Autoformat selection for soft body, btDbvt related classes (no code change, just layout using Visual Studio)
This commit is contained in:
erwin.coumans
@@ -50,27 +50,27 @@ btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
|
||||
|
||||
|
||||
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
|
||||
m_dispatcher(dispatcher),
|
||||
m_dispatchInfoPtr(0)
|
||||
m_dispatcher(dispatcher),
|
||||
m_dispatchInfoPtr(0)
|
||||
{
|
||||
m_softBody = (btSoftBody*) (isSwapped? body1:body0);
|
||||
m_triBody = isSwapped? body0:body1;
|
||||
|
||||
//
|
||||
// create the manifold from the dispatcher 'manifold pool'
|
||||
//
|
||||
// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
|
||||
|
||||
clearCache();
|
||||
//
|
||||
// create the manifold from the dispatcher 'manifold pool'
|
||||
//
|
||||
// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
|
||||
|
||||
clearCache();
|
||||
}
|
||||
|
||||
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
|
||||
{
|
||||
clearCache();
|
||||
// m_dispatcher->releaseManifold( m_manifoldPtr );
|
||||
|
||||
// m_dispatcher->releaseManifold( m_manifoldPtr );
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btSoftBodyTriangleCallback::clearCache()
|
||||
{
|
||||
@@ -88,13 +88,13 @@ void btSoftBodyTriangleCallback::clearCache()
|
||||
|
||||
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
|
||||
{
|
||||
//just for debugging purposes
|
||||
//just for debugging purposes
|
||||
//printf("triangle %d",m_triangleCount++);
|
||||
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
|
||||
btCollisionAlgorithmConstructionInfo ci;
|
||||
ci.m_dispatcher1 = m_dispatcher;
|
||||
|
||||
///debug drawing of the overlapping triangles
|
||||
///debug drawing of the overlapping triangles
|
||||
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
|
||||
{
|
||||
btVector3 color(255,255,0);
|
||||
@@ -107,7 +107,7 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
|
||||
btTriIndex triIndex(partId,triangleIndex,0);
|
||||
btHashKey<btTriIndex> triKey(triIndex.getUid());
|
||||
|
||||
|
||||
|
||||
btTriIndex* shapeIndex = m_shapeCache[triKey];
|
||||
if (shapeIndex)
|
||||
{
|
||||
@@ -116,13 +116,13 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
|
||||
|
||||
//copy over user pointers to temporary shape
|
||||
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
|
||||
|
||||
|
||||
btCollisionShape* tmpShape = ob->getCollisionShape();
|
||||
ob->internalSetTemporaryCollisionShape( tm );
|
||||
|
||||
|
||||
|
||||
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
|
||||
|
||||
|
||||
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||
colAlgo->~btCollisionAlgorithm();
|
||||
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
||||
@@ -133,56 +133,56 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId,
|
||||
//aabb filter is already applied!
|
||||
|
||||
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
|
||||
|
||||
// if (m_softBody->getCollisionShape()->getShapeType()==
|
||||
|
||||
// if (m_softBody->getCollisionShape()->getShapeType()==
|
||||
{
|
||||
// btVector3 other;
|
||||
// btVector3 other;
|
||||
btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
|
||||
normal.normalize();
|
||||
normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
|
||||
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
|
||||
// other+=normal*22.f;
|
||||
// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
|
||||
// other+=normal*22.f;
|
||||
btVector3 pts[6] = {triangle[0]+normal,
|
||||
triangle[1]+normal,
|
||||
triangle[2]+normal,
|
||||
triangle[0]-normal,
|
||||
triangle[1]-normal,
|
||||
triangle[2]-normal};
|
||||
triangle[2]+normal,
|
||||
triangle[0]-normal,
|
||||
triangle[1]-normal,
|
||||
triangle[2]-normal};
|
||||
|
||||
btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
|
||||
|
||||
|
||||
// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
|
||||
|
||||
// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
|
||||
|
||||
//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
|
||||
// tm.setMargin(m_collisionMarginTriangle);
|
||||
|
||||
// tm.setMargin(m_collisionMarginTriangle);
|
||||
|
||||
//copy over user pointers to temporary shape
|
||||
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
|
||||
|
||||
|
||||
btCollisionShape* tmpShape = ob->getCollisionShape();
|
||||
ob->internalSetTemporaryCollisionShape( tm );
|
||||
|
||||
|
||||
|
||||
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
|
||||
///this should use the btDispatcher, so the actual registered algorithm is used
|
||||
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
|
||||
|
||||
//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
||||
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
||||
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
|
||||
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
|
||||
colAlgo->~btCollisionAlgorithm();
|
||||
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
|
||||
|
||||
|
||||
|
||||
|
||||
ob->internalSetTemporaryCollisionShape( tmpShape );
|
||||
triIndex.m_childShape = tm;
|
||||
m_shapeCache.insert(triKey,triIndex);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
@@ -194,7 +194,7 @@ void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMargin
|
||||
m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
|
||||
m_resultOut = resultOut;
|
||||
|
||||
|
||||
|
||||
btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
|
||||
m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
|
||||
btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
|
||||
@@ -217,8 +217,8 @@ void btSoftBodyConcaveCollisionAlgorithm::clearCache()
|
||||
|
||||
void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
|
||||
|
||||
|
||||
|
||||
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
|
||||
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
|
||||
|
||||
@@ -228,26 +228,26 @@ void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* b
|
||||
|
||||
btCollisionObject* triOb = triBody;
|
||||
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
|
||||
|
||||
// if (convexBody->getCollisionShape()->isConvex())
|
||||
|
||||
// if (convexBody->getCollisionShape()->isConvex())
|
||||
{
|
||||
btScalar collisionMarginTriangle = concaveShape->getMargin();
|
||||
|
||||
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
|
||||
|
||||
// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
|
||||
m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
|
||||
|
||||
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
|
||||
//m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
|
||||
|
||||
// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
|
||||
// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
|
||||
|
||||
|
||||
concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
|
||||
|
||||
// resultOut->refreshContactPoints();
|
||||
|
||||
|
||||
// resultOut->refreshContactPoints();
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
@@ -287,7 +287,7 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
||||
|
||||
btScalar m_ccdSphereRadius;
|
||||
btScalar m_hitFraction;
|
||||
|
||||
|
||||
|
||||
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
|
||||
:m_ccdSphereFromTrans(from),
|
||||
@@ -296,8 +296,8 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
||||
m_hitFraction(hitFraction)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
(void)partId;
|
||||
@@ -327,9 +327,9 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (triBody->getCollisionShape()->isConcave())
|
||||
{
|
||||
btVector3 rayAabbMin = convexFromLocal.getOrigin();
|
||||
@@ -349,12 +349,12 @@ btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionO
|
||||
btCollisionObject* concavebody = triBody;
|
||||
|
||||
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
|
||||
|
||||
|
||||
if (triangleMesh)
|
||||
{
|
||||
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
||||
|
||||
Reference in New Issue
Block a user