From 5024d063663610d7c7b0a13988d66ed6d8167813 Mon Sep 17 00:00:00 2001 From: "erwin.coumans" Date: Fri, 11 Apr 2008 18:50:32 +0000 Subject: [PATCH] removed files (are now in BulletSoftBody lib) --- ...oftBodyRigidBodyCollisionConfiguration.cpp | 77 ------------- ...tSoftBodyRigidBodyCollisionConfiguration.h | 46 -------- .../btSoftRigidCollisionAlgorithm.cpp | 96 ---------------- .../SoftDemo/btSoftRigidCollisionAlgorithm.h | 70 ------------ .../SoftDemo/btSoftSoftCollisionAlgorithm.cpp | 105 ------------------ Demos/SoftDemo/btSoftSoftCollisionAlgorithm.h | 63 ----------- 6 files changed, 457 deletions(-) delete mode 100644 Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.cpp delete mode 100644 Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.h delete mode 100644 Demos/SoftDemo/btSoftRigidCollisionAlgorithm.cpp delete mode 100644 Demos/SoftDemo/btSoftRigidCollisionAlgorithm.h delete mode 100644 Demos/SoftDemo/btSoftSoftCollisionAlgorithm.cpp delete mode 100644 Demos/SoftDemo/btSoftSoftCollisionAlgorithm.h diff --git a/Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.cpp b/Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.cpp deleted file mode 100644 index 5bd80f52f..000000000 --- a/Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.cpp +++ /dev/null @@ -1,77 +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 "btSoftBodyRigidBodyCollisionConfiguration.h" -#include "btSoftRigidCollisionAlgorithm.h" -#include "btSoftSoftCollisionAlgorithm.h" - - -btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool) -:btDefaultCollisionConfiguration(stackAlloc,persistentManifoldPool,collisionAlgorithmPool) -{ - void* mem; - - mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16); - m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc; - - mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); - m_softRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; - - mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); - m_swappedSoftRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; - m_swappedSoftRigidCreateFunc->m_swapped=true; - -} - -btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration() -{ - m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree( m_softSoftCreateFunc); - - m_softRigidCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree( m_softRigidCreateFunc); - - m_swappedSoftRigidCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree( m_swappedSoftRigidCreateFunc); - - -} - -///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation -btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) -{ - - ///try to handle the softbody interactions first - - if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE)) - { - return m_softSoftCreateFunc; - } - - ///other can't be also softbody, so assume rigid for now - if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) - { - return m_softRigidCreateFunc; - } - - ///other can't be also softbody, so assume rigid for now - if (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) - { - return m_swappedSoftRigidCreateFunc; - } - - ///fallback to the regular rigid collision shape - return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1); -} \ No newline at end of file diff --git a/Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.h b/Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.h deleted file mode 100644 index e38289b76..000000000 --- a/Demos/SoftDemo/btSoftBodyRigidBodyCollisionConfiguration.h +++ /dev/null @@ -1,46 +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 BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION -#define BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION - -#include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h" - -class btVoronoiSimplexSolver; -class btGjkEpaPenetrationDepthSolver; - - -///btSoftBodyRigidBodyCollisionConfiguration add softbody interaction on top of btDefaultCollisionConfiguration -class btSoftBodyRigidBodyCollisionConfiguration : public btDefaultCollisionConfiguration -{ - - //default CreationFunctions, filling the m_doubleDispatch table - btCollisionAlgorithmCreateFunc* m_softSoftCreateFunc; - btCollisionAlgorithmCreateFunc* m_softRigidCreateFunc; - btCollisionAlgorithmCreateFunc* m_swappedSoftRigidCreateFunc; - -public: - - btSoftBodyRigidBodyCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0); - - virtual ~btSoftBodyRigidBodyCollisionConfiguration(); - - ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation - virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); - -}; - -#endif //BT_SOFTBODY_RIGIDBODY_COLLISION_CONFIGURATION - diff --git a/Demos/SoftDemo/btSoftRigidCollisionAlgorithm.cpp b/Demos/SoftDemo/btSoftRigidCollisionAlgorithm.cpp deleted file mode 100644 index c8c1b8ef3..000000000 --- a/Demos/SoftDemo/btSoftRigidCollisionAlgorithm.cpp +++ /dev/null @@ -1,96 +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 "btSoftRigidCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/CollisionShapes/btSphereShape.h" -#include "BulletCollision/CollisionShapes/btBoxShape.