minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
File diff suppressed because it is too large
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File diff suppressed because it is too large
Load Diff
@@ -1,369 +1,369 @@
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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/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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||||
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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.
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||||
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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#include "btSoftBodyConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionShapes/btConcaveShape.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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#include "BulletCollision/CollisionShapes/btTriangleShape.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
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#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
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#include "BulletSoftBody/btSoftBody.h"
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#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
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btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
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: btCollisionAlgorithm(ci),
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m_isSwapped(isSwapped),
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m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
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{
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}
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btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
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{
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}
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btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
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m_dispatcher(dispatcher),
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m_dispatchInfoPtr(0)
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{
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m_softBody = (btSoftBody*) (isSwapped? body1:body0);
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m_triBody = isSwapped? body0:body1;
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//
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// create the manifold from the dispatcher 'manifold pool'
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//
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// m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
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clearCache();
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}
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btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
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{
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clearCache();
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// m_dispatcher->releaseManifold( m_manifoldPtr );
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}
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void btSoftBodyTriangleCallback::clearCache()
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{
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for (int i=0;i<m_shapeCache.size();i++)
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{
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btTriIndex* tmp = m_shapeCache.getAtIndex(i);
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btAssert(tmp);
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btAssert(tmp->m_childShape);
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m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
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delete tmp->m_childShape;
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}
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m_shapeCache.clear();
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}
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void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
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{
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//just for debugging purposes
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//printf("triangle %d",m_triangleCount++);
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btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher1 = m_dispatcher;
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///debug drawing of the overlapping triangles
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if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
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{
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btVector3 color(255,255,0);
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btTransform& tr = ob->getWorldTransform();
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m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
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m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
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m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
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}
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btTriIndex triIndex(partId,triangleIndex,0);
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btHashKey<btTriIndex> triKey(triIndex.getUid());
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btTriIndex* shapeIndex = m_shapeCache[triKey];
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if (shapeIndex)
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{
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btCollisionShape* tm = shapeIndex->m_childShape;
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btAssert(tm);
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//copy over user pointers to temporary shape
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tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
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btCollisionShape* tmpShape = ob->getCollisionShape();
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ob->internalSetTemporaryCollisionShape( tm );
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
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colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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ob->internalSetTemporaryCollisionShape( tmpShape);
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return;
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}
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//aabb filter is already applied!
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//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
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// if (m_softBody->getCollisionShape()->getShapeType()==
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{
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// btVector3 other;
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btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
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normal.normalize();
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normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
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// other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
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// other+=normal*22.f;
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btVector3 pts[6] = {triangle[0]+normal,
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triangle[1]+normal,
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triangle[2]+normal,
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triangle[0]-normal,
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triangle[1]-normal,
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triangle[2]-normal};
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btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
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// btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
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//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
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// tm.setMargin(m_collisionMarginTriangle);
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//copy over user pointers to temporary shape
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tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
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btCollisionShape* tmpShape = ob->getCollisionShape();
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ob->internalSetTemporaryCollisionShape( tm );
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btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
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///this should use the btDispatcher, so the actual registered algorithm is used
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// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
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//m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
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// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
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// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
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colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
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colAlgo->~btCollisionAlgorithm();
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ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
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ob->internalSetTemporaryCollisionShape( tmpShape );
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triIndex.m_childShape = tm;
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m_shapeCache.insert(triKey,triIndex);
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}
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}
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void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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m_dispatchInfoPtr = &dispatchInfo;
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m_collisionMarginTriangle = collisionMarginTriangle+btScalar(BT_SOFTBODY_TRIANGLE_EXTRUSION);
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m_resultOut = resultOut;
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btVector3 aabbWorldSpaceMin,aabbWorldSpaceMax;
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m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
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btVector3 halfExtents = (aabbWorldSpaceMax-aabbWorldSpaceMin)*btScalar(0.5);
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btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
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btTransform softTransform;
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softTransform.setIdentity();
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softTransform.setOrigin(softBodyCenter);
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btTransform convexInTriangleSpace;
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convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform;
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btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
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}
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void btSoftBodyConcaveCollisionAlgorithm::clearCache()
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{
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m_btSoftBodyTriangleCallback.clearCache();
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}
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void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
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btCollisionObject* triBody = m_isSwapped ? body0 : body1;
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if (triBody->getCollisionShape()->isConcave())
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{
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btCollisionObject* triOb = triBody;
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btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
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// if (convexBody->getCollisionShape()->isConvex())
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{
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btScalar collisionMarginTriangle = concaveShape->getMargin();
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// resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
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m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
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//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
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//m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
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// m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
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concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
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// resultOut->refreshContactPoints();
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}
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}
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}
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btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,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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btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
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btCollisionObject* triBody = m_isSwapped ? body0 : body1;
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//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
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//only perform CCD above a certain threshold, this prevents blocking on the long run
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//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
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btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
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if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
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{
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return btScalar(1.);
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}
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//const btVector3& from = convexbody->m_worldTransform.getOrigin();
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//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
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//todo: only do if the motion exceeds the 'radius'
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btTransform triInv = triBody->getWorldTransform().inverse();
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btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
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btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
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struct LocalTriangleSphereCastCallback : public btTriangleCallback
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{
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btTransform m_ccdSphereFromTrans;
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btTransform m_ccdSphereToTrans;
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btTransform m_meshTransform;
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btScalar m_ccdSphereRadius;
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btScalar m_hitFraction;
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LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
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:m_ccdSphereFromTrans(from),
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m_ccdSphereToTrans(to),
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m_ccdSphereRadius(ccdSphereRadius),
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m_hitFraction(hitFraction)
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{
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}
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
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{
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(void)partId;
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(void)triangleIndex;
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//do a swept sphere for now
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btTransform ident;
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ident.setIdentity();
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btConvexCast::CastResult castResult;
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castResult.m_fraction = m_hitFraction;
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btSphereShape pointShape(m_ccdSphereRadius);
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btTriangleShape triShape(triangle[0],triangle[1],triangle[2]);
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btVoronoiSimplexSolver simplexSolver;
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btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
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//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
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//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
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//local space?
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if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
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ident,ident,castResult))
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{
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if (m_hitFraction > castResult.m_fraction)
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m_hitFraction = castResult.m_fraction;
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}
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}
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};
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if (triBody->getCollisionShape()->isConcave())
|
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{
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btVector3 rayAabbMin = convexFromLocal.getOrigin();
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rayAabbMin.setMin(convexToLocal.getOrigin());
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btVector3 rayAabbMax = convexFromLocal.getOrigin();
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rayAabbMax.setMax(convexToLocal.getOrigin());
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btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
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rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
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rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
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btScalar curHitFraction = btScalar(1.); //is this available?
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LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
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convexbody->getCcdSweptSphereRadius(),curHitFraction);
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raycastCallback.m_hitFraction = convexbody->getHitFraction();
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btCollisionObject* concavebody = triBody;
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btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
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if (triangleMesh)
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{
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triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
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}
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if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
||||
{
|
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convexbody->setHitFraction( raycastCallback.m_hitFraction);
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return raycastCallback.m_hitFraction;
|
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}
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}
|
||||
|
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return btScalar(1.);
|
||||
|
||||
}
|
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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.
