform m_ccdSphereToTrans;
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btTransform m_meshTransform;
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btTransform m_meshTransform;
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btScalar m_ccdSphereRadius;
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btScalar m_hitFraction;
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btScalar m_ccdSphereRadius;
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btScalar m_hitFraction;
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LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar 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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LocalTriangleSphereCastCallback(const btTransform& from, const btTransform& to, btScalar ccdSphereRadius, btScalar 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(btVector3* triangle, int partId, int triangleIndex)
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{
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(void)partId;
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@ -296,29 +263,23 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
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ident.setIdentity();
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btConvexCast::CastResult castResult;
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castResult.m_fraction = m_hitFraction;
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btSphereShape pointShape(m_ccdSphereRadius);
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btTriangleShape triShape(triangle[0],triangle[1],triangle[2]);
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btVoronoiSimplexSolver simplexSolver;
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btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
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btSphereShape pointShape(m_ccdSphereRadius);
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btTriangleShape triShape(triangle[0], triangle[1], triangle[2]);
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btVoronoiSimplexSolver simplexSolver;
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btSubsimplexConvexCast 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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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->getCollisionShape()->isConcave())
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{
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btVector3 rayAabbMin = convexFromLocal.getOrigin();
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@ -326,33 +287,30 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
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btVector3 rayAabbMax = convexFromLocal.getOrigin();
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rayAabbMax.setMax(convexToLocal.getOrigin());
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btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
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rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
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rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
|
||||
rayAabbMin -= btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
|
||||
rayAabbMax += btVector3(ccdRadius0, ccdRadius0, ccdRadius0);
|
||||
|
||||
btScalar curHitFraction = btScalar(1.); //is this available?
|
||||
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
|
||||
convexbody->getCcdSweptSphereRadius(),curHitFraction);
|
||||
btScalar curHitFraction = btScalar(1.); //is this available?
|
||||
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal, convexToLocal,
|
||||
convexbody->getCcdSweptSphereRadius(), curHitFraction);
|
||||
|
||||
raycastCallback.m_hitFraction = convexbody->getHitFraction();
|
||||
|
||||
btCollisionObject* concavebody = triBody;
|
||||
|
||||
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
|
||||
btConcaveShape* triangleMesh = (btConcaveShape*)concavebody->getCollisionShape();
|
||||
|
||||
if (triangleMesh)
|
||||
{
|
||||
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
|
||||
triangleMesh->processAllTriangles(&raycastCallback, rayAabbMin, rayAabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
||||
{
|
||||
convexbody->setHitFraction( raycastCallback.m_hitFraction);
|
||||
convexbody->setHitFraction(raycastCallback.m_hitFraction);
|
||||
return raycastCallback.m_hitFraction;
|
||||
}
|
||||
}
|
||||
|
||||
return btScalar(1.);
|
||||
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue