make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class.
integrated some contributions from IBM Germany for libspe2
This commit is contained in:
ejcoumans
@@ -213,7 +213,8 @@ m_handleSentinel(handleSentinel)
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{
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if (!m_pairCache)
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{
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m_pairCache = new btOverlappingPairCache();
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void* ptr = btAlignedAlloc(sizeof(btOverlappingPairCache),16);
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m_pairCache = new(ptr) btOverlappingPairCache();
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m_ownsPairCache = true;
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}
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@@ -230,7 +231,8 @@ m_handleSentinel(handleSentinel)
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m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
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// allocate handles buffer and put all handles on free list
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m_pHandles = new Handle[maxHandles];
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void* ptr = btAlignedAlloc(sizeof(Handle)*maxHandles,16);
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m_pHandles = new(ptr) Handle[maxHandles];
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m_maxHandles = maxHandles;
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m_numHandles = 0;
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@@ -243,9 +245,12 @@ m_handleSentinel(handleSentinel)
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}
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{
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// allocate edge buffers
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for (int i = 0; i < 3; i++)
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m_pEdges[i] = new Edge[maxHandles * 2];
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// allocate edge buffers
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for (int i = 0; i < 3; i++)
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{
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void* ptr = btAlignedAlloc(sizeof(Edge)*maxHandles*2,16);
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m_pEdges[i] = new(ptr) Edge[maxHandles * 2];
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}
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}
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//removed overlap management
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@@ -275,12 +280,14 @@ btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
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{
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for (int i = 2; i >= 0; i--)
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delete[] m_pEdges[i];
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delete[] m_pHandles;
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{
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btAlignedFree(m_pEdges[i]);
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}
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btAlignedFree(m_pHandles);
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if (m_ownsPairCache)
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{
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delete m_pairCache;
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btAlignedFree(m_pairCache);
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}
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}
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@@ -1,117 +1,117 @@
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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.
|
||||
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,
|
||||
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.
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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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#ifndef BT_MULTI_SAP_BROADPHASE
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#define BT_MULTI_SAP_BROADPHASE
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#include "btBroadphaseInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btOverlappingPairCache.h"
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class btAxisSweep3;
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class btSimpleBroadphase;
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typedef btAlignedObjectArray<btAxisSweep3*> btSapBroadphaseArray;
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///multi SAP broadphase
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
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///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
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class btMultiSapBroadphase :public btBroadphaseInterface
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{
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btSapBroadphaseArray m_sapBroadphases;
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btSimpleBroadphase* m_simpleBroadphase;
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btOverlappingPairCache* m_overlappingPairs;
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btOverlapFilterCallback* m_filterCallback;
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int m_invalidPair;
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struct btChildProxy
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{
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btBroadphaseProxy* m_proxy;
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btBroadphaseInterface* m_childBroadphase;
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};
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public:
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struct btMultiSapProxy : public btBroadphaseProxy
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{
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///array with all the entries that this proxy belongs to
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btAlignedObjectArray<btChildProxy*> m_childProxies;
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btVector3 m_aabbMin;
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btVector3 m_aabbMax;
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int m_shapeType;
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void* m_userPtr;
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short int m_collisionFilterGroup;
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short int m_collisionFilterMask;
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|
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btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
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:m_aabbMin(aabbMin),
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m_aabbMax(aabbMax),
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m_shapeType(shapeType),
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m_userPtr(userPtr),
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m_collisionFilterGroup(collisionFilterGroup),
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||||
m_collisionFilterMask(collisionFilterMask)
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{
|
||||
|
||||
}
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||||
|
||||
|
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};
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protected:
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btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
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|
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public:
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|
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btMultiSapBroadphase(int maxProxies = 16384);
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btSapBroadphaseArray getBroadphaseArray()
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{
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return m_sapBroadphases;
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}
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const btSapBroadphaseArray getBroadphaseArray() const
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{
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return m_sapBroadphases;
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}
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virtual ~btMultiSapBroadphase();
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virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask);
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
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///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
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bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
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virtual btOverlappingPairCache* getOverlappingPairCache()
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{
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return m_overlappingPairs;
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}
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virtual const btOverlappingPairCache* getOverlappingPairCache() const
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{
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return m_overlappingPairs;
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}
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};
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#endif //BT_MULTI_SAP_BROADPHASE
|
||||
/*
|
||||
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_MULTI_SAP_BROADPHASE
|
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#define BT_MULTI_SAP_BROADPHASE
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|
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#include "btBroadphaseInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btOverlappingPairCache.h"
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class btAxisSweep3;
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class btSimpleBroadphase;
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|
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typedef btAlignedObjectArray<btAxisSweep3*> btSapBroadphaseArray;
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|
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///multi SAP broadphase
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||||
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
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///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
|
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class btMultiSapBroadphase :public btBroadphaseInterface
|
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{
|
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btSapBroadphaseArray m_sapBroadphases;
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|
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btSimpleBroadphase* m_simpleBroadphase;
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||||
|
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btOverlappingPairCache* m_overlappingPairs;
|
||||
|
||||
btOverlapFilterCallback* m_filterCallback;
|
||||
|
||||
int m_invalidPair;
|
||||
|
||||
struct btChildProxy
|
||||
{
|
||||
btBroadphaseProxy* m_proxy;
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btBroadphaseInterface* m_childBroadphase;
|
||||
};
|
||||
|
||||
public:
|
||||
|
||||
struct btMultiSapProxy : public btBroadphaseProxy
|
||||
{
|
||||
|
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///array with all the entries that this proxy belongs to
|
||||
btAlignedObjectArray<btChildProxy*> m_childProxies;
|
||||
btVector3 m_aabbMin;
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btVector3 m_aabbMax;
|
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|
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int m_shapeType;
|
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void* m_userPtr;
|
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short int m_collisionFilterGroup;
|
||||
short int m_collisionFilterMask;
|
||||
|
||||
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
|
||||
:m_aabbMin(aabbMin),
|
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m_aabbMax(aabbMax),
|
||||
m_shapeType(shapeType),
|
||||
m_userPtr(userPtr),
|
||||
m_collisionFilterGroup(collisionFilterGroup),
|
||||
m_collisionFilterMask(collisionFilterMask)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
protected:
|
||||
|
||||
btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
|
||||
|
||||
public:
|
||||
|
||||
btMultiSapBroadphase(int maxProxies = 16384);
|
||||
|
||||
btSapBroadphaseArray getBroadphaseArray()
|
||||
{
|
||||
return m_sapBroadphases;
|
||||
}
|
||||
|
||||
const btSapBroadphaseArray getBroadphaseArray() const
|
||||
{
|
||||
return m_sapBroadphases;
|
||||
}
|
||||
|
||||
virtual ~btMultiSapBroadphase();
|
||||
|
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virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask);
|
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
|
||||
|
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///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
|
||||
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
|
||||
|
||||
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
virtual btOverlappingPairCache* getOverlappingPairCache()
|
||||
{
|
||||
return m_overlappingPairs;
|
||||
}
|
||||
virtual const btOverlappingPairCache* getOverlappingPairCache() const
|
||||
{
|
||||
return m_overlappingPairs;
|
||||
}
|
||||
};
|
||||
|
||||
#endif //BT_MULTI_SAP_BROADPHASE
|
||||
|
||||
@@ -1,129 +1,129 @@
|
||||
|
||||
/*
|
||||
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 OVERLAPPING_PAIR_CACHE_H
|
||||
#define OVERLAPPING_PAIR_CACHE_H
|
||||
|
||||
|
||||
#include "btBroadphaseInterface.h"
|
||||
#include "btBroadphaseProxy.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
class btDispatcher;
|
||||
|
||||
struct btOverlapCallback
|
||||
{
|
||||
virtual ~btOverlapCallback()
|
||||
{}
|
||||
//return true for deletion of the pair
|
||||
virtual bool processOverlap(btBroadphasePair& pair) = 0;
|
||||
};
|
||||
|
||||
struct btOverlapFilterCallback
|
||||
{
|
||||
virtual ~btOverlapFilterCallback()
|
||||
{}
|
||||
// return true when pairs need collision
|
||||
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
|
||||
};
|
||||
|
||||
typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
|
||||
|
||||
///btOverlappingPairCache maintains the objects with overlapping AABB
|
||||
///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
|
||||
class btOverlappingPairCache
|
||||
{
|
||||
protected:
|
||||
//avoid brute-force finding all the time
|
||||
btBroadphasePairArray m_overlappingPairArray;
|
||||
|
||||
//during the dispatch, check that user doesn't destroy/create proxy
|
||||
bool m_blockedForChanges;
|
||||
|
||||
//if set, use the callback instead of the built in filter in needBroadphaseCollision
|
||||
btOverlapFilterCallback* m_overlapFilterCallback;
|
||||
|
||||
public:
|
||||
|
||||
btOverlappingPairCache();
|
||||
virtual ~btOverlappingPairCache();
|
||||
|
||||