|
||||
*/
|
||||
|
||||
|
||||
#include "btSoftBodyConcaveCollisionAlgorithm.h"
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||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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||||
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
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||||
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
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||||
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
|
||||
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
|
||||
|
||||
|
||||
|
||||
#include "LinearMath/btIDebugDraw.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
|
||||
#include "BulletSoftBody/btSoftBody.h"
|
||||
|
||||
#define BT_SOFTBODY_TRIANGLE_EXTRUSION btScalar(0.06)//make this configurable
|
||||
|
||||
btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
|
||||
: btCollisionAlgorithm(ci),
|
||||
m_isSwapped(isSwapped),
|
||||
m_btSoftBodyTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
|
||||
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
|
||||
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();
|
||||
}
|
||||
|
||||
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
|
||||
{
|
||||
clearCache();
|
||||
// m_dispatcher->releaseManifold( m_manifoldPtr );
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btSoftBodyTriangleCallback::clearCache()
|
||||
{
|
||||
for (int i=0;i<m_shapeCache.size();i++)
|
||||
{
|
||||
btTriIndex* tmp = m_shapeCache.getAtIndex(i);
|
||||
btAssert(tmp);
|
||||
btAssert(tmp->m_childShape);
|
||||
m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
|
||||
delete tmp->m_childShape;
|
||||
}
|
||||
m_shapeCache.clear();
|
||||
}
|
||||
|
||||
|
||||
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
|
||||
{
|
||||
//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
|
||||
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
|
||||
{
|
||||
btVector3 color(255,255,0);
|
||||
btTransform& tr = ob->getWorldTransform();
|
||||
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
|
||||
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
|
||||
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
|
||||
}
|
||||
|
||||
btTriIndex triIndex(partId,triangleIndex,0);
|
||||
btHashKey<btTriIndex> triKey(triIndex.getUid());
|
||||
|
||||
|
||||
btTriIndex* shapeIndex = m_shapeCache[triKey];
|
||||
if (shapeIndex)
|
||||
{
|
||||
btCollisionShape* tm = shapeIndex->m_childShape;
|
||||
btAssert(tm);
|
||||
|
||||
//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);
|
||||
ob->internalSetTemporaryCollisionShape( tmpShape);
|
||||
return;
|
||||
}
|
||||
|
||||
//aabb filter is already applied!
|
||||
|
||||
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
|
||||
|
||||
// if (m_softBody->getCollisionShape()->getShapeType()==
|
||||
{
|
||||
// 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;
|
||||
btVector3 pts[6] = {triangle[0]+normal,
|
||||
triangle[1]+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);
|
||||
|
||||
//btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
|
||||
// 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);
|
||||
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);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btSoftBodyTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
m_dispatchInfoPtr = &dispatchInfo;
|
||||
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);
|
||||
btVector3 softBodyCenter = (aabbWorldSpaceMax+aabbWorldSpaceMin)*btScalar(0.5);
|
||||
|
||||
btTransform softTransform;
|
||||
softTransform.setIdentity();
|
||||
softTransform.setOrigin(softBodyCenter);
|
||||
|
||||
btTransform convexInTriangleSpace;
|
||||
convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * softTransform;
|
||||
btTransformAabb(halfExtents,m_collisionMarginTriangle,convexInTriangleSpace,m_aabbMin,m_aabbMax);
|
||||
}
|
||||
|
||||
void btSoftBodyConcaveCollisionAlgorithm::clearCache()
|
||||
{
|
||||
m_btSoftBodyTriangleCallback.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;
|
||||
|
||||
if (triBody->getCollisionShape()->isConcave())
|
||||
{
|
||||
|
||||
|
||||
btCollisionObject* triOb = triBody;
|
||||
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
|
||||
|
||||
// if (convexBody->getCollisionShape()->isConvex())
|
||||
{
|
||||
btScalar collisionMarginTriangle = concaveShape->getMargin();
|
||||
|
||||
// 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);
|
||||
|
||||
|
||||
concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
|
||||
|
||||
// resultOut->refreshContactPoints();
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
btScalar btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||||
{
|
||||
(void)resultOut;
|
||||
(void)dispatchInfo;
|
||||
btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
|
||||
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
|
||||
|
||||
|
||||
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
|
||||
|
||||
//only perform CCD above a certain threshold, this prevents blocking on the long run
|
||||
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
|
||||
btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
|
||||
if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
|
||||
{
|
||||
return btScalar(1.);
|
||||
}
|
||||
|
||||
//const btVector3& from = convexbody->m_worldTransform.getOrigin();
|
||||
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
|
||||
//todo: only do if the motion exceeds the 'radius'
|
||||
|
||||
btTransform triInv = triBody->getWorldTransform().inverse();
|
||||
btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
|
||||
btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
|
||||
|
||||
struct LocalTriangleSphereCastCallback : public btTriangleCallback
|
||||
{
|
||||
btTransform m_ccdSphereFromTrans;
|
||||
btTransform m_ccdSphereToTrans;
|
||||
btTransform m_meshTransform;
|
||||
|
||||
btScalar m_ccdSphereRadius;
|
||||
btScalar m_hitFraction;
|
||||
|
||||
|
||||
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
|
||||
:m_ccdSphereFromTrans(from),
|
||||
m_ccdSphereToTrans(to),
|
||||
m_ccdSphereRadius(ccdSphereRadius),
|
||||
m_hitFraction(hitFraction)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
|
||||
{
|
||||
(void)partId;
|
||||
(void)triangleIndex;
|
||||
//do a swept sphere for now
|
||||
btTransform ident;
|
||||
ident.setIdentity();
|
||||
btConvexCast::CastResult castResult;
|
||||
castResult.m_fraction = m_hitFraction;
|
||||
btSphereShape pointShape(m_ccdSphereRadius);
|
||||
btTriangleShape triShape(triangle[0],triangle[1],triangle[2]);
|
||||
btVoronoiSimplexSolver simplexSolver;
|
||||
btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
|
||||
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
|
||||
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
|
||||
//local space?
|
||||
|
||||
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
|
||||
ident,ident,castResult))
|
||||
{
|
||||
if (m_hitFraction > castResult.m_fraction)
|
||||
m_hitFraction = castResult.m_fraction;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
if (triBody->getCollisionShape()->isConcave())
|
||||
{
|
||||
btVector3 rayAabbMin = convexFromLocal.getOrigin();
|
||||
rayAabbMin.setMin(convexToLocal.getOrigin());
|
||||
btVector3 rayAabbMax = convexFromLocal.getOrigin();
|
||||
rayAabbMax.setMax(convexToLocal.getOrigin());
|
||||
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
|
||||
rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
|
||||
rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
|
||||
|
||||
btScalar curHitFraction = btScalar(1.); //is this available?
|
||||
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
|
||||
convexbody->getCcdSweptSphereRadius(),curHitFraction);
|
||||
|
||||
raycastCallback.m_hitFraction = convexbody->getHitFraction();
|
||||
|
||||
btCollisionObject* concavebody = triBody;
|
||||
|
||||
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
|
||||
|
||||
if (triangleMesh)
|
||||
{
|
||||
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
|
||||
{
|
||||
convexbody->setHitFraction( raycastCallback.m_hitFraction);
|
||||
return raycastCallback.m_hitFraction;
|
||||
}
|
||||
}
|
||||
|
||||
return btScalar(1.);
|
||||
|
||||
}
|
||||
|
||||
@@ -1,153 +1,153 @@
|
||||
/*
|
||||
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_BODY_CONCAVE_COLLISION_ALGORITHM_H
|
||||
#define SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
class btDispatcher;
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
class btSoftBody;
|
||||
class btCollisionShape;
|
||||
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
|
||||
|
||||
struct btTriIndex
|
||||
{
|
||||
int m_PartIdTriangleIndex;
|
||||
class btCollisionShape* m_childShape;
|
||||
|
||||
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
|
||||
{
|
||||
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
|
||||
m_childShape = shape;
|
||||
}
|
||||
|
||||
int getTriangleIndex() const
|
||||
{
|
||||
// Get only the lower bits where the triangle index is stored
|
||||
return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
|
||||
}
|
||||
int getPartId() const
|
||||
{
|
||||
// Get only the highest bits where the part index is stored
|
||||
return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
|
||||
}
|
||||
int getUid() const
|
||||
{
|
||||
return m_PartIdTriangleIndex;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
|
||||
class btSoftBodyTriangleCallback : public btTriangleCallback
|
||||
{
|
||||
btSoftBody* m_softBody;
|
||||
btCollisionObject* m_triBody;
|
||||
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax ;
|
||||
|
||||
btManifoldResult* m_resultOut;
|
||||
|
||||
btDispatcher* m_dispatcher;
|
||||
const btDispatcherInfo* m_dispatchInfoPtr;
|
||||
btScalar m_collisionMarginTriangle;
|
||||
|
||||
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
|
||||
|
||||
public:
|
||||
int m_triangleCount;
|
||||
|
||||
// btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
|
||||
|
||||
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual ~btSoftBodyTriangleCallback();
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
void clearCache();
|
||||
|
||||
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
|
||||
{
|
||||
return m_aabbMin;
|
||||
}
|
||||
SIMD_FORCE_INLINE const btVector3& getAabbMax() const
|
||||
{
|
||||
return m_aabbMax;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes.
