Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

ASSERT -> btAssert

Browse Source 
Added btStackAlloc to Bullet (right now only used by btGjkEpa)
removed default constructors of btCollisionWorld/btDiscreteDynamicsWorld, to reduce link-time dependencies
This commit is contained in:
ejcoumans
2006-11-29 01:52:09 +00:00
parent 43ab3c67c4
commit 6738ed329d
41 changed files with 206 additions and 269 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View File

@@ -101,7 +101,7 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
{
gNumManifold++;
//ASSERT(gNumManifold < 65535);
//btAssert(gNumManifold < 65535);
btCollisionObject* body0 = (btCollisionObject*)b0;
@@ -145,7 +145,7 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
{
#define USE_DISPATCH_REGISTRY_ARRAY 1
#ifdef USE_DISPATCH_REGISTRY_ARRAY
btCollisionAlgorithmConstructionInfo ci;
@@ -194,6 +194,7 @@ btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(in
}
#ifndef USE_DISPATCH_REGISTRY_ARRAY
btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
{
@@ -232,6 +233,7 @@ btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionOb
return new btEmptyAlgorithm(ci);
}
#endif //USE_DISPATCH_REGISTRY_ARRAY
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
{

4
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
View File

@@ -30,7 +30,7 @@ class btOverlappingPairCache;
#include "btCollisionCreateFunc.h"
#define USE_DISPATCH_REGISTRY_ARRAY 1
///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
@@ -56,7 +56,9 @@ class btCollisionDispatcher : public btDispatcher
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
#ifndef USE_DISPATCH_REGISTRY_ARRAY
btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
#endif //USE_DISPATCH_REGISTRY_ARRAY
public:

17
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -25,6 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
//When the user doesn't provide dispatcher or broadphase, create basic versions (and delete them in destructor)
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
@@ -32,26 +33,22 @@ subject to the following restrictions:
#include <algorithm>
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache)
btCollisionWorld::btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize)
:m_dispatcher1(dispatcher),
m_broadphasePairCache(pairCache),
m_ownsDispatcher(false),
m_ownsBroadphasePairCache(false)
{
}
btCollisionWorld::btCollisionWorld()
: m_dispatcher1(new btCollisionDispatcher()),
m_broadphasePairCache(new btSimpleBroadphase()),
m_ownsDispatcher(true),
m_ownsBroadphasePairCache(true)
{
m_stackAlloc = new btStackAlloc(stackSize);
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}
btCollisionWorld::~btCollisionWorld()
{
m_stackAlloc->destroy();
delete m_stackAlloc;
//clean up remaining objects
std::vector<btCollisionObject*>::iterator i;

18
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View File

@@ -64,7 +64,7 @@ subject to the following restrictions:
#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btBroadphaseInterface;
#include "LinearMath/btVector3.h"
@@ -88,6 +88,10 @@ protected:
btDispatcher* m_dispatcher1;
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btOverlappingPairCache* m_broadphasePairCache;
bool m_ownsDispatcher;
@@ -95,11 +99,8 @@ protected:
public:
//this constructor will create and own a dispatcher and paircache and delete it at destruction
btCollisionWorld();
//this constructor doesn't own the dispatcher and paircache/broadphase
btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache);
btCollisionWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache, int stackSize = 2*1024*1024);
virtual ~btCollisionWorld();
@@ -237,7 +238,12 @@ public:
void removeCollisionObject(btCollisionObject* collisionObject);
virtual void performDiscreteCollisionDetection( btDispatcherInfo& dispatchInfo);
btDispatcherInfo& getDispatchInfo()
{
return m_dispatchInfo;
}
};

63
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -61,37 +61,28 @@ subject to the following restrictions:
#endif //USE_HULL
bool gUseEpa = true;
btConvexConvexAlgorithm::CreateFunc::CreateFunc()
{
m_ownsSolvers = true;
m_simplexSolver = new btVoronoiSimplexSolver();
m_pdSolver = new btGjkEpaPenetrationDepthSolver;
}
#ifdef WIN32
void DrawRasterizerLine(const float* from,const float* to,int color);
#endif
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_ownsSolvers = false;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
//#define PROCESS_SINGLE_CONTACT
#ifdef WIN32
bool gForceBoxBox = false;//false;//true;
#else
bool gForceBoxBox = false;//false;//true;
#endif
bool gBoxBoxUseGjk = true;//true;//false;
bool gDisableConvexCollision = false;
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1)
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
: btCollisionAlgorithm(ci),
m_gjkPairDetector(0,0,&m_simplexSolver,0),
m_useEpa(!gUseEpa),
m_gjkPairDetector(0,0,simplexSolver,pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
{
checkPenetrationDepthSolver();
}
@@ -115,27 +106,6 @@ void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
static btGjkEpaPenetrationDepthSolver gEpaPenetrationDepthSolver;
static btMinkowskiPenetrationDepthSolver gPenetrationDepthSolver;
void btConvexConvexAlgorithm::checkPenetrationDepthSolver()
{
if (m_useEpa != gUseEpa)
{
m_useEpa = gUseEpa;
if (m_useEpa)
{
m_gjkPairDetector.setPenetrationDepthSolver(&gEpaPenetrationDepthSolver);
} else
{
m_gjkPairDetector.setPenetrationDepthSolver(&gPenetrationDepthSolver);
}
}
}
//
// Convex-Convex collision algorithm
@@ -164,7 +134,6 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
checkPenetrationDepthSolver();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
@@ -176,7 +145,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
m_gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
// input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();
@@ -209,7 +179,6 @@ float btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btC
if (disableCcd)
return 1.f;
checkPenetrationDepthSolver();
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things

17
src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
View File

@@ -28,23 +28,17 @@ class btConvexPenetrationDepthSolver;
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
class btConvexConvexAlgorithm : public btCollisionAlgorithm
{
//ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
btVoronoiSimplexSolver m_simplexSolver;
btGjkPairDetector m_gjkPairDetector;
bool m_useEpa;
public:
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
void checkPenetrationDepthSolver();
public:
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~btConvexConvexAlgorithm();
@@ -62,9 +56,16 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
bool m_ownsSolvers;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1);
return new btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
}
};