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
|
||||
|
||||
void removeOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
|
||||
|
||||
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
|
||||
|
||||
void addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
|
||||
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
|
||||
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
|
||||
|
||||
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
|
||||
{
|
||||
if (m_overlapFilterCallback)
|
||||
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
|
||||
|
||||
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
|
||||
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
|
||||
|
||||
return collides;
|
||||
}
|
||||
|
||||
btBroadphasePairArray& getOverlappingPairArray()
|
||||
{
|
||||
return m_overlappingPairArray;
|
||||
}
|
||||
|
||||
const btBroadphasePairArray& getOverlappingPairArray() const
|
||||
{
|
||||
return m_overlappingPairArray;
|
||||
}
|
||||
|
||||
btBroadphasePair* getOverlappingPairArrayPtr()
|
||||
{
|
||||
return &m_overlappingPairArray[0];
|
||||
}
|
||||
|
||||
const btBroadphasePair* getOverlappingPairArrayPtr() const
|
||||
{
|
||||
return &m_overlappingPairArray[0];
|
||||
}
|
||||
|
||||
int getNumOverlappingPairs() const
|
||||
{
|
||||
return m_overlappingPairArray.size();
|
||||
}
|
||||
|
||||
btOverlapFilterCallback* getOverlapFilterCallback()
|
||||
{
|
||||
return m_overlapFilterCallback;
|
||||
}
|
||||
|
||||
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
|
||||
{
|
||||
m_overlapFilterCallback = callback;
|
||||
}
|
||||
|
||||
};
|
||||
#endif //OVERLAPPING_PAIR_CACHE_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 OVERLAPPING_PAIR_CACHE_H
|
||||
#define OVERLAPPING_PAIR_CACHE_H
|
||||
|
||||
|
||||
#include "btBroadphaseInterface.h"
|
||||
#include "btBroadphaseProxy.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
class btDispatcher;
|
||||
|
||||
struct btOverlapCallback
|
||||
{
|
||||
virtual ~btOverlapCallback()
|
||||
{}
|
||||
//return true for deletion of the pair
|
||||
virtual bool processOverlap(btBroadphasePair& pair) = 0;
|
||||
};
|
||||
|
||||
struct btOverlapFilterCallback
|
||||
{
|
||||
virtual ~btOverlapFilterCallback()
|
||||
{}
|
||||
// return true when pairs need collision
|
||||
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
|
||||
};
|
||||
|
||||
typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
|
||||
|
||||
///btOverlappingPairCache maintains the objects with overlapping AABB
|
||||
///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
|
||||
class btOverlappingPairCache
|
||||
{
|
||||
protected:
|
||||
//avoid brute-force finding all the time
|
||||
btBroadphasePairArray m_overlappingPairArray;
|
||||
|
||||
//during the dispatch, check that user doesn't destroy/create proxy
|
||||
bool m_blockedForChanges;
|
||||
|
||||
//if set, use the callback instead of the built in filter in needBroadphaseCollision
|
||||
btOverlapFilterCallback* m_overlapFilterCallback;
|
||||
|
||||
public:
|
||||
|
||||
btOverlappingPairCache();
|
||||
virtual ~btOverlappingPairCache();
|
||||
|
||||
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
|
||||
|
||||
void removeOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
|
||||
|
||||
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
|
||||
|
||||
void addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
|
||||
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
|
||||
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
|
||||
|
||||
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
|
||||
{
|
||||
if (m_overlapFilterCallback)
|
||||
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
|
||||
|
||||
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
|
||||
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
|
||||
|
||||
return collides;
|
||||
}
|
||||
|
||||
btBroadphasePairArray& getOverlappingPairArray()
|
||||
{
|
||||
return m_overlappingPairArray;
|
||||
}
|
||||
|
||||
const btBroadphasePairArray& getOverlappingPairArray() const
|
||||
{
|
||||
return m_overlappingPairArray;
|
||||
}
|
||||
|
||||
btBroadphasePair* getOverlappingPairArrayPtr()
|
||||
{
|
||||
return &m_overlappingPairArray[0];
|
||||
}
|
||||
|
||||
const btBroadphasePair* getOverlappingPairArrayPtr() const
|
||||
{
|
||||
return &m_overlappingPairArray[0];
|
||||
}
|
||||
|
||||
int getNumOverlappingPairs() const
|
||||
{
|
||||
return m_overlappingPairArray.size();
|
||||
}
|
||||
|
||||
btOverlapFilterCallback* getOverlapFilterCallback()
|
||||
{
|
||||
return m_overlapFilterCallback;
|
||||
}
|
||||
|
||||
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
|
||||
{
|
||||
m_overlapFilterCallback = callback;
|
||||
}
|
||||
|
||||
};
|
||||
#endif //OVERLAPPING_PAIR_CACHE_H
|
||||
|
||||
|
||||
|
||||
@@ -1,49 +1,49 @@
|
||||
/*
|
||||
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 SPHERE_TRIANGLE_DETECTOR_H
|
||||
#define SPHERE_TRIANGLE_DETECTOR_H
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
|
||||
|
||||
class btSphereShape;
|
||||
class btTriangleShape;
|
||||
|
||||
|
||||
|
||||
/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
|
||||
struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
|
||||
{
|
||||
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
|
||||
|
||||
SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
|
||||
|
||||
virtual ~SphereTriangleDetector() {};
|
||||
|
||||
private:
|
||||
|
||||
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
|
||||
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
|
||||
bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
|
||||
|
||||
btSphereShape* m_sphere;
|
||||
btTriangleShape* m_triangle;
|
||||
|
||||
|
||||
};
|
||||
#endif //SPHERE_TRIANGLE_DETECTOR_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 SPHERE_TRIANGLE_DETECTOR_H
|
||||
#define SPHERE_TRIANGLE_DETECTOR_H
|
||||
|
||||
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
|
||||
#include "LinearMath/btPoint3.h"
|
||||
|
||||
|
||||
class btSphereShape;
|
||||
class btTriangleShape;
|
||||
|
||||
|
||||
|
||||
/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
|
||||
struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
|
||||
{
|
||||
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
|
||||
|
||||
SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle);
|
||||
|
||||
virtual ~SphereTriangleDetector() {};
|
||||
|
||||
private:
|
||||
|
||||
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact);
|
||||
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
|
||||
bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
|
||||
|
||||
btSphereShape* m_sphere;
|
||||
btTriangleShape* m_triangle;
|
||||
|
||||
|
||||
};
|
||||
#endif //SPHERE_TRIANGLE_DETECTOR_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.
|
||||
*/
|
||||
|
||||
#ifndef COLLISION_CREATE_FUNC
|
||||
#define COLLISION_CREATE_FUNC
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
|
||||
class btCollisionAlgorithm;
|
||||
class btCollisionObject;
|
||||
|
||||
struct btCollisionAlgorithmConstructionInfo;
|
||||
|
||||
///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
|
||||
struct btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
bool m_swapped;
|
||||
|
||||
btCollisionAlgorithmCreateFunc()
|
||||
:m_swapped(false)
|
||||
{
|
||||
}
|
||||
virtual ~btCollisionAlgorithmCreateFunc(){};
|
||||
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
|
||||
(void)body0;
|
||||
(void)body1;
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
#endif //COLLISION_CREATE_FUNC
|
||||
|
||||
/*
|
||||
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 COLLISION_CREATE_FUNC
|
||||
#define COLLISION_CREATE_FUNC
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
|
||||
class btCollisionAlgorithm;
|
||||
