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Take care of the isCollisionEnabled state of a body in the Sweep And Prune broadphase algorithm

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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@379 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel 2010-08-26 10:10:35 +00:00
parent deaa0cf5d8
commit 1d3ba21775
2 changed files with 28 additions and 20 deletions
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28
sources/reactphysics3d/collision/SAPAlgorithm.cpp
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@ -26,8 +26,6 @@
using namespace reactphysics3d;
using namespace std;
// TODO : Take care of the isCollisionEnabled variable of the bodies while performing broad-phase collision detection
// Initialize the static attributes
unsigned short int SAPAlgorithm::sortAxis = 0;
@ -56,6 +54,18 @@ void SAPAlgorithm::removeBodiesAABB(vector<Body*> bodies) {
}
}
// Add the AABB representation of a given body in the sortedAABBs set
void SAPAlgorithm::addBodiesAABB(std::vector<Body*> bodies) {
const AABB* aabb;
for (vector<Body*>::iterator it = bodies.begin(); it != bodies.end(); it++) {
aabb = 0;
aabb = dynamic_cast<const AABB*>((*it)->getBroadBoundingVolume());
assert(aabb);
sortedAABBs.push_back(aabb);
}
}
// Compute the possible collision pairs of bodies
// The arguments "addedBodies" and "removedBodies" are respectively the set
// of bodies that have been added and removed since the last broad-phase
@ -73,6 +83,7 @@ void SAPAlgorithm::computePossibleCollisionPairs(vector<Body*> addedBodies, vect
Vector3D center3D; // Center of the current AABB
double center[3]; // Coordinates of the center of the current AABB
int i;
const Body* body; // Body pointer on the body corresponding to an AABB
uint nbAABBs = sortedAABBs.size(); // Number of AABBs
// Removed the bodies to remove
@ -86,8 +97,15 @@ void SAPAlgorithm::computePossibleCollisionPairs(vector<Body*> addedBodies, vect
// Sweep the sorted set of AABBs
for (vector<const AABB*>::iterator it = sortedAABBs.begin(); it != sortedAABBs.end(); it++) {
// If the collision of the AABB's corresponding body is disabled
if (!(*it)->getBodyPointer()->getIsCollisionEnabled()) {
// Go to the next AABB to test
continue;
}
// Center of the current AABB
Vector3D center3D = (*it)->getCenter();
center3D = (*it)->getCenter();
center[0] = center3D.getX();
center[1] = center3D.getY();
center[2] = center3D.getZ();
@ -105,8 +123,10 @@ void SAPAlgorithm::computePossibleCollisionPairs(vector<Body*> addedBodies, vect
break;
}
body = (*it2)->getBodyPointer();
// Test if both AABBs overlap
if ((*it)->testCollision(*(*it2))) {
if (body->getIsCollisionEnabled() && (*it)->testCollision(*(*it2))) {
// Add the current pair of AABBs into the possibleCollisionPairs set
possibleCollisionPairs.push_back(make_pair((*it)->getBodyPointer(), (*it2)->getBodyPointer()));
}

20
sources/reactphysics3d/collision/SAPAlgorithm.h
View File

@ -49,12 +49,12 @@ class SAPAlgorithm : public BroadPhaseAlgorithm {
static unsigned short int sortAxis; // Current sorting axis (0 for x, 1 for y, 2 for z axis)
static bool compareAABBs(const AABB* a, const AABB* b); // Static method that compare two AABBs (in order to sort them)
void removeBodiesAABB(std::vector<Body*> bodies); // Remove the AABB representation of a given set of bodies from the sortedAABBs set
void addBodiesAABB(std::vector<Body*> bodies); // Add the AABB representation of a given set of bodies in the sortedAABBs set
void removeBodiesAABB(std::vector<Body*> bodies); // Remove the AABB representation of a given set of bodies from the sortedAABBs set
void addBodiesAABB(std::vector<Body*> bodies); // Add the AABB representation of a given set of bodies in the sortedAABBs set
public :
SAPAlgorithm(); // Constructor
virtual ~SAPAlgorithm(); // Destructor
SAPAlgorithm(); // Constructor
virtual ~SAPAlgorithm(); // Destructor
virtual void computePossibleCollisionPairs(std::vector<Body*> addedBodies, std::vector<Body*> removedBodies,
std::vector<std::pair<const Body*, const Body* > >& possibleCollisionPairs); // Compute the possible collision pairs of bodies
@ -70,18 +70,6 @@ inline bool SAPAlgorithm::compareAABBs(const AABB* a, const AABB* b) {
return (a->getMinValueOnAxis(sortAxis) < b->getMinValueOnAxis(sortAxis));
}
// Add the AABB representation of a given body in the sortedAABBs set
inline void SAPAlgorithm::addBodiesAABB(std::vector<Body*> bodies) {
const AABB* aabb;
for (std::vector<Body*>::iterator it = bodies.begin(); it != bodies.end(); it++) {
aabb = 0;
aabb = dynamic_cast<const AABB*>((*it)->getBroadBoundingVolume());
assert(aabb);
// TODO : Add an assert here to check that the AABB pointer isn't already in the sortedAABBs set
sortedAABBs.push_back(aabb);
}
}
} // End of reactphysics3d namespace
#endif