[Bf-blender-cvs] SVN commit: /data/svn/bf-blender [59898] branches/soc-2013-rigid_body_sim/ intern/rigidbody/rb_bullet_api.cpp: rigidbody: Add internal edge info for triangle mesh shapes

[Sergej Reich]

Revision: 59898
          http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=59898
Author:   sergof
Date:     2013-09-06 17:59:04 +0000 (Fri, 06 Sep 2013)
Log Message:
-----------
rigidbody: Add internal edge info for triangle mesh shapes

This is necessary so that triangle edges don't create erroneous
collisions.

TODO: Fix issues when using compound shapes

Modified Paths:
--------------
    branches/soc-2013-rigid_body_sim/intern/rigidbody/rb_bullet_api.cpp

Modified: branches/soc-2013-rigid_body_sim/intern/rigidbody/rb_bullet_api.cpp
===================================================================
--- branches/soc-2013-rigid_body_sim/intern/rigidbody/rb_bullet_api.cpp	2013-09-06 17:59:03 UTC (rev 59897)
+++ branches/soc-2013-rigid_body_sim/intern/rigidbody/rb_bullet_api.cpp	2013-09-06 17:59:04 UTC (rev 59898)
@@ -75,6 +75,8 @@
 #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
 #include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
 
+#include <BulletCollision/CollisionDispatch/btInternalEdgeUtility.h>
+
 #include "hacdHACD.h"
 
 struct rbDynamicsWorld {
@@ -106,6 +108,7 @@
 	btCollisionShape *cshape;
 	btCollisionShape *compound;
 	btTriangleMesh *mesh;
+	btTriangleInfoMap *triangle_info_map;
 };
 
 struct rbFilterCallback : public btOverlapFilterCallback
@@ -141,6 +144,12 @@
 	dispatcher.defaultNearCallback(collisionPair, dispatcher, dispatchInfo);
 }
 
+static bool contactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
+{
+	btAdjustInternalEdgeContacts(cp, colObj1Wrap, colObj0Wrap, partId1, index1);
+	return true;
+}
+
 class rbDebugDraw : public btIDebugDraw {
 private:
 	int debug_mode;
@@ -230,6 +239,8 @@
 
 	RB_dworld_set_gravity(world, gravity);
 	
+	gContactAddedCallback = contactAddedCallback;
+	
 	// HACK set debug drawer, this is only temporary
 	btIDebugDraw *debugDrawer = new rbDebugDraw();
 	debugDrawer->setDebugMode(btIDebugDraw::DBG_DrawWireframe |
@@ -416,6 +427,9 @@
 	object->is_trigger = false;
 	object->suspended = false;
 	
+	if (shape->cshape->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)
+		object->body->setCollisionFlags(object->body->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
+	
 	return object;
 }
 
@@ -782,6 +796,7 @@
 	rbCollisionShape *shape = new rbCollisionShape;
 	shape->cshape = cshape;
 	shape->mesh = NULL;
+	shape->triangle_info_map = NULL;
 	
 	btTransform world_transform = btTransform();
 	world_transform.setIdentity();
@@ -843,6 +858,7 @@
 	
 	shape->cshape = hull_shape;
 	shape->mesh = NULL;
+	shape->triangle_info_map = NULL;
 	
 	shape->compound = new btCompoundShape();
 	btTransform compound_transform;
@@ -894,6 +910,9 @@
 	// RB_TODO perhaps we need to allow saving out this for performance when rebuilding?
 	btBvhTriangleMeshShape *unscaledShape = new btBvhTriangleMeshShape(tmesh, true, true);
 	
+	shape->triangle_info_map = new btTriangleInfoMap();
+	btGenerateInternalEdgeInfo(unscaledShape, shape->triangle_info_map);
+	
 	shape->cshape = new btScaledBvhTriangleMeshShape(unscaledShape, btVector3(1.0f, 1.0f, 1.0f));
 	shape->mesh = tmesh;
 	
@@ -916,6 +935,7 @@
 	
 	shape->cshape = gimpactShape;
 	shape->mesh = tmesh;
+	shape->triangle_info_map = NULL;
 	
 	shape->compound = new btCompoundShape();
 	btTransform compound_transform;
@@ -984,6 +1004,7 @@
 	}
 	
 	shape->mesh = NULL;
+	shape->triangle_info_map = NULL;
 	shape->compound = compound;
 	shape->cshape = compound;
 	
@@ -1014,6 +1035,8 @@
 	}
 	if (shape->mesh)
 		delete shape->mesh;
+	if (shape->triangle_info_map)
+		delete shape->triangle_info_map;
 	if (shape->cshape != shape->compound)
 		delete shape->cshape;
 	delete shape->compound;