class btCollisionObject;
|
||||
|
||||
struct btCollisionAlgorithmConstructionInfo;
|
||||
|
||||
///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
|
||||
struct btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
bool m_swapped;
|
||||
|
||||
btCollisionAlgorithmCreateFunc()
|
||||
:m_swapped(false)
|
||||
{
|
||||
}
|
||||
virtual ~btCollisionAlgorithmCreateFunc(){};
|
||||
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
|
||||
(void)body0;
|
||||
(void)body1;
|
||||
return 0;
|
||||
}
|
||||
};
|
||||
#endif //COLLISION_CREATE_FUNC
|
||||
|
||||
|
||||
@@ -117,64 +117,19 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
|
||||
|
||||
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
|
||||
{
|
||||
|
||||
#ifdef USE_DISPATCH_REGISTRY_ARRAY
|
||||
|
||||
btCollisionAlgorithmConstructionInfo ci;
|
||||
|
||||
ci.m_dispatcher1 = this;
|
||||
ci.m_manifold = sharedManifold;
|
||||
btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]
|
||||
->CreateCollisionAlgorithm(ci,body0,body1);
|
||||
#else
|
||||
btCollisionAlgorithm* algo = internalFindAlgorithm(body0,body1);
|
||||
#endif //USE_DISPATCH_REGISTRY_ARRAY
|
||||
btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
|
||||
|
||||
return algo;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
#ifndef USE_DISPATCH_REGISTRY_ARRAY
|
||||
|
||||
btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
|
||||
{
|
||||
m_count++;
|
||||
|
||||
btCollisionAlgorithmConstructionInfo ci;
|
||||
ci.m_dispatcher = this;
|
||||
|
||||
if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConvex() )
|
||||
{
|
||||
return new btConvexConvexAlgorithm(sharedManifold,ci,body0,body1);
|
||||
}
|
||||
|
||||
if (body0->getCollisionShape()->isConvex() && body1->getCollisionShape()->isConcave())
|
||||
{
|
||||
return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
|
||||
}
|
||||
|
||||
if (body1->getCollisionShape()->isConvex() && body0->getCollisionShape()->isConcave())
|
||||
{
|
||||
return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
|
||||
}
|
||||
|
||||
if (body0->getCollisionShape()->isCompound())
|
||||
{
|
||||
return new btCompoundCollisionAlgorithm(ci,body0,body1,false);
|
||||
} else
|
||||
{
|
||||
if (body1->getCollisionShape()->isCompound())
|
||||
{
|
||||
return new btCompoundCollisionAlgorithm(ci,body0,body1,true);
|
||||
}
|
||||
}
|
||||
|
||||
//failed to find an algorithm
|
||||
return new btEmptyAlgorithm(ci);
|
||||
|
||||
}
|
||||
#endif //USE_DISPATCH_REGISTRY_ARRAY
|
||||
|
||||
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
@@ -305,4 +260,4 @@ void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
|
||||
void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
|
||||
{
|
||||
m_collisionAlgorithmPoolAllocator->free(ptr);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -28,6 +28,7 @@ subject to the following restrictions:
|
||||
struct btBroadphaseProxy;
|
||||
class btCollisionShape;
|
||||
#include "LinearMath/btMotionState.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
|
||||
|
||||
@@ -89,6 +90,8 @@ protected:
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
enum CollisionFlags
|
||||
{
|
||||
CF_STATIC_OBJECT= 1,
|
||||
|
||||
@@ -1,61 +1,61 @@
|
||||
/*
|
||||
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 SIMULATION_ISLAND_MANAGER_H
|
||||
#define SIMULATION_ISLAND_MANAGER_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
|
||||
#include "btCollisionCreateFunc.h"
|
||||
|
||||
class btCollisionObject;
|
||||
class btCollisionWorld;
|
||||
class btDispatcher;
|
||||
|
||||
///SimulationIslandManager creates and handles simulation islands, using btUnionFind
|
||||
class btSimulationIslandManager
|
||||
{
|
||||
btUnionFind m_unionFind;
|
||||
|
||||
public:
|
||||
btSimulationIslandManager();
|
||||
virtual ~btSimulationIslandManager();
|
||||
|
||||
|
||||
void initUnionFind(int n);
|
||||
|
||||
|
||||
btUnionFind& getUnionFind() { return m_unionFind;}
|
||||
|
||||
virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
|
||||
virtual void storeIslandActivationState(btCollisionWorld* world);
|
||||
|
||||
|
||||
void findUnions(btDispatcher* dispatcher);
|
||||
|
||||
|
||||
|
||||
struct IslandCallback
|
||||
{
|
||||
virtual ~IslandCallback() {};
|
||||
|
||||
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
|
||||
};
|
||||
|
||||
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
|
||||
|
||||
};
|
||||
|
||||
#endif //SIMULATION_ISLAND_MANAGER_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 SIMULATION_ISLAND_MANAGER_H
|
||||
#define SIMULATION_ISLAND_MANAGER_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
|
||||
#include "btCollisionCreateFunc.h"
|
||||
|
||||
class btCollisionObject;
|
||||
class btCollisionWorld;
|
||||
class btDispatcher;
|
||||
|
||||
///SimulationIslandManager creates and handles simulation islands, using btUnionFind
|
||||
class btSimulationIslandManager
|
||||
{
|
||||
btUnionFind m_unionFind;
|
||||
|
||||
public:
|
||||
btSimulationIslandManager();
|
||||
virtual ~btSimulationIslandManager();
|
||||
|
||||
|
||||
void initUnionFind(int n);
|
||||
|
||||
|
||||
btUnionFind& getUnionFind() { return m_unionFind;}
|
||||
|
||||
virtual void updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher);
|
||||
virtual void storeIslandActivationState(btCollisionWorld* world);
|
||||
|
||||
|
||||
void findUnions(btDispatcher* dispatcher);
|
||||
|
||||
|
||||
|
||||
struct IslandCallback
|
||||
{
|
||||
virtual ~IslandCallback() {};
|
||||
|
||||
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
|
||||
};
|
||||
|
||||
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback);
|
||||
|
||||
};
|
||||
|
||||
#endif //SIMULATION_ISLAND_MANAGER_H
|
||||
|
||||
|
||||
@@ -1,67 +1,67 @@
|
||||
/*
|
||||
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 SPHERE_BOX_COLLISION_ALGORITHM_H
|
||||
#define SPHERE_BOX_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
class btPersistentManifold;
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
|
||||
/// Other features are frame-coherency (persistent data) and collision response.
|
||||
class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
bool m_isSwapped;
|
||||
|
||||
public:
|
||||
|
||||
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
|
||||
|
||||
virtual ~btSphereBoxCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
|
||||
|
||||
btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
|
||||
if (!m_swapped)
|
||||
{
|
||||
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
|
||||
} else
|
||||
{
|
||||
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPHERE_BOX_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 SPHERE_BOX_COLLISION_ALGORITHM_H
|
||||
#define SPHERE_BOX_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
class btPersistentManifold;
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
|
||||
/// Other features are frame-coherency (persistent data) and collision response.
|
||||
class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
bool m_isSwapped;
|
||||
|
||||
public:
|
||||
|
||||
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
|
||||
|
||||
virtual ~btSphereBoxCollisionAlgorithm();
|
||||
|
||||
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
|
||||
|
||||
btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
|
||||
|
||||
btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
|
||||
if (!m_swapped)
|
||||
{
|
||||
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
|
||||
} else
|
||||
{
|
||||
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPHERE_BOX_COLLISION_ALGORITHM_H
|
||||
|
||||
|
||||
@@ -1,59 +1,59 @@
|
||||
/*
|
||||
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 SPHERE_SPHERE_COLLISION_ALGORITHM_H
|
||||
#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection.
