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add getAabb for btSoftBody,

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add btSoftBodyConcaveCollisionAlgorithm, and register algorithm
This commit is contained in:
erwin.coumans
2008-04-20 16:31:13 +00:00
parent 0a3baf93d6
commit 73a5643580
5 changed files with 495 additions and 11 deletions
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45
src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
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@@ -15,6 +15,7 @@ subject to the following restrictions:
#include "btSoftBodyRigidBodyCollisionConfiguration.h"
#include "btSoftRigidCollisionAlgorithm.h"
#include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "btSoftSoftCollisionAlgorithm.h"
@@ -27,11 +28,19 @@ btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfigura
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
m_softRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
m_swappedSoftRigidCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
m_swappedSoftRigidCreateFunc->m_swapped=true;
m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
}
@@ -40,11 +49,17 @@ btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfigur
m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_softSoftCreateFunc);
m_softRigidCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_softRigidCreateFunc);
m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_softRigidConvexCreateFunc);
m_swappedSoftRigidCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedSoftRigidCreateFunc);
m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedSoftRigidConvexCreateFunc);
m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_softRigidConcaveCreateFunc);
m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
}
@@ -63,13 +78,25 @@ btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCo
///softbody versus convex
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
{
return m_softRigidCreateFunc;
return m_softRigidConvexCreateFunc;
}
///convex versus soft body
if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
{
return m_swappedSoftRigidCreateFunc;
return m_swappedSoftRigidConvexCreateFunc;
}
///softbody versus convex
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
{
return m_softRigidConcaveCreateFunc;
}
///convex versus soft body
if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
{
return m_swappedSoftRigidConcaveCreateFunc;
}
///fallback to the regular rigid collision shape