Modificaitons in ConcaveMeshShape

src/collision/narrowphase/ConcaveVsConvexAlgorithm.cpp

@@ -68,10 +68,12 @@ void ConcaveVsConvexAlgorithm::testCollision(const CollisionShapeInfo& shape1Inf
     }
 
     // Set the parameters of the callback object
-    mConvexVsTriangleCallback.setCollisionDetection(mCollisionDetection);
+    ConvexVsTriangleCallback convexVsTriangleCallback;
-    mConvexVsTriangleCallback.setConvexShape(convexShape);
+    convexVsTriangleCallback.setCollisionDetection(mCollisionDetection);
-    mConvexVsTriangleCallback.setProxyShapes(convexProxyShape, concaveProxyShape);
+    convexVsTriangleCallback.setConvexShape(convexShape);
-    mConvexVsTriangleCallback.setOverlappingPair(shape1Info.overlappingPair);
+    convexVsTriangleCallback.setConcaveShape(concaveShape);
+    convexVsTriangleCallback.setProxyShapes(convexProxyShape, concaveProxyShape);
+    convexVsTriangleCallback.setOverlappingPair(shape1Info.overlappingPair);
 
     // Compute the convex shape AABB in the local-space of the convex shape
     AABB aabb;
@@ -84,20 +86,20 @@ void ConcaveVsConvexAlgorithm::testCollision(const CollisionShapeInfo& shape1Inf
 
         SmoothCollisionNarrowPhaseCallback smoothNarrowPhaseCallback(contactPoints);
 
-        mConvexVsTriangleCallback.setNarrowPhaseCallback(&smoothNarrowPhaseCallback);
+        convexVsTriangleCallback.setNarrowPhaseCallback(&smoothNarrowPhaseCallback);
 
         // Call the convex vs triangle callback for each triangle of the concave shape
-        concaveShape->testAllTriangles(mConvexVsTriangleCallback, aabb);
+        concaveShape->testAllTriangles(convexVsTriangleCallback, aabb);
 
         // Run the smooth mesh collision algorithm
         processSmoothMeshCollision(shape1Info.overlappingPair, contactPoints, narrowPhaseCallback);
     }
     else {
 
-        mConvexVsTriangleCallback.setNarrowPhaseCallback(narrowPhaseCallback);
+        convexVsTriangleCallback.setNarrowPhaseCallback(narrowPhaseCallback);
 
         // Call the convex vs triangle callback for each triangle of the concave shape
-        concaveShape->testAllTriangles(mConvexVsTriangleCallback, aabb);
+        concaveShape->testAllTriangles(convexVsTriangleCallback, aabb);
     }
 }
 
@@ -105,7 +107,8 @@ void ConcaveVsConvexAlgorithm::testCollision(const CollisionShapeInfo& shape1Inf
 void ConvexVsTriangleCallback::testTriangle(const Vector3* trianglePoints) {
 
     // Create a triangle collision shape
-    TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2]);
+    decimal margin = mConcaveShape->getTriangleMargin();
+    TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2], margin);
 
     // Select the collision algorithm to use between the triangle and the convex shape
     NarrowPhaseAlgorithm* algo = mCollisionDetection->getCollisionAlgorithm(triangleShape.getType(),

src/collision/narrowphase/ConcaveVsConvexAlgorithm.h

@@ -54,6 +54,9 @@ class ConvexVsTriangleCallback : public TriangleCallback {
         /// Convex collision shape to test collision with
         const ConvexShape* mConvexShape;
 
+        /// Concave collision shape
+        const ConcaveShape* mConcaveShape;
+
         /// Proxy shape of the convex collision shape
         ProxyShape* mConvexProxyShape;
 
@@ -84,6 +87,11 @@ class ConvexVsTriangleCallback : public TriangleCallback {
             mConvexShape = convexShape;
         }
 