|
||||
/// Other features are frame-coherency (persistent data) and collision response.
|
||||
/// Also provides the most basic sample for custom/user btCollisionAlgorithm
|
||||
class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
public:
|
||||
btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
btSphereSphereCollisionAlgorithm(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 ~btSphereSphereCollisionAlgorithm();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
|
||||
return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPHERE_SPHERE_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 SPHERE_SPHERE_COLLISION_ALGORITHM_H
|
||||
#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
class btPersistentManifold;
|
||||
|
||||
/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection.
|
||||
/// Other features are frame-coherency (persistent data) and collision response.
|
||||
/// Also provides the most basic sample for custom/user btCollisionAlgorithm
|
||||
class btSphereSphereCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
|
||||
public:
|
||||
btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
|
||||
|
||||
btSphereSphereCollisionAlgorithm(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 ~btSphereSphereCollisionAlgorithm();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
|
||||
return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H
|
||||
|
||||
|
||||
@@ -1,62 +1,62 @@
|
||||
/*
|
||||
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 SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
|
||||
#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
class btPersistentManifold;
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection.
|
||||
/// Other features are frame-coherency (persistent data) and collision response.
|
||||
/// Also provides the most basic sample for custom/user btCollisionAlgorithm
|
||||
class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
bool m_swapped;
|
||||
|
||||
public:
|
||||
btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
|
||||
|
||||
btSphereTriangleCollisionAlgorithm(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 ~btSphereTriangleCollisionAlgorithm();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
|
||||
|
||||
return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPHERE_TRIANGLE_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 SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
|
||||
#define SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
|
||||
|
||||
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
|
||||
class btPersistentManifold;
|
||||
#include "btCollisionDispatcher.h"
|
||||
|
||||
/// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection.
|
||||
/// Other features are frame-coherency (persistent data) and collision response.
|
||||
/// Also provides the most basic sample for custom/user btCollisionAlgorithm
|
||||
class btSphereTriangleCollisionAlgorithm : public btCollisionAlgorithm
|
||||
{
|
||||
bool m_ownManifold;
|
||||
btPersistentManifold* m_manifoldPtr;
|
||||
bool m_swapped;
|
||||
|
||||
public:
|
||||
btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool swapped);
|
||||
|
||||
btSphereTriangleCollisionAlgorithm(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 ~btSphereTriangleCollisionAlgorithm();
|
||||
|
||||
struct CreateFunc :public btCollisionAlgorithmCreateFunc
|
||||
{
|
||||
|
||||
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
|
||||
{
|
||||
|
||||
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
|
||||
|
||||
return new(mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold,ci,body0,body1,m_swapped);
|
||||
}
|
||||
};
|
||||
|
||||
};
|
||||
|
||||
#endif //SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
|
||||
|
||||
|
||||
@@ -18,6 +18,7 @@ subject to the following restrictions:
|
||||
|
||||
#include "btTriangleMeshShape.h"
|
||||
#include "btOptimizedBvh.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
|
||||
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
|
||||
@@ -31,6 +32,8 @@ ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
|
||||
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
|
||||
|
||||
|
||||
@@ -1,60 +1,60 @@
|
||||
/*
|
||||
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_CAPSULE_SHAPE_H
|
||||
#define BT_CAPSULE_SHAPE_H
|
||||
|
||||
#include "btConvexInternalShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
|
||||
///btCapsuleShape represents a capsule around the Y axis
|
||||
///A more general solution that can represent capsules is the btMultiSphereShape
|
||||
class btCapsuleShape : public btConvexInternalShape
|
||||
{
|
||||
|
||||
public:
|
||||
btCapsuleShape(btScalar radius,btScalar height);
|
||||
|
||||
///CollisionShape Interface
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
|
||||
|
||||
/// btConvexShape Interface
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
|
||||
|
||||
virtual char* getName()const
|
||||
{
|
||||
return "CapsuleShape";
|
||||
}
|
||||
|
||||
btScalar getRadius() const
|
||||
{
|
||||
return m_implicitShapeDimensions.getX();
|
||||
}
|
||||
|
||||
btScalar getHalfHeight() const
|
||||
{
|
||||
return m_implicitShapeDimensions.getY();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //BT_CAPSULE_SHAPE_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_CAPSULE_SHAPE_H
|
||||
#define BT_CAPSULE_SHAPE_H
|
||||
|
||||
#include "btConvexInternalShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
|
||||
///btCapsuleShape represents a capsule around the Y axis
|
||||
///A more general solution that can represent capsules is the btMultiSphereShape
|
||||
class btCapsuleShape : public btConvexInternalShape
|
||||
{
|
||||
|
||||
public:
|
||||
btCapsuleShape(btScalar radius,btScalar height);
|
||||
|
||||
///CollisionShape Interface
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
|
||||
|
||||
/// btConvexShape Interface
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
|
||||
|
||||
virtual char* getName()const
|
||||
{
|
||||
return "CapsuleShape";
|
||||
}
|
||||
|
||||
btScalar getRadius() const
|
||||
{
|
||||
return m_implicitShapeDimensions.getX();
|
||||
}
|
||||
|
||||
btScalar getHalfHeight() const
|
||||
{
|
||||
return m_implicitShapeDimensions.getY();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //BT_CAPSULE_SHAPE_H
|
||||
|
||||
@@ -28,6 +28,8 @@ class btOptimizedBvh;
|
||||
|
||||
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btTransform m_transform;
|
||||
btCollisionShape* m_childShape;
|
||||
int m_childShapeType;
|
||||
@@ -47,6 +49,8 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
|
||||
btOptimizedBvh* m_aabbTree;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btCompoundShape();
|
||||
|
||||
virtual ~btCompoundShape();
|
||||
|
||||
@@ -29,6 +29,7 @@ ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
|
||||
btAlignedObjectArray<btPoint3> m_points;
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
|
||||
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
|
||||
|
||||
@@ -22,6 +22,7 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
#include "btCollisionMargin.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
//todo: get rid of this btConvexCastResult thing!