|
||||
class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
|
||||
bool m_isSwapped;
|
||||
|
||||
btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
|
||||
|
||||
public:
|
||||
|
||||
btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
|
||||
|
||||
virtual ~btSoftBodyConcaveCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
//we don't add any manifolds
|
||||
}
|
||||
|
||||
void clearCache();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
|
||||
return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false);
|
||||
}
|
||||
};
|
||||
|
||||
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
|
||||
return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
|
||||
/*
|
||||
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_BODY_CONCAVE_COLLISION_ALGORITHM_H
|
||||
#define SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
||||
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
||||
class btDispatcher;
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
class btSoftBody;
|
||||
class btCollisionShape;
|
||||
|
||||
#include "LinearMath/btHashMap.h"
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
|
||||
|
||||
struct btTriIndex
|
||||
{
|
||||
int m_PartIdTriangleIndex;
|
||||
class btCollisionShape* m_childShape;
|
||||
|
||||
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
|
||||
{
|
||||
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
|
||||
m_childShape = shape;
|
||||
}
|
||||
|
||||
int getTriangleIndex() const
|
||||
{
|
||||
// Get only the lower bits where the triangle index is stored
|
||||
return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
|
||||
}
|
||||
int getPartId() const
|
||||
{
|
||||
// Get only the highest bits where the part index is stored
|
||||
return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
|
||||
}
|
||||
int getUid() const
|
||||
{
|
||||
return m_PartIdTriangleIndex;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
|
||||
class btSoftBodyTriangleCallback : public btTriangleCallback
|
||||
{
|
||||
btSoftBody* m_softBody;
|
||||
btCollisionObject* m_triBody;
|
||||
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax ;
|
||||
|
||||
btManifoldResult* m_resultOut;
|
||||
|
||||
btDispatcher* m_dispatcher;
|
||||
const btDispatcherInfo* m_dispatchInfoPtr;
|
||||
btScalar m_collisionMarginTriangle;
|
||||
|
||||
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
|
||||
|
||||
public:
|
||||
int m_triangleCount;
|
||||
|
||||
// btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
|
||||
|
||||
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual ~btSoftBodyTriangleCallback();
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
void clearCache();
|
||||
|
||||
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
|
||||
{
|
||||
return m_aabbMin;
|
||||
}
|
||||
SIMD_FORCE_INLINE const btVector3& getAabbMax() const
|
||||
{
|
||||
return m_aabbMax;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes.
|
||||
class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
|
||||
bool m_isSwapped;
|
||||
|
||||
btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
|
||||
|
||||
public:
|
||||
|
||||
btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
|
||||
|
||||
virtual ~btSoftBodyConcaveCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
//we don't add any manifolds
|
||||
}
|
||||
|
||||
void clearCache();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
|
||||
return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false);
|
||||
}
|
||||
};
|
||||
|
||||
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
|
||||
return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,119 +1,119 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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_BODY_HELPERS_H
|
||||
#define SOFT_BODY_HELPERS_H
|
||||
|
||||
#include "btSoftBody.h"
|
||||
|
||||
//
|
||||
// Helpers
|
||||
//
|
||||
|
||||
/* fDrawFlags */
|
||||
struct fDrawFlags { enum _ {
|
||||
Nodes = 0x0001,
|
||||
Links = 0x0002,
|
||||
Faces = 0x0004,
|
||||
Tetras = 0x0008,
|
||||
Normals = 0x0010,
|
||||
Contacts = 0x0020,
|
||||
Anchors = 0x0040,
|
||||
Notes = 0x0080,
|
||||
Clusters = 0x0100,
|
||||
NodeTree = 0x0200,
|
||||
FaceTree = 0x0400,
|
||||
ClusterTree = 0x0800,
|
||||
Joints = 0x1000,
|
||||
/* presets */
|
||||
Std = Links+Faces+Tetras+Anchors+Notes+Joints,
|
||||
StdTetra = Std-Faces+Tetras
|
||||
};};
|
||||
|
||||
struct btSoftBodyHelpers
|
||||
{
|
||||
/* Draw body */
|
||||
static void Draw( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int drawflags=fDrawFlags::Std);
|
||||
/* Draw body infos */
|
||||
static void DrawInfos( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
bool masses,
|
||||
bool areas,
|
||||
bool stress);
|
||||
/* Draw node tree */
|
||||
static void DrawNodeTree( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int mindepth=0,
|
||||
int maxdepth=-1);
|
||||
/* Draw face tree */
|
||||
static void DrawFaceTree( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int mindepth=0,
|
||||
int maxdepth=-1);
|
||||
/* Draw cluster tree */
|
||||
static void DrawClusterTree(btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int mindepth=0,
|
||||
int maxdepth=-1);
|
||||
/* Draw rigid frame */
|
||||
static void DrawFrame( btSoftBody* psb,
|
||||
btIDebugDraw* idraw);
|
||||
/* Create a rope */
|
||||
static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& from,
|
||||
const btVector3& to,
|
||||
int res,
|
||||
int fixeds);
|
||||
/* Create a patch */
|
||||
static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags);
|
||||
/* Create a patch with UV Texture Coordinates */
|
||||
static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags,
|
||||
float* tex_coords=0);
|
||||
static float CalculateUV(int resx,int resy,int ix,int iy,int id);
|
||||
/* Create an ellipsoid */
|
||||
static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& center,
|
||||
const btVector3& radius,
|
||||
int res);
|
||||
/* Create from trimesh */
|
||||
static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo,
|
||||
const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles);
|
||||
/* Create from convex-hull */
|
||||
static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3* vertices,
|
||||
int nvertices);
|
||||
};
|
||||
|
||||
#endif //SOFT_BODY_HELPERS_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2008 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_BODY_HELPERS_H
|
||||
#define SOFT_BODY_HELPERS_H
|
||||
|
||||
#include "btSoftBody.h"
|
||||
|
||||
//
|
||||
// Helpers
|
||||
//
|
||||
|
||||
/* fDrawFlags */
|
||||
struct fDrawFlags { enum _ {
|
||||
Nodes = 0x0001,
|
||||
Links = 0x0002,
|
||||
Faces = 0x0004,
|
||||
Tetras = 0x0008,
|
||||
Normals = 0x0010,
|
||||
Contacts = 0x0020,
|
||||
Anchors = 0x0040,
|
||||
Notes = 0x0080,
|
||||
Clusters = 0x0100,
|
||||
NodeTree = 0x0200,
|
||||
FaceTree = 0x0400,
|
||||
ClusterTree = 0x0800,
|
||||
Joints = 0x1000,
|
||||
/* presets */
|
||||
Std = Links+Faces+Tetras+Anchors+Notes+Joints,
|
||||
StdTetra = Std-Faces+Tetras
|
||||
};};
|
||||
|
||||
struct btSoftBodyHelpers
|
||||
{
|
||||
/* Draw body */
|
||||
static void Draw( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int drawflags=fDrawFlags::Std);