+        /// Set the concave collision shape
+        void setConcaveShape(const ConcaveShape* concaveShape) {
+            mConcaveShape = concaveShape;
+        }
+
         /// Set the broadphase overlapping pair
         void setOverlappingPair(OverlappingPair* overlappingPair) {
             mOverlappingPair = overlappingPair;
@@ -97,7 +105,6 @@ class ConvexVsTriangleCallback : public TriangleCallback {
 
         /// Test collision between a triangle and the convex mesh shape
         virtual void testTriangle(const Vector3* trianglePoints);
-
 };
 
 // Class SmoothMeshContactInfo
@@ -179,9 +186,6 @@ class ConcaveVsConvexAlgorithm : public NarrowPhaseAlgorithm {
 
         // -------------------- Attributes -------------------- //        
 
-        /// Convex vs Triangle callback
-        ConvexVsTriangleCallback mConvexVsTriangleCallback;
-
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor

src/collision/shapes/ConcaveMeshShape.cpp

@@ -29,7 +29,8 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh) : ConcaveShape(CONCAVE_MESH) {
+ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh)
+                 : ConcaveShape(CONCAVE_MESH) {
     mTriangleMesh = triangleMesh;
     mRaycastTestType = FRONT;
 
@@ -95,6 +96,7 @@ void ConcaveMeshShape::initBVHTree() {
 
             // Create the AABB for the triangle
             AABB aabb = AABB::createAABBForTriangle(trianglePoints);
+            aabb.inflate(mTriangleMargin, mTriangleMargin, mTriangleMargin);
 
             // Add the AABB with the index of the triangle into the dynamic AABB tree
             mDynamicAABBTree.addObject(aabb, subPart, triangleIndex);
@@ -202,7 +204,8 @@ void ConcaveMeshRaycastCallback::raycastTriangles() {
         mConcaveMeshShape.getTriangleVerticesWithIndexPointer(data[0], data[1], trianglePoints);
 
         // Create a triangle collision shape
-        TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2]);
+        decimal margin = mConcaveMeshShape.getTriangleMargin();
+        TriangleShape triangleShape(trianglePoints[0], trianglePoints[1], trianglePoints[2], margin);
         triangleShape.setRaycastTestType(mConcaveMeshShape.getRaycastTestType());
 
         // Ray casting test against the collision shape

src/collision/shapes/ConcaveShape.cpp

@@ -31,8 +31,10 @@
 using namespace reactphysics3d;
 
 // Constructor
-ConcaveShape::ConcaveShape(CollisionShapeType type) : CollisionShape(type) {
+ConcaveShape::ConcaveShape(CollisionShapeType type)
-    mIsSmoothMeshCollisionEnabled = false;
+             : CollisionShape(type), mIsSmoothMeshCollisionEnabled(false),
+               mTriangleMargin(0) {
+
 }
 
 // Destructor

src/collision/shapes/ConcaveShape.h

@@ -61,6 +61,9 @@ class ConcaveShape : public CollisionShape {
         /// True if the smooth mesh collision algorithm is enabled
         bool mIsSmoothMeshCollisionEnabled;
 
+        // Margin use for collision detection for each triangle
+        decimal mTriangleMargin;
+
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor
@@ -82,6 +85,9 @@ class ConcaveShape : public CollisionShape {
         /// Destructor
         virtual ~ConcaveShape();
 
+        /// Return the triangle margin
+        decimal getTriangleMargin() const;
+
         /// Return true if the collision shape is convex, false if it is concave
         virtual bool isConvex() const;
 
@@ -95,6 +101,11 @@ class ConcaveShape : public CollisionShape {
         void setIsSmoothMeshCollisionEnabled(bool isEnabled);
 };
 
+// Return the triangle margin
+inline decimal ConcaveShape::getTriangleMargin() const {
+    return mTriangleMargin;
+}
+
 /// Return true if the collision shape is convex, false if it is concave
 inline bool ConcaveShape::isConvex() const {
     return false;