|
||||
struct btConvexCastResult;
|
||||
@@ -36,6 +37,8 @@ ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
virtual ~btConvexShape()
|
||||
{
|
||||
|
||||
|
||||
@@ -202,4 +202,4 @@ void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
|
||||
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
|
||||
{
|
||||
return m_stridingMesh->getScaling();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,51 +1,51 @@
|
||||
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
#define CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
|
||||
|
||||
#include "btPolyhedralConvexShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
|
||||
/// btConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use btConvexHullShape instead.
|
||||
/// It uses the btStridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
|
||||
class btConvexTriangleMeshShape : public btPolyhedralConvexShape
|
||||
{
|
||||
|
||||
class btStridingMeshInterface* m_stridingMesh;
|
||||
|
||||
public:
|
||||
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface);
|
||||
|
||||
class btStridingMeshInterface* getStridingMesh()
|
||||
{
|
||||
return m_stridingMesh;
|
||||
}
|
||||
|
||||
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
|
||||
|
||||
//debugging
|
||||
virtual char* getName()const {return "ConvexTrimesh";}
|
||||
|
||||
virtual int getNumVertices() const;
|
||||
virtual int getNumEdges() const;
|
||||
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
|
||||
virtual void getVertex(int i,btPoint3& vtx) const;
|
||||
virtual int getNumPlanes() const;
|
||||
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
|
||||
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
|
||||
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
|
||||
|
||||
#ifndef CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
#define CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
|
||||
|
||||
#include "btPolyhedralConvexShape.h"
|
||||
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||||
|
||||
|
||||
/// btConvexTriangleMeshShape is a convex hull of a triangle mesh. If you just have a point cloud, you can use btConvexHullShape instead.
|
||||
/// It uses the btStridingMeshInterface instead of a point cloud. This can avoid the duplication of the triangle mesh data.
|
||||
class btConvexTriangleMeshShape : public btPolyhedralConvexShape
|
||||
{
|
||||
|
||||
class btStridingMeshInterface* m_stridingMesh;
|
||||
|
||||
public:
|
||||
btConvexTriangleMeshShape(btStridingMeshInterface* meshInterface);
|
||||
|
||||
class btStridingMeshInterface* getStridingMesh()
|
||||
{
|
||||
return m_stridingMesh;
|
||||
}
|
||||
|
||||
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
|
||||
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||||
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||||
|
||||
virtual int getShapeType()const { return CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE; }
|
||||
|
||||
//debugging
|
||||
virtual char* getName()const {return "ConvexTrimesh";}
|
||||
|
||||
virtual int getNumVertices() const;
|
||||
virtual int getNumEdges() const;
|
||||
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
|
||||
virtual void getVertex(int i,btPoint3& vtx) const;
|
||||
virtual int getNumPlanes() const;
|
||||
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
|
||||
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
|
||||
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif //CONVEX_TRIANGLEMESH_SHAPE_H
|
||||
|
||||
|
||||
|
||||
@@ -1,88 +1,88 @@
|
||||
/*
|
||||
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 HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
#define HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
|
||||
#include "btConcaveShape.h"
|
||||
|
||||
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
|
||||
class btHeightfieldTerrainShape : public btConcaveShape
|
||||
{
|
||||
protected:
|
||||
btVector3 m_localAabbMin;
|
||||
btVector3 m_localAabbMax;
|
||||
|
||||
///terrain data
|
||||
int m_width;
|
||||
int m_length;
|
||||
btScalar m_maxHeight;
|
||||
union
|
||||
{
|
||||
unsigned char* m_heightfieldDataUnsignedChar;
|
||||
btScalar* m_heightfieldDataFloat;
|
||||
void* m_heightfieldDataUnknown;
|
||||
};
|
||||
|
||||
bool m_useFloatData;
|
||||
bool m_flipQuadEdges;
|
||||
bool m_useDiamondSubdivision;
|
||||
|
||||
int m_upAxis;
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
virtual btScalar getHeightFieldValue(int x,int y) const;
|
||||
void quantizeWithClamp(int* out, const btVector3& point) const;
|
||||
void getVertex(int x,int y,btVector3& vertex) const;
|
||||
|
||||
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
|
||||
{
|
||||
bool overlap = true;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
|
||||
return overlap;
|
||||
}
|
||||
|
||||
public:
|
||||
btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
|
||||
|
||||
virtual ~btHeightfieldTerrainShape();
|
||||
|
||||
|
||||
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
|
||||
|
||||
virtual int getShapeType() const
|
||||
{
|
||||
return TERRAIN_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
|
||||
//debugging
|
||||
virtual char* getName()const {return "HEIGHTFIELD";}
|
||||
|
||||
};
|
||||
|
||||
#endif //HEIGHTFIELD_TERRAIN_SHAPE_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 HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
#define HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
|
||||
#include "btConcaveShape.h"
|
||||
|
||||
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
|
||||
class btHeightfieldTerrainShape : public btConcaveShape
|
||||
{
|
||||
protected:
|
||||
btVector3 m_localAabbMin;
|
||||
btVector3 m_localAabbMax;
|
||||
|
||||
///terrain data
|
||||
int m_width;
|
||||
int m_length;
|
||||
btScalar m_maxHeight;
|
||||
union
|
||||
{
|
||||
unsigned char* m_heightfieldDataUnsignedChar;
|
||||
btScalar* m_heightfieldDataFloat;
|
||||
void* m_heightfieldDataUnknown;
|
||||
};
|
||||
|
||||
bool m_useFloatData;
|
||||
bool m_flipQuadEdges;
|
||||
bool m_useDiamondSubdivision;
|
||||
|
||||
int m_upAxis;
|
||||
|
||||
btVector3 m_localScaling;
|
||||
|
||||
virtual btScalar getHeightFieldValue(int x,int y) const;
|
||||
void quantizeWithClamp(int* out, const btVector3& point) const;
|
||||
void getVertex(int x,int y,btVector3& vertex) const;
|
||||
|
||||
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
|
||||
{
|
||||
bool overlap = true;
|
||||
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
|
||||
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
|
||||
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
|
||||
return overlap;
|
||||
}
|
||||
|
||||
public:
|
||||
btHeightfieldTerrainShape(int width,int height,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
|
||||
|
||||
virtual ~btHeightfieldTerrainShape();
|
||||
|
||||
|
||||
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
|
||||
|
||||
virtual int getShapeType() const
|
||||
{
|
||||
return TERRAIN_SHAPE_PROXYTYPE;
|
||||
}
|
||||
|
||||
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
|
||||
|
||||
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
|
||||
|
||||
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
|
||||
|
||||
virtual void setLocalScaling(const btVector3& scaling);
|
||||
|
||||
virtual const btVector3& getLocalScaling() const;
|
||||
|
||||
//debugging
|
||||
virtual char* getName()const {return "HEIGHTFIELD";}
|
||||
|
||||
};
|
||||
|
||||
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
|
||||
|
||||
@@ -18,6 +18,7 @@ subject to the following restrictions:
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
|
||||
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
|
||||
@@ -34,7 +35,8 @@ class btStridingMeshInterface;
|
||||
///Node can be used for leafnode or internal node. Leafnodes can point to 32-bit triangle index (non-negative range).