|
||||
/* Draw body infos */
|
||||
static void DrawInfos( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
bool masses,
|
||||
bool areas,
|
||||
bool stress);
|
||||
/* Draw node tree */
|
||||
static void DrawNodeTree( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int mindepth=0,
|
||||
int maxdepth=-1);
|
||||
/* Draw face tree */
|
||||
static void DrawFaceTree( btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int mindepth=0,
|
||||
int maxdepth=-1);
|
||||
/* Draw cluster tree */
|
||||
static void DrawClusterTree(btSoftBody* psb,
|
||||
btIDebugDraw* idraw,
|
||||
int mindepth=0,
|
||||
int maxdepth=-1);
|
||||
/* Draw rigid frame */
|
||||
static void DrawFrame( btSoftBody* psb,
|
||||
btIDebugDraw* idraw);
|
||||
/* Create a rope */
|
||||
static btSoftBody* CreateRope( btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& from,
|
||||
const btVector3& to,
|
||||
int res,
|
||||
int fixeds);
|
||||
/* Create a patch */
|
||||
static btSoftBody* CreatePatch(btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags);
|
||||
/* Create a patch with UV Texture Coordinates */
|
||||
static btSoftBody* CreatePatchUV(btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& corner00,
|
||||
const btVector3& corner10,
|
||||
const btVector3& corner01,
|
||||
const btVector3& corner11,
|
||||
int resx,
|
||||
int resy,
|
||||
int fixeds,
|
||||
bool gendiags,
|
||||
float* tex_coords=0);
|
||||
static float CalculateUV(int resx,int resy,int ix,int iy,int id);
|
||||
/* Create an ellipsoid */
|
||||
static btSoftBody* CreateEllipsoid(btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3& center,
|
||||
const btVector3& radius,
|
||||
int res);
|
||||
/* Create from trimesh */
|
||||
static btSoftBody* CreateFromTriMesh( btSoftBodyWorldInfo& worldInfo,
|
||||
const btScalar* vertices,
|
||||
const int* triangles,
|
||||
int ntriangles);
|
||||
/* Create from convex-hull */
|
||||
static btSoftBody* CreateFromConvexHull( btSoftBodyWorldInfo& worldInfo,
|
||||
const btVector3* vertices,
|
||||
int nvertices);
|
||||
};
|
||||
|
||||
#endif //SOFT_BODY_HELPERS_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,134 +1,134 @@
|
||||
/*
|
||||
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 "btSoftBodyConcaveCollisionAlgorithm.h"
|
||||
#include "btSoftSoftCollisionAlgorithm.h"
|
||||
|
||||
#include "LinearMath/btPoolAllocator.h"
|
||||
|
||||
#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
|
||||
|
||||
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
|
||||
:btDefaultCollisionConfiguration(constructionInfo)
|
||||
{
|
||||
void* mem;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
|
||||
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
||||
m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
|
||||
|
||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
||||
m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
||||
m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
|
||||
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
|
||||
#endif
|
||||
|
||||
//replace pool by a new one, with potential larger size
|
||||
|
||||
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
|
||||
{
|
||||
int curElemSize = m_collisionAlgorithmPool->getElementSize();
|
||||
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
|
||||
|
||||
|
||||
int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
|
||||
int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
|
||||
int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
|
||||
|
||||
int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
|
||||
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
|
||||
|
||||
if (collisionAlgorithmMaxElementSize > curElemSize)
|
||||
{
|
||||
m_collisionAlgorithmPool->~btPoolAllocator();
|
||||
btAlignedFree(m_collisionAlgorithmPool);
|
||||
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
|
||||
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
|
||||
{
|
||||
m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_softSoftCreateFunc);
|
||||
|
||||
m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_softRigidConvexCreateFunc);
|
||||
|
||||
m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_swappedSoftRigidConvexCreateFunc);
|
||||
|
||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||
m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_softRigidConcaveCreateFunc);
|
||||
|
||||
m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
|
||||
#endif
|
||||
}
|
||||
|
||||
///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;
|
||||
}
|
||||
|
||||
///softbody versus convex
|
||||
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
|
||||
{
|
||||
return m_softRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
///convex versus soft body
|
||||
if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
|
||||
{
|
||||
return m_swappedSoftRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||
///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;
|
||||
}
|
||||
#endif
|
||||
|
||||
///fallback to the regular rigid collision shape
|
||||
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
|
||||
}
|
||||
/*
|
||||
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 "btSoftBodyConcaveCollisionAlgorithm.h"
|
||||
#include "btSoftSoftCollisionAlgorithm.h"
|
||||
|
||||
#include "LinearMath/btPoolAllocator.h"
|
||||
|
||||
#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
|
||||
|
||||
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
|
||||
:btDefaultCollisionConfiguration(constructionInfo)
|
||||
{
|
||||
void* mem;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
|
||||
m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
|
||||
m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
|
||||
m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
|
||||
|
||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
||||
m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
|
||||
|
||||
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
|
||||
m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
|
||||
m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
|
||||
#endif
|
||||
|
||||
//replace pool by a new one, with potential larger size
|
||||
|
||||
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
|
||||
{
|
||||
int curElemSize = m_collisionAlgorithmPool->getElementSize();
|
||||
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
|
||||
|
||||
|
||||
int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
|
||||
int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
|
||||
int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
|
||||
|
||||
int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
|
||||
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
|
||||
|
||||
if (collisionAlgorithmMaxElementSize > curElemSize)
|
||||
{
|
||||
m_collisionAlgorithmPool->~btPoolAllocator();
|
||||
btAlignedFree(m_collisionAlgorithmPool);
|
||||
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
|
||||
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
|
||||
{
|
||||
m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_softSoftCreateFunc);
|
||||
|
||||
m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_softRigidConvexCreateFunc);
|
||||
|
||||