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletDynamics/SoftBody/btSoftBody.h" -///TODO: include all the shapes that the softbody can collide with -///alternatively, implement special case collision algorithms (just like for rigid collision shapes) - -//#include - -btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped) -: btCollisionAlgorithm(ci), -//m_ownManifold(false), -//m_manifoldPtr(mf), -m_isSwapped(isSwapped) -{ - - //m_softBody = m_isSwapped? (btSoftBody*)col1 : (btSoftBody*)col0; - //m_rigidCollisionObject = m_isSwapped? col0 : col1; - - //quick fix, add overlapping rigidbody to softbody, so it can be handled within btSoftBody::Step method - //m_softBody->m_overlappingRigidBodies.push_back(m_rigidCollisionObject); - - ///store the contacts straight into the btSoftBody for now? - - /*if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj)) - { - m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj); - m_ownManifold = true; - } - */ - - - -} - - -btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm() -{ - - //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject); - - /*if (m_ownManifold) - { - if (m_manifoldPtr) - m_dispatcher->releaseManifold(m_manifoldPtr); - } - */ - -} - - -#include - -void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) -{ - (void)dispatchInfo; - (void)resultOut; - //printf("btSoftRigidCollisionAlgorithm\n"); - - btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0; - btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1; - - softBody->defaultCollisionHandler(rigidCollisionObject); - - -} - -btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) -{ - (void)resultOut; - (void)dispatchInfo; - (void)col0; - (void)col1; - - //not yet - return btScalar(1.); -} - - diff --git a/Demos/SoftDemo/btSoftRigidCollisionAlgorithm.h b/Demos/SoftDemo/btSoftRigidCollisionAlgorithm.h deleted file mode 100644 index 351952ffe..000000000 --- a/Demos/SoftDemo/btSoftRigidCollisionAlgorithm.h +++ /dev/null @@ -1,70 +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_RIGID_COLLISION_ALGORITHM_H -#define SOFT_RIGID_COLLISION_ALGORITHM_H - -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" -class btPersistentManifold; -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" - -#include "LinearMath/btVector3.h" -class btSoftBody; - -/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody -class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm -{ -// bool m_ownManifold; -// btPersistentManifold* m_manifoldPtr; - - btSoftBody* m_softBody; - btCollisionObject* m_rigidCollisionObject; - - ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean - bool m_isSwapped; - -public: - - btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped); - - virtual ~btSoftRigidCollisionAlgorithm(); - - virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - - virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); - - - struct CreateFunc :public btCollisionAlgorithmCreateFunc - { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) - { - void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm)); - if (!m_swapped) - { - 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 - - diff --git a/Demos/SoftDemo/btSoftSoftCollisionAlgorithm.cpp b/Demos/SoftDemo/btSoftSoftCollisionAlgorithm.cpp deleted file mode 100644 index d03d82999..000000000 --- a/Demos/SoftDemo/btSoftSoftCollisionAlgorithm.cpp +++ /dev/null @@ -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; -} diff --git a/Demos/SoftDemo/btSoftSoftCollisionAlgorithm.h b/Demos/SoftDemo/btSoftSoftCollisionAlgorithm.h deleted file mode 100644 index b1627603d..000000000 --- a/Demos/SoftDemo/btSoftSoftCollisionAlgorithm.h +++ /dev/null @@ -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 - -