|
||||
ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
|
||||
{
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
//12 bytes
|
||||
unsigned short int m_quantizedAabbMin[3];
|
||||
unsigned short int m_quantizedAabbMax[3];
|
||||
@@ -63,6 +65,8 @@ ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
|
||||
/// Total node size is 44 bytes / node. You can use the compressed version of 16 bytes.
|
||||
ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
//32 bytes
|
||||
btVector3 m_aabbMinOrg;
|
||||
btVector3 m_aabbMaxOrg;
|
||||
@@ -84,6 +88,8 @@ ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
|
||||
ATTRIBUTE_ALIGNED16(class) btBvhSubtreeInfo
|
||||
{
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
//12 bytes
|
||||
unsigned short int m_quantizedAabbMin[3];
|
||||
unsigned short int m_quantizedAabbMax[3];
|
||||
@@ -145,6 +151,8 @@ ATTRIBUTE_ALIGNED16(class) btOptimizedBvh
|
||||
btVector3 m_bvhAabbMax;
|
||||
btVector3 m_bvhQuantization;
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
enum btTraversalMode
|
||||
{
|
||||
TRAVERSAL_STACKLESS = 0,
|
||||
|
||||
@@ -25,6 +25,8 @@ ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
|
||||
{
|
||||
|
||||
public:
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btSphereShape (btScalar radius);
|
||||
|
||||
|
||||
|
||||
@@ -121,4 +121,4 @@ void btStridingMeshInterface::calculateAabbBruteForce(btVector3& aabbMin,btVecto
|
||||
|
||||
aabbMin = aabbCallback.m_aabbMin;
|
||||
aabbMax = aabbCallback.m_aabbMax;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,61 +1,61 @@
|
||||
/*
|
||||
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_TRIANGLE_BUFFER_H
|
||||
#define BT_TRIANGLE_BUFFER_H
|
||||
|
||||
#include "btTriangleCallback.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
struct btTriangle
|
||||
{
|
||||
btVector3 m_vertex0;
|
||||
btVector3 m_vertex1;
|
||||
btVector3 m_vertex2;
|
||||
int m_partId;
|
||||
int m_triangleIndex;
|
||||
};
|
||||
|
||||
///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
|
||||
class btTriangleBuffer : public btTriangleCallback
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btTriangle> m_triangleBuffer;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
int getNumTriangles() const
|
||||
{
|
||||
return int(m_triangleBuffer.size());
|
||||
}
|
||||
|
||||
const btTriangle& getTriangle(int index) const
|
||||
{
|
||||
return m_triangleBuffer[index];
|
||||
}
|
||||
|
||||
void clearBuffer()
|
||||
{
|
||||
m_triangleBuffer.clear();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_TRIANGLE_BUFFER_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_TRIANGLE_BUFFER_H
|
||||
#define BT_TRIANGLE_BUFFER_H
|
||||
|
||||
#include "btTriangleCallback.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
struct btTriangle
|
||||
{
|
||||
btVector3 m_vertex0;
|
||||
btVector3 m_vertex1;
|
||||
btVector3 m_vertex2;
|
||||
int m_partId;
|
||||
int m_triangleIndex;
|
||||
};
|
||||
|
||||
///btTriangleBuffer can be useful to collect and store overlapping triangles between AABB and concave objects that support 'processAllTriangles'
|
||||
class btTriangleBuffer : public btTriangleCallback
|
||||
{
|
||||
|
||||
btAlignedObjectArray<btTriangle> m_triangleBuffer;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
|
||||
|
||||
int getNumTriangles() const
|
||||
{
|
||||
return int(m_triangleBuffer.size());
|
||||
}
|
||||
|
||||
const btTriangle& getTriangle(int index) const
|
||||
{
|
||||
return m_triangleBuffer[index];
|
||||
}
|
||||
|
||||
void clearBuffer()
|
||||
{
|
||||
m_triangleBuffer.clear();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_TRIANGLE_BUFFER_H
|
||||
|
||||
|
||||
@@ -24,6 +24,8 @@ subject to the following restrictions:
|
||||
///todo: explain with pictures
|
||||
ATTRIBUTE_ALIGNED16( struct) btIndexedMesh
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
int m_numTriangles;
|
||||
const unsigned char * m_triangleIndexBase;
|
||||
int m_triangleIndexStride;
|
||||
@@ -49,6 +51,8 @@ ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshIn
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btTriangleIndexVertexArray()
|
||||
{
|
||||
}
|
||||
|
||||
@@ -1,53 +1,53 @@
|
||||
/*
|
||||
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.
