removed files (are now in BulletSoftBody lib)
This commit is contained in:
erwin.coumans
@@ -1,77 +0,0 @@
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/*
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||||
Bullet Continuous Collision Detection and Physics Library
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||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
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||||
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#include "btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "btSoftRigidCollisionAlgorithm.h"
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#include "btSoftSoftCollisionAlgorithm.h"
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btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
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:btDefaultCollisionConfiguration(stackAlloc,persistentManifoldPool,collisionAlgorithmPool)
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{
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void* mem;
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mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
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m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
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m_softRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
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m_swappedSoftRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
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m_swappedSoftRigidCreateFunc->m_swapped=true;
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}
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btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
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{
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m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_softSoftCreateFunc);
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m_softRigidCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_softRigidCreateFunc);
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m_swappedSoftRigidCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_swappedSoftRigidCreateFunc);
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}
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///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
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btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
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{
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///try to handle the softbody interactions first
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if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE))
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{
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return m_softSoftCreateFunc;
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}
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///other can't be also softbody, so assume rigid for now
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if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE )
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{
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return m_softRigidCreateFunc;
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}
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///other can't be also softbody, so assume rigid for now
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if (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
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{
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return m_swappedSoftRigidCreateFunc;
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}
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///fallback to the regular rigid collision shape
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return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
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}
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@@ -1,46 +0,0 @@
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#ifndef BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
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#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
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#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"
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class btVoronoiSimplexSolver;
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class btGjkEpaPenetrationDepthSolver;
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///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration
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class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration
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{
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//default CreationFunctions, filling the m_doubleDispatch table
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btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc;
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btCollisionAlgorithmCreateFunc* m_softRigidCreateFunc;
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btCollisionAlgorithmCreateFunc* m_swappedSoftRigidCreateFunc;
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public:
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btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0);
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virtual ~btSoftBodyRigidBodyCollisionConfiguration();
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///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
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virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
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};
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#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION
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@@ -1,96 +0,0 @@
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
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#include "btSoftRigidCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletDynamics/SoftBody/btSoftBody.h"
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///TODO: include all the shapes that the softbody can collide with
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///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
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//#include <stdio.h>
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btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
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: btCollisionAlgorithm(ci),
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//m_ownManifold(false),
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//m_manifoldPtr(mf),
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m_isSwapped(isSwapped)
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{
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//m_softBody = m_isSwapped? (btSoftBody*)col1 : (btSoftBody*)col0;
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//m_rigidCollisionObject = m_isSwapped? col0 : col1;
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//quick fix, add overlapping rigidbody to softbody, so it can be handled within btSoftBody::Step method
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//m_softBody->m_overlappingRigidBodies.push_back(m_rigidCollisionObject);
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///store the contacts straight into the btSoftBody for now?
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/*if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
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m_ownManifold = true;
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}
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*/
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}
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btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
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{
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//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
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/*if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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*/
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}
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#include <stdio.h>
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void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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(void)dispatchInfo;
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(void)resultOut;
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//printf("btSoftRigidCollisionAlgorithm\n");
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btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
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btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
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softBody->defaultCollisionHandler(rigidCollisionObject);
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}
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btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,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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(void)col0;
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(void)col1;
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//not yet
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return btScalar(1.);
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}
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@@ -1,70 +0,0 @@
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
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|
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#ifndef SOFT_RIGID_COLLISION_ALGORITHM_H
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#define SOFT_RIGID_COLLISION_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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class btPersistentManifold;
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "LinearMath/btVector3.h"
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class btSoftBody;
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/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
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class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
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{
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// bool m_ownManifold;
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// btPersistentManifold* m_manifoldPtr;
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btSoftBody* m_softBody;
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btCollisionObject* m_rigidCollisionObject;
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///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
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bool m_isSwapped;
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public:
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btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
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virtual ~btSoftRigidCollisionAlgorithm();
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virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
|
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if (!m_swapped)
|
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{
|
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return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false);
|
||||
} else
|
||||
{
|
||||
return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SOFT_RIGID_COLLISION_ALGORITHM_H
|
||||
|
||||
|
||||
@@ -1,105 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "btSoftSoftCollisionAlgorithm.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||||
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletDynamics/SoftBody/btSoftBody.h"
|
||||
|
||||
#define USE_PERSISTENT_CONTACTS 1
|
||||
|
||||
btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
|
||||
: btCollisionAlgorithm(ci)
|
||||
//m_ownManifold(false),
|
||||
//m_manifoldPtr(mf)
|
||||
{
|
||||
/*m_softBody0 = (btSoftBody*) obj0;
|
||||
m_softBody1 = (btSoftBody*) obj1;
|
||||
|
||||
m_softBody0->m_overlappingSoftBodies.push_back(m_softBody1);
|
||||
m_softBody1->m_overlappingSoftBodies.push_back(m_softBody0);*/
|
||||
|
||||
/*if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
|
||||
{
|
||||
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
|
||||
m_ownManifold = true;
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
|
||||
{
|
||||
//m_softBody0->m_overlappingSoftBodies.remove(m_softBody1);
|
||||
//m_softBody1->m_overlappingSoftBodies.remove(m_softBody0);
|
||||
|
||||
//this gets called when the overlap stops.
|
||||
|
||||
//here is where contacts (manifolds) should be removed
|
||||
|
||||
/*
|
||||
if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
|
||||
btSoftBody* soft0 = (btSoftBody*)body0;
|
||||
btSoftBody* soft1 = (btSoftBody*)body1;
|
||||
|
||||
soft0->defaultCollisionHandler(soft1);
|
||||
/*
|
||||
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
|
||||
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
|
||||
|
||||
|
||||
|
||||
/// report a contact. internally this will be kept persistent, and contact reduction is done
|
||||
resultOut->setPersistentManifold(m_manifoldPtr);
|
||||
#ifndef USE_PERSISTENT_CONTACTS
|
||||
m_manifoldPtr->clearManifold();
|
||||
#endif //USE_PERSISTENT_CONTACTS
|
||||
|
||||
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
|
||||
input.m_maximumDistanceSquared = 1e30f;
|
||||
input.m_transformA = body0->getWorldTransform();
|
||||
input.m_transformB = body1->getWorldTransform();
|
||||
|
||||
btBoxBoxDetector detector(box0,box1);
|
||||
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
|
||||
|
||||
#ifdef USE_PERSISTENT_CONTACTS
|
||||
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
|
||||
if (m_ownManifold)
|
||||
{
|
||||
resultOut->refreshContactPoints();
|
||||
}
|
||||
#endif //USE_PERSISTENT_CONTACTS
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
//not yet
|
||||
return 1.f;
|
||||
}
|
||||
@@ -1,63 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef SOFT_SOFT_COLLISION_ALGORITHM_H
|
||||
#define SOFT_SOFT_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
class btSoftBody;
|
||||
|
||||
///collision detection between two btSoftBody shapes
|
||||
class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
btSoftBody* m_softBody0;
|
||||
btSoftBody* m_softBody1;
|
||||
|
||||
|
||||
public:
|
||||
btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
|
||||
: btCollisionAlgorithm(ci) {}
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
virtual ~btSoftSoftCollisionAlgorithm();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
int bbsize = sizeof(btSoftSoftCollisionAlgorithm);
|
||||
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
|
||||
return new(ptr) btSoftSoftCollisionAlgorithm(0,ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SOFT_SOFT_COLLISION_ALGORITHM_H
|
||||
|
||||
|
||||
Reference in New Issue
Block a user