m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_swappedSoftRigidConvexCreateFunc);
|
||||
|
||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||
m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_softRigidConcaveCreateFunc);
|
||||
|
||||
m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
|
||||
btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
|
||||
#endif
|
||||
}
|
||||
|
||||
///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;
|
||||
}
|
||||
|
||||
///softbody versus convex
|
||||
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
|
||||
{
|
||||
return m_softRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
///convex versus soft body
|
||||
if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
|
||||
{
|
||||
return m_swappedSoftRigidConvexCreateFunc;
|
||||
}
|
||||
|
||||
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
|
||||
///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;
|
||||
}
|
||||
#endif
|
||||
|
||||
///fallback to the regular rigid collision shape
|
||||
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
|
||||
}
|
||||
|
||||
@@ -1,48 +1,48 @@
|
||||
/*
|
||||
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_softRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
|
||||
|
||||
public:
|
||||
|
||||
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
||||
|
||||
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
|
||||
|
||||
/*
|
||||
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_softRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConvexCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_softRigidConcaveCreateFunc;
|
||||
btCollisionAlgorithmCreateFunc* m_swappedSoftRigidConcaveCreateFunc;
|
||||
|
||||
public:
|
||||
|
||||
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
|
||||
|
||||
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
|
||||
|
||||
|
||||
@@ -1,79 +1,79 @@
|
||||
/*
|
||||
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 "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 <stdio.h>
|
||||
|
||||
btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*col0*/,btCollisionObject* /*col1*/, bool isSwapped)
|
||||
: btCollisionAlgorithm(ci),
|
||||
//m_ownManifold(false),
|
||||
//m_manifoldPtr(mf),
|
||||
m_isSwapped(isSwapped)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
|
||||
{
|
||||
|
||||
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
|
||||
|
||||
/*if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
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.);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
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 "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 <stdio.h>
|
||||
|
||||
btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*col0*/,btCollisionObject* /*col1*/, bool isSwapped)
|
||||
: btCollisionAlgorithm(ci),
|
||||
//m_ownManifold(false),
|
||||
//m_manifoldPtr(mf),
|
||||
m_isSwapped(isSwapped)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
|
||||
{
|
||||
|
||||
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
|
||||
|
||||
/*if (m_ownManifold)
|
||||
{
|
||||
if (m_manifoldPtr)
|
||||
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
#include <stdio.h>
|
||||
|
||||
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.);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,75 +1,75 @@
|
||||
/*
|
||||
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);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
//we don't add any manifolds
|
||||
}
|
||||
|
||||
|
||||
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
|
||||
|
||||
|
||||
/*
|
||||
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);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
//we don't add any manifolds
|
||||
}
|
||||
|
||||
|
||||
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
|
||||
|
||||
|
||||
|
||||
@@ -1,135 +1,135 @@
|
||||
/*
|
||||
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 "btSoftRigidDynamicsWorld.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
//softbody & helpers
|
||||
#include "btSoftBody.h"
|
||||
#include "btSoftBodyHelpers.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
||||
{
|
||||
m_drawFlags = fDrawFlags::Std;
|
||||
m_drawNodeTree = true;
|
||||
m_drawFaceTree = false;
|
||||
m_drawClusterTree = false;
|
||||
m_sbi.m_broadphase = pairCache;
|
||||
m_sbi.m_dispatcher = dispatcher;
|
||||
m_sbi.m_sparsesdf.Initialize();
|
||||
m_sbi.m_sparsesdf.Reset();
|
||||
|
||||
}
|
||||
|
||||
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
|
||||
|
||||
for ( int i=0;i<m_softBodies.size();++i)
|
||||
{
|
||||
btSoftBody* psb= m_softBodies[i];
|
||||
|
||||
psb->predictMotion(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
||||
|
||||
///solve soft bodies constraints
|
||||
solveSoftBodiesConstraints();
|
||||
|
||||
///update soft bodies
|
||||
updateSoftBodies();
|
||||
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::updateSoftBodies()
|
||||
{
|
||||
BT_PROFILE("updateSoftBodies");
|
||||
|
||||
for ( int i=0;i<m_softBodies.size();i++)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
||||
psb->integrateMotion();
|
||||
}
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
|
||||
{
|
||||
BT_PROFILE("solveSoftConstraints");
|
||||
|
||||
if(m_softBodies.size())
|
||||
{
|
||||
btSoftBody::solveClusters(m_softBodies);
|
||||
}
|
||||
|
||||
for(int i=0;i<m_softBodies.size();++i)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
||||
psb->solveConstraints();
|
||||
}
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
|
||||
{
|
||||
m_softBodies.push_back(body);
|
||||
|
||||
btCollisionWorld::addCollisionObject(body,
|
||||
btBroadphaseProxy::DefaultFilter,
|
||||
btBroadphaseProxy::AllFilter);
|
||||
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
|
||||
{
|
||||
m_softBodies.remove(body);
|
||||
|
||||
btCollisionWorld::removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::debugDrawWorld()
|
||||
{
|
||||
btDiscreteDynamicsWorld::debugDrawWorld();
|
||||
|
||||
if (getDebugDrawer())
|
||||
{
|
||||
int i;
|
||||
for ( i=0;i<this->m_softBodies.size();i++)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
|
||||
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
|
||||
btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
|
||||
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
|
||||
{
|
||||
if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
|
||||
if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
|
||||
if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
/*
|
||||
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 "btSoftRigidDynamicsWorld.h"
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
|
||||
//softbody & helpers
|
||||
#include "btSoftBody.h"
|
||||
#include "btSoftBodyHelpers.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
|
||||
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
|
||||
{
|
||||
m_drawFlags = fDrawFlags::Std;
|
||||
m_drawNodeTree = true;
|
||||
m_drawFaceTree = false;
|
||||
m_drawClusterTree = false;
|
||||
m_sbi.m_broadphase = pairCache;
|
||||
m_sbi.m_dispatcher = dispatcher;
|
||||
m_sbi.m_sparsesdf.Initialize();
|
||||
m_sbi.m_sparsesdf.Reset();
|
||||
|
||||
}
|
||||
|
||||