|
||||
*/
|
||||
|
||||
/*
|
||||
GJK-EPA collision solver by Nathanael Presson
|
||||
Nov.2006
|
||||
*/
|
||||
|
||||
|
||||
#ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
|
||||
#define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
class btStackAlloc;
|
||||
|
||||
///btGjkEpaSolver contributed under zlib by Nathanael Presson
|
||||
struct btGjkEpaSolver
|
||||
{
|
||||
struct sResults
|
||||
{
|
||||
enum eStatus
|
||||
{
|
||||
Separated, /* Shapes doesnt penetrate */
|
||||
Penetrating, /* Shapes are penetrating */
|
||||
GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
|
||||
EPA_Failed, /* EPA phase fail, bigger problem, need to save parameters, and debug */
|
||||
} status;
|
||||
btVector3 witnesses[2];
|
||||
btVector3 normal;
|
||||
btScalar depth;
|
||||
int epa_iterations;
|
||||
int gjk_iterations;
|
||||
};
|
||||
static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0,
|
||||
const btConvexShape* shape1,const btTransform& wtrs1,
|
||||
btScalar radialmargin,
|
||||
btStackAlloc* stackAlloc,
|
||||
sResults& results);
|
||||
};
|
||||
|
||||
#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.
|
||||
*/
|
||||
|
||||
/*
|
||||
GJK-EPA collision solver by Nathanael Presson
|
||||
Nov.2006
|
||||
*/
|
||||
|
||||
|
||||
#ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
|
||||
#define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
|
||||
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
||||
|
||||
class btStackAlloc;
|
||||
|
||||
///btGjkEpaSolver contributed under zlib by Nathanael Presson
|
||||
struct btGjkEpaSolver
|
||||
{
|
||||
struct sResults
|
||||
{
|
||||
enum eStatus
|
||||
{
|
||||
Separated, /* Shapes doesnt penetrate */
|
||||
Penetrating, /* Shapes are penetrating */
|
||||
GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
|
||||
EPA_Failed, /* EPA phase fail, bigger problem, need to save parameters, and debug */
|
||||
} status;
|
||||
btVector3 witnesses[2];
|
||||
btVector3 normal;
|
||||
btScalar depth;
|
||||
int epa_iterations;
|
||||
int gjk_iterations;
|
||||
};
|
||||
static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0,
|
||||
const btConvexShape* shape1,const btTransform& wtrs1,
|
||||
btScalar radialmargin,
|
||||
btStackAlloc* stackAlloc,
|
||||
sResults& results);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,39 +1,39 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
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_GJP_EPA_PENETRATION_DEPTH_H
|
||||
#define BT_GJP_EPA_PENETRATION_DEPTH_H
|
||||
|
||||
#include "btConvexPenetrationDepthSolver.h"
|
||||
|
||||
///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
|
||||
///calculate the penetration depth between two convex shapes.
|
||||
class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
||||
{
|
||||
public :
|
||||
|
||||
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
|
||||
|
||||
private :
|
||||
|
||||
};
|
||||
|
||||
#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
EPA Copyright (c) Ricardo Padrela 2006
|
||||
|
||||
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_GJP_EPA_PENETRATION_DEPTH_H
|
||||
#define BT_GJP_EPA_PENETRATION_DEPTH_H
|
||||
|
||||
#include "btConvexPenetrationDepthSolver.h"
|
||||
|
||||
///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
|
||||
///calculate the penetration depth between two convex shapes.
|
||||
class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
||||
{
|
||||
public :
|
||||
|
||||
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||||
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
|
||||
const btTransform& transformA, const btTransform& transformB,
|
||||
btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
|
||||
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
|
||||
|
||||
private :
|
||||
|
||||
};
|
||||
|
||||
#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
|
||||
|
||||
|
||||
@@ -20,6 +20,7 @@ subject to the following restrictions:
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "btManifoldPoint.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
struct btCollisionResult;
|
||||
|
||||
@@ -55,6 +56,8 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
int m_index1;
|
||||
|
||||
btPersistentManifold();
|
||||
|
||||
@@ -1,93 +1,93 @@
|
||||
#### Source code Dirs
|
||||
VPATH = \
|
||||
../BroadphaseCollision \
|
||||
../CollisionDispatch \
|
||||
../NarrowPhaseCollision \
|
||||
../CollisionShapes
|
||||
|
||||
ROOT = ../../..
|
||||
|
||||
#### Library
|
||||
LIBRARY_ppu = bulletcollision.a
|
||||
|
||||
#### Compiler flags
|
||||
CPPFLAGS = \
|
||||
-I../BroadphaseCollision \
|
||||
-I../CollisionDispath \
|
||||
-I../NarrowPhaseCollision \
|
||||
-I../CollisionShapes \
|
||||
-I$(ROOT)/src/ \
|
||||
-I$(SDKINC)
|
||||
|
||||
#### Optimization level flags
|
||||
#CC_OPT_LEVEL = $(CC_OPT_LEVEL_DEBUG)
|
||||
CC_OPT_LEVEL = -O3
|
||||
|
||||
##### Objects to be archived in lib
|
||||
|
||||
OBJS = \
|
||||
btAxisSweep3.o \
|
||||
btBroadphaseProxy.o \
|
||||
btCollisionAlgorithm.o \
|
||||
btDispatcher.o \
|
||||
btOverlappingPairCache.o \
|
||||
btSimpleBroadphase.o \
|
||||
btContinuousConvexCollision.o \
|
||||
btConvexCast.o \
|
||||
btGjkConvexCast.o \
|
||||
btGjkEpa.o \
|
||||
btGjkEpaPenetrationDepthSolver.o \
|
||||
btGjkPairDetector.o \
|
||||
btMinkowskiPenetrationDepthSolver.o \
|
||||
btPersistentManifold.o \
|
||||
btRaycastCallback.o \
|
||||
btSubSimplexConvexCast.o \
|
||||
btVoronoiSimplexSolver.o \
|
||||
btCollisionDispatcher.o \
|
||||
btCollisionObject.o \
|
||||
btCollisionWorld.o \
|
||||
btCompoundCollisionAlgorithm.o \
|
||||
btConvexConcaveCollisionAlgorithm.o \
|
||||
btConvexConvexAlgorithm.o \
|
||||
btEmptyCollisionAlgorithm.o \
|
||||
btManifoldResult.o \
|
||||
btSimulationIslandManager.o \
|