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
|
||||
|
||||
for ( int i=0;i<m_softBodies.size();++i)
|
||||
{
|
||||
btSoftBody* psb= m_softBodies[i];
|
||||
|
||||
psb->predictMotion(timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
|
||||
{
|
||||
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
|
||||
|
||||
///solve soft bodies constraints
|
||||
solveSoftBodiesConstraints();
|
||||
|
||||
///update soft bodies
|
||||
updateSoftBodies();
|
||||
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::updateSoftBodies()
|
||||
{
|
||||
BT_PROFILE("updateSoftBodies");
|
||||
|
||||
for ( int i=0;i<m_softBodies.size();i++)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
||||
psb->integrateMotion();
|
||||
}
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
|
||||
{
|
||||
BT_PROFILE("solveSoftConstraints");
|
||||
|
||||
if(m_softBodies.size())
|
||||
{
|
||||
btSoftBody::solveClusters(m_softBodies);
|
||||
}
|
||||
|
||||
for(int i=0;i<m_softBodies.size();++i)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
|
||||
psb->solveConstraints();
|
||||
}
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body)
|
||||
{
|
||||
m_softBodies.push_back(body);
|
||||
|
||||
btCollisionWorld::addCollisionObject(body,
|
||||
btBroadphaseProxy::DefaultFilter,
|
||||
btBroadphaseProxy::AllFilter);
|
||||
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::removeSoftBody(btSoftBody* body)
|
||||
{
|
||||
m_softBodies.remove(body);
|
||||
|
||||
btCollisionWorld::removeCollisionObject(body);
|
||||
}
|
||||
|
||||
void btSoftRigidDynamicsWorld::debugDrawWorld()
|
||||
{
|
||||
btDiscreteDynamicsWorld::debugDrawWorld();
|
||||
|
||||
if (getDebugDrawer())
|
||||
{
|
||||
int i;
|
||||
for ( i=0;i<this->m_softBodies.size();i++)
|
||||
{
|
||||
btSoftBody* psb=(btSoftBody*)this->m_softBodies[i];
|
||||
btSoftBodyHelpers::DrawFrame(psb,m_debugDrawer);
|
||||
btSoftBodyHelpers::Draw(psb,m_debugDrawer,m_drawFlags);
|
||||
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
|
||||
{
|
||||
if(m_drawNodeTree) btSoftBodyHelpers::DrawNodeTree(psb,m_debugDrawer);
|
||||
if(m_drawFaceTree) btSoftBodyHelpers::DrawFaceTree(psb,m_debugDrawer);
|
||||
if(m_drawClusterTree) btSoftBodyHelpers::DrawClusterTree(psb,m_debugDrawer);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,82 +1,82 @@
|
||||
/*
|
||||
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_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||
#define BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "btSoftBody.h"
|
||||
|
||||
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
|
||||
|
||||
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
|
||||
btSoftBodyArray m_softBodies;
|
||||
int m_drawFlags;
|
||||
bool m_drawNodeTree;
|
||||
bool m_drawFaceTree;
|
||||
bool m_drawClusterTree;
|
||||
btSoftBodyWorldInfo m_sbi;
|
||||
|
||||
protected:
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||
|
||||
void updateSoftBodies();
|
||||
|
||||
void solveSoftBodiesConstraints();
|
||||
|
||||
|
||||
public:
|
||||
|
||||
btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~btSoftRigidDynamicsWorld();
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
void addSoftBody(btSoftBody* body);
|
||||
|
||||
void removeSoftBody(btSoftBody* body);
|
||||
|
||||
int getDrawFlags() const { return(m_drawFlags); }
|
||||
void setDrawFlags(int f) { m_drawFlags=f; }
|
||||
|
||||
btSoftBodyWorldInfo& getWorldInfo()
|
||||
{
|
||||
return m_sbi;
|
||||
}
|
||||
const btSoftBodyWorldInfo& getWorldInfo() const
|
||||
{
|
||||
return m_sbi;
|
||||
}
|
||||
|
||||
|
||||
btSoftBodyArray& getSoftBodyArray()
|
||||
{
|
||||
return m_softBodies;
|
||||
}
|
||||
|
||||
const btSoftBodyArray& getSoftBodyArray() const
|
||||
{
|
||||
return m_softBodies;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||
/*
|
||||
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_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||
#define BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
||||
#include "btSoftBody.h"
|
||||
|
||||
typedef btAlignedObjectArray<btSoftBody*> btSoftBodyArray;
|
||||
|
||||
class btSoftRigidDynamicsWorld : public btDiscreteDynamicsWorld
|
||||
{
|
||||
|
||||
btSoftBodyArray m_softBodies;
|
||||
int m_drawFlags;
|
||||
bool m_drawNodeTree;
|
||||
bool m_drawFaceTree;
|
||||
bool m_drawClusterTree;
|
||||
btSoftBodyWorldInfo m_sbi;
|
||||
|
||||
protected:
|
||||
|
||||
virtual void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
virtual void internalSingleStepSimulation( btScalar timeStep);
|
||||
|
||||
void updateSoftBodies();
|
||||
|
||||
void solveSoftBodiesConstraints();
|
||||
|
||||
|
||||
public:
|
||||
|
||||
btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
||||
|
||||
virtual ~btSoftRigidDynamicsWorld();
|
||||
|
||||
virtual void debugDrawWorld();
|
||||
|
||||
void addSoftBody(btSoftBody* body);
|
||||
|
||||
void removeSoftBody(btSoftBody* body);
|
||||
|
||||
int getDrawFlags() const { return(m_drawFlags); }
|
||||
void setDrawFlags(int f) { m_drawFlags=f; }
|
||||
|
||||
btSoftBodyWorldInfo& getWorldInfo()
|
||||
{
|
||||
return m_sbi;
|
||||
}
|
||||
const btSoftBodyWorldInfo& getWorldInfo() const
|
||||
{
|
||||
return m_sbi;
|
||||
}
|
||||
|
||||
|
||||
btSoftBodyArray& getSoftBodyArray()
|
||||
{
|
||||
return m_softBodies;
|
||||
}
|
||||
|
||||
const btSoftBodyArray& getSoftBodyArray() const
|
||||
{
|
||||
return m_softBodies;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SOFT_RIGID_DYNAMICS_WORLD_H
|
||||
|
||||
@@ -1,46 +1,46 @@
|
||||
/*
|
||||
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 "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)
|
||||
{
|
||||
}
|
||||
|
||||
btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
|
||||
{
|
||||
btSoftBody* soft0 = (btSoftBody*)body0;
|
||||
btSoftBody* soft1 = (btSoftBody*)body1;
|
||||
soft0->defaultCollisionHandler(soft1);
|
||||
}
|
||||
|
||||
btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
|
||||
{
|
||||
//not yet
|
||||
return 1.f;
|
||||
}
|
||||
/*
|
||||
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 "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)
|
||||
{
|
||||
}
|
||||
|
||||
btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
|
||||
{
|
||||
}
|
||||
|
||||
void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
|
||||
{
|
||||
btSoftBody* soft0 = (btSoftBody*)body0;
|
||||
btSoftBody* soft1 = (btSoftBody*)body1;
|
||||
soft0->defaultCollisionHandler(soft1);
|
||||
}
|
||||
|
||||
btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
|
||||
{
|
||||
//not yet
|
||||
return 1.f;
|
||||
}
|
||||
|
||||
@@ -1,69 +1,69 @@
|
||||
/*
|
||||
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);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
|
||||
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
|
||||
|
||||
|
||||
/*
|
||||
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);
|
||||
|
||||
virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
|
||||
{
|
||||
if (m_manifoldPtr && m_ownManifold)
|
||||
manifoldArray.push_back(m_manifoldPtr);
|
||||
}
|
||||
|
||||
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
|
||||
|
||||
|
||||
|
||||
@@ -1,306 +1,306 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
///btSparseSdf implementation by Nathanael Presson
|
||||
|
||||
#ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
|
||||
#define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
|
||||
|
||||
// Modified Paul Hsieh hash
|
||||
template <const int DWORDLEN>
|
||||
unsigned int HsiehHash(const void* pdata)
|
||||
{
|
||||
const unsigned short* data=(const unsigned short*)pdata;
|
||||
unsigned hash=DWORDLEN<<2,tmp;
|
||||
for(int i=0;i<DWORDLEN;++i)
|
||||
{
|
||||
hash += data[0];
|
||||
tmp = (data[1]<<11)^hash;
|
||||
hash = (hash<<16)^tmp;
|
||||
data += 2;
|
||||
hash += hash>>11;
|
||||
}
|
||||
hash^=hash<<3;hash+=hash>>5;
|
||||
hash^=hash<<4;hash+=hash>>17;
|
||||
hash^=hash<<25;hash+=hash>>6;
|
||||
return(hash);
|
||||
}
|
||||
|
||||
template <const int CELLSIZE>
|
||||
struct btSparseSdf
|
||||
{
|
||||
//
|
||||
// Inner types
|
||||
//
|
||||
struct IntFrac
|
||||
{
|
||||
int b;
|
||||
int i;
|
||||
btScalar f;
|
||||
};
|
||||
struct Cell
|
||||
{
|
||||
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
|
||||
int c[3];
|
||||
int puid;
|
||||
unsigned hash;
|
||||
btCollisionShape* pclient;
|
||||
Cell* next;
|
||||
};
|
||||
//
|
||||
// Fields
|
||||
//
|
||||
|
||||
btAlignedObjectArray<Cell*> cells;
|
||||
btScalar voxelsz;
|
||||
int puid;
|
||||
int ncells;
|
||||
int nprobes;
|
||||
int nqueries;
|
||||
|
||||
//
|
||||
// Methods
|
||||
//
|
||||
|
||||
//
|
||||
void Initialize(int hashsize=2383)
|
||||
{
|
||||
cells.resize(hashsize,0);
|
||||
Reset();
|
||||
}
|
||||
//
|
||||
void Reset()
|
||||
{
|
||||
for(int i=0,ni=cells.size();i<ni;++i)
|
||||
{
|
||||
Cell* pc=cells[i];
|
||||
cells[i]=0;
|
||||
while(pc)
|
||||
{
|
||||
Cell* pn=pc->next;
|
||||
delete pc;
|
||||
pc=pn;
|
||||
}
|
||||
}
|
||||
voxelsz =0.25;
|
||||
puid =0;
|
||||
ncells =0;
|
||||
nprobes =1;
|
||||
nqueries =1;
|
||||
}
|
||||
//
|
||||
void GarbageCollect(int lifetime=256)
|
||||
{
|
||||
const int life=puid-lifetime;
|
||||
for(int i=0;i<cells.size();++i)
|
||||
{
|
||||
Cell*& root=cells[i];
|
||||
Cell* pp=0;
|
||||
Cell* pc=root;
|
||||
while(pc)
|
||||
{
|
||||
Cell* pn=pc->next;
|
||||
if(pc->puid<life)
|
||||
{
|
||||
if(pp) pp->next=pn; else root=pn;
|
||||
delete pc;pc=pp;--ncells;
|
||||
}
|
||||
pp=pc;pc=pn;
|
||||
}
|
||||
}
|
||||
//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
|
||||
nqueries=1;
|
||||
nprobes=1;
|
||||
++puid; ///@todo: Reset puid's when int range limit is reached */
|
||||
/* else setup a priority list... */
|
||||
}
|
||||
//
|
||||
int RemoveReferences(btCollisionShape* pcs)
|
||||
{
|
||||
int refcount=0;
|
||||
for(int i=0;i<cells.size();++i)
|
||||
{
|
||||
Cell*& root=cells[i];
|
||||
Cell* pp=0;
|
||||
Cell* pc=root;
|
||||
while(pc)
|
||||
{
|
||||
Cell* pn=pc->next;
|
||||
if(pc->pclient==pcs)
|
||||
{
|
||||
if(pp) pp->next=pn; else root=pn;
|
||||
delete pc;pc=pp;++refcount;
|
||||
}
|
||||
pp=pc;pc=pn;
|
||||
}
|
||||
}
|
||||
return(refcount);
|
||||
}
|
||||
//
|
||||
btScalar Evaluate( const btVector3& x,
|
||||
btCollisionShape* shape,
|
||||
btVector3& normal,
|
||||
btScalar margin)
|
||||
{
|
||||
/* Lookup cell */
|
||||
const btVector3 scx=x/voxelsz;
|
||||
const IntFrac ix=Decompose(scx.x());
|
||||
const IntFrac iy=Decompose(scx.y());
|
||||
const IntFrac iz=Decompose(scx.z());
|
||||
const unsigned h=Hash(ix.b,iy.b,iz.b,shape);
|
||||
Cell*& root=cells[static_cast<int>(h%cells.size())];
|
||||
Cell* c=root;
|
||||
++nqueries;
|
||||
while(c)
|
||||
{
|
||||
++nprobes;
|
||||
if( (c->hash==h) &&
|
||||
(c->c[0]==ix.b) &&
|
||||
(c->c[1]==iy.b) &&
|
||||
(c->c[2]==iz.b) &&
|
||||
(c->pclient==shape))
|
||||
{ break; }
|
||||
else
|
||||
{ c=c->next; }
|
||||
}
|
||||
if(!c)
|
||||
{
|
||||
++nprobes;
|
||||
++ncells;
|
||||
c=new Cell();
|
||||
c->next=root;root=c;
|
||||
c->pclient=shape;
|
||||
c->hash=h;
|
||||
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
|
||||
BuildCell(*c);
|
||||
}
|
||||
c->puid=puid;
|
||||
/* Extract infos */
|
||||
const int o[]={ ix.i,iy.i,iz.i};
|
||||
const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0],
|
||||
c->d[o[0]+1][o[1]+0][o[2]+0],
|
||||
c->d[o[0]+1][o[1]+1][o[2]+0],
|
||||
c->d[o[0]+0][o[1]+1][o[2]+0],
|
||||
c->d[o[0]+0][o[1]+0][o[2]+1],
|
||||
c->d[o[0]+1][o[1]+0][o[2]+1],
|
||||
c->d[o[0]+1][o[1]+1][o[2]+1],
|
||||
c->d[o[0]+0][o[1]+1][o[2]+1]};
|
||||
/* Normal */
|
||||
#if 1
|
||||
const btScalar gx[]={ d[1]-d[0],d[2]-d[3],
|
||||
d[5]-d[4],d[6]-d[7]};
|
||||
const btScalar gy[]={ d[3]-d[0],d[2]-d[1],
|
||||
d[7]-d[4],d[6]-d[5]};
|
||||
const btScalar gz[]={ d[4]-d[0],d[5]-d[1],
|
||||
d[7]-d[3],d[6]-d[2]};
|
||||
normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f),
|
||||
Lerp(gx[2],gx[3],iy.f),iz.f));
|
||||
normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f),
|
||||
Lerp(gy[2],gy[3],ix.f),iz.f));
|
||||
normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f),
|
||||
Lerp(gz[2],gz[3],ix.f),iy.f));
|
||||
normal = normal.normalized();
|
||||
#else
|
||||
normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
|
||||
#endif
|
||||
/* Distance */
|
||||
const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f),
|
||||
Lerp(d[3],d[2],ix.f),iy.f);
|
||||
const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f),
|
||||
Lerp(d[7],d[6],ix.f),iy.f);
|
||||
return(Lerp(d0,d1,iz.f)-margin);
|
||||
}
|
||||
//
|
||||
void BuildCell(Cell& c)
|
||||
{
|
||||
const btVector3 org=btVector3( (btScalar)c.c[0],
|
||||
(btScalar)c.c[1],
|
||||
(btScalar)c.c[2]) *
|
||||
CELLSIZE*voxelsz;
|
||||
for(int k=0;k<=CELLSIZE;++k)
|
||||
{
|
||||
const btScalar z=voxelsz*k+org.z();
|
||||
for(int j=0;j<=CELLSIZE;++j)
|
||||
{
|
||||
const btScalar y=voxelsz*j+org.y();
|
||||
for(int i=0;i<=CELLSIZE;++i)
|
||||
{
|
||||
const btScalar x=voxelsz*i+org.x();
|
||||
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
|
||||
c.pclient);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//
|
||||
static inline btScalar DistanceToShape(const btVector3& x,
|
||||
btCollisionShape* shape)
|
||||
{
|
||||
btTransform unit;
|
||||
unit.setIdentity();
|
||||
if(shape->isConvex())
|
||||
{
|
||||
btGjkEpaSolver2::sResults res;
|
||||
btConvexShape* csh=static_cast<btConvexShape*>(shape);
|
||||
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
|
||||
}
|
||||
return(0);
|
||||
}
|
||||
//
|
||||
static inline IntFrac Decompose(btScalar x)
|
||||
{
|
||||
/* That one need a lot of improvements... */
|
||||
/* Remove test, faster floor... */
|
||||
IntFrac r;
|
||||
x/=CELLSIZE;
|
||||
const int o=x<0?(int)(-x+1):0;
|
||||
x+=o;r.b=(int)x;
|
||||
const btScalar k=(x-r.b)*CELLSIZE;
|
||||
r.i=(int)k;r.f=k-r.i;r.b-=o;
|
||||
return(r);
|
||||
}
|
||||
//
|
||||
static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
|
||||
{
|
||||
return(a+(b-a)*t);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//
|
||||
static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape)
|
||||
{
|
||||
struct btS
|
||||
{
|
||||
int x,y,z;
|
||||
void* p;
|
||||
};
|
||||
|
||||
btS myset;
|
||||
|
||||
myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
|
||||
const void* ptr = &myset;
|
||||
|
||||
unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
|
||||
|
||||
|
||||
return result;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
///btSparseSdf implementation by Nathanael Presson
|
||||
|
||||
#ifndef _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
|
||||
#define _14F9D17F_EAE8_4aba_B41C_292DB2AA70F3_
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||||
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
|
||||
|
||||
// Modified Paul Hsieh hash
|
||||
template <const int DWORDLEN>
|
||||
unsigned int HsiehHash(const void* pdata)
|
||||
{
|
||||
const unsigned short* data=(const unsigned short*)pdata;
|
||||
unsigned hash=DWORDLEN<<2,tmp;
|
||||
for(int i=0;i<DWORDLEN;++i)
|
||||
{
|
||||
hash += data[0];
|
||||
tmp = (data[1]<<11)^hash;
|
||||
hash = (hash<<16)^tmp;
|
||||
data += 2;
|
||||
hash += hash>>11;
|
||||
}
|
||||
hash^=hash<<3;hash+=hash>>5;
|
||||
hash^=hash<<4;hash+=hash>>17;
|
||||
hash^=hash<<25;hash+=hash>>6;
|
||||
return(hash);
|
||||
}
|
||||
|
||||
template <const int CELLSIZE>
|
||||
struct btSparseSdf
|
||||
{
|
||||
//
|
||||
// Inner types
|
||||
//
|
||||
struct IntFrac
|
||||
{
|
||||
int b;
|
||||
int i;
|
||||
btScalar f;
|
||||
};
|
||||
struct Cell
|
||||
{
|
||||
btScalar d[CELLSIZE+1][CELLSIZE+1][CELLSIZE+1];
|
||||
int c[3];
|
||||
int puid;
|
||||
unsigned hash;
|
||||
btCollisionShape* pclient;
|
||||
Cell* next;
|
||||
};
|
||||
//
|
||||
// Fields
|
||||
//
|
||||
|
||||
btAlignedObjectArray<Cell*> cells;
|
||||
btScalar voxelsz;
|
||||
int puid;
|
||||
int ncells;
|
||||
int nprobes;
|
||||
int nqueries;
|
||||
|
||||
//
|
||||
// Methods
|
||||
//
|
||||
|
||||
//
|
||||
void Initialize(int hashsize=2383)
|
||||
{
|
||||
cells.resize(hashsize,0);
|
||||
Reset();
|
||||
}
|
||||
//
|
||||
void Reset()
|
||||
{
|
||||
for(int i=0,ni=cells.size();i<ni;++i)
|
||||
{
|
||||
Cell* pc=cells[i];
|
||||
cells[i]=0;
|
||||
while(pc)
|
||||
{
|
||||
Cell* pn=pc->next;
|
||||
delete pc;
|
||||
pc=pn;
|
||||
}
|
||||
}
|
||||
voxelsz =0.25;
|
||||
puid =0;
|
||||
ncells =0;
|
||||
nprobes =1;
|
||||
nqueries =1;
|
||||
}
|
||||
//
|
||||
void GarbageCollect(int lifetime=256)
|
||||
{
|
||||
const int life=puid-lifetime;
|
||||
for(int i=0;i<cells.size();++i)
|
||||
{
|
||||
Cell*& root=cells[i];
|
||||
Cell* pp=0;
|
||||
Cell* pc=root;
|
||||
while(pc)
|
||||
{
|
||||
Cell* pn=pc->next;
|
||||
if(pc->puid<life)
|
||||
{
|
||||
if(pp) pp->next=pn; else root=pn;
|
||||
delete pc;pc=pp;--ncells;
|
||||
}
|
||||
pp=pc;pc=pn;
|
||||
}
|
||||
}
|
||||
//printf("GC[%d]: %d cells, PpQ: %f\r\n",puid,ncells,nprobes/(btScalar)nqueries);
|
||||
nqueries=1;
|
||||
nprobes=1;
|
||||
++puid; ///@todo: Reset puid's when int range limit is reached */
|
||||
/* else setup a priority list... */
|
||||
}
|
||||
//
|
||||
int RemoveReferences(btCollisionShape* pcs)
|
||||
{
|
||||
int refcount=0;
|
||||
for(int i=0;i<cells.size();++i)
|
||||
{
|
||||
Cell*& root=cells[i];
|
||||
Cell* pp=0;
|
||||
Cell* pc=root;
|
||||
while(pc)
|
||||
{
|
||||
Cell* pn=pc->next;
|
||||
if(pc->pclient==pcs)
|
||||
{
|
||||
if(pp) pp->next=pn; else root=pn;
|
||||
delete pc;pc=pp;++refcount;
|
||||
}
|
||||
pp=pc;pc=pn;
|
||||
}
|
||||
}
|
||||
return(refcount);
|
||||
}
|
||||
//
|
||||
btScalar Evaluate( const btVector3& x,
|
||||
btCollisionShape* shape,
|
||||
btVector3& normal,
|
||||
btScalar margin)
|
||||
{
|
||||
/* Lookup cell */
|
||||
const btVector3 scx=x/voxelsz;
|
||||
const IntFrac ix=Decompose(scx.x());
|
||||
const IntFrac iy=Decompose(scx.y());
|
||||
const IntFrac iz=Decompose(scx.z());
|
||||
const unsigned h=Hash(ix.b,iy.b,iz.b,shape);
|
||||
Cell*& root=cells[static_cast<int>(h%cells.size())];
|
||||
Cell* c=root;
|
||||
++nqueries;
|
||||
while(c)
|
||||
{
|
||||
++nprobes;
|
||||
if( (c->hash==h) &&
|
||||
(c->c[0]==ix.b) &&
|
||||
(c->c[1]==iy.b) &&
|
||||
(c->c[2]==iz.b) &&
|
||||
(c->pclient==shape))
|
||||
{ break; }
|
||||
else
|
||||
{ c=c->next; }
|
||||
}
|
||||
if(!c)
|
||||
{
|
||||
++nprobes;
|
||||
++ncells;
|
||||
c=new Cell();
|
||||
c->next=root;root=c;
|
||||
c->pclient=shape;
|
||||
c->hash=h;
|
||||
c->c[0]=ix.b;c->c[1]=iy.b;c->c[2]=iz.b;
|
||||
BuildCell(*c);
|
||||
}
|
||||
c->puid=puid;
|
||||
/* Extract infos */
|
||||
const int o[]={ ix.i,iy.i,iz.i};
|
||||
const btScalar d[]={ c->d[o[0]+0][o[1]+0][o[2]+0],
|
||||
c->d[o[0]+1][o[1]+0][o[2]+0],
|
||||
c->d[o[0]+1][o[1]+1][o[2]+0],
|
||||
c->d[o[0]+0][o[1]+1][o[2]+0],
|
||||
c->d[o[0]+0][o[1]+0][o[2]+1],
|
||||
c->d[o[0]+1][o[1]+0][o[2]+1],
|
||||
c->d[o[0]+1][o[1]+1][o[2]+1],
|
||||
c->d[o[0]+0][o[1]+1][o[2]+1]};
|
||||
/* Normal */
|
||||
#if 1
|
||||
const btScalar gx[]={ d[1]-d[0],d[2]-d[3],
|
||||
d[5]-d[4],d[6]-d[7]};
|
||||
const btScalar gy[]={ d[3]-d[0],d[2]-d[1],
|
||||
d[7]-d[4],d[6]-d[5]};
|
||||
const btScalar gz[]={ d[4]-d[0],d[5]-d[1],
|
||||
d[7]-d[3],d[6]-d[2]};
|
||||
normal.setX(Lerp( Lerp(gx[0],gx[1],iy.f),
|
||||
Lerp(gx[2],gx[3],iy.f),iz.f));
|
||||
normal.setY(Lerp( Lerp(gy[0],gy[1],ix.f),
|
||||
Lerp(gy[2],gy[3],ix.f),iz.f));
|
||||
normal.setZ(Lerp( Lerp(gz[0],gz[1],ix.f),
|
||||
Lerp(gz[2],gz[3],ix.f),iy.f));
|
||||
normal = normal.normalized();
|
||||
#else
|
||||
normal = btVector3(d[1]-d[0],d[3]-d[0],d[4]-d[0]).normalized();
|
||||
#endif
|
||||
/* Distance */
|
||||
const btScalar d0=Lerp(Lerp(d[0],d[1],ix.f),
|
||||
Lerp(d[3],d[2],ix.f),iy.f);
|
||||
const btScalar d1=Lerp(Lerp(d[4],d[5],ix.f),
|
||||
Lerp(d[7],d[6],ix.f),iy.f);
|
||||
return(Lerp(d0,d1,iz.f)-margin);
|
||||
}
|
||||
//
|
||||
void BuildCell(Cell& c)
|
||||
{
|
||||
const btVector3 org=btVector3( (btScalar)c.c[0],
|
||||
(btScalar)c.c[1],
|
||||
(btScalar)c.c[2]) *
|
||||
CELLSIZE*voxelsz;
|
||||
for(int k=0;k<=CELLSIZE;++k)
|
||||
{
|
||||
const btScalar z=voxelsz*k+org.z();
|
||||
for(int j=0;j<=CELLSIZE;++j)
|
||||
{
|
||||
const btScalar y=voxelsz*j+org.y();
|
||||
for(int i=0;i<=CELLSIZE;++i)
|
||||
{
|
||||
const btScalar x=voxelsz*i+org.x();
|
||||
c.d[i][j][k]=DistanceToShape( btVector3(x,y,z),
|
||||
c.pclient);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//
|
||||
static inline btScalar DistanceToShape(const btVector3& x,
|
||||
btCollisionShape* shape)
|
||||
{
|
||||
btTransform unit;
|
||||
unit.setIdentity();
|
||||
if(shape->isConvex())
|
||||
{
|
||||
btGjkEpaSolver2::sResults res;
|
||||
btConvexShape* csh=static_cast<btConvexShape*>(shape);
|
||||
return(btGjkEpaSolver2::SignedDistance(x,0,csh,unit,res));
|
||||
}
|
||||
return(0);
|
||||
}
|
||||
//
|
||||
static inline IntFrac Decompose(btScalar x)
|
||||
{
|
||||
/* That one need a lot of improvements... */
|
||||
/* Remove test, faster floor... */
|
||||
IntFrac r;
|
||||
x/=CELLSIZE;
|
||||
const int o=x<0?(int)(-x+1):0;
|
||||
x+=o;r.b=(int)x;
|
||||
const btScalar k=(x-r.b)*CELLSIZE;
|
||||
r.i=(int)k;r.f=k-r.i;r.b-=o;
|
||||
return(r);
|
||||
}
|
||||
//
|
||||
static inline btScalar Lerp(btScalar a,btScalar b,btScalar t)
|
||||
{
|
||||
return(a+(b-a)*t);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//
|
||||
static inline unsigned int Hash(int x,int y,int z,btCollisionShape* shape)
|
||||
{
|
||||
struct btS
|
||||
{
|
||||
int x,y,z;
|
||||
void* p;
|
||||
};
|
||||
|
||||
btS myset;
|
||||
|
||||
myset.x=x;myset.y=y;myset.z=z;myset.p=shape;
|
||||
const void* ptr = &myset;
|
||||
|
||||
unsigned int result = HsiehHash<sizeof(btS)/4> (ptr);
|
||||
|
||||
|
||||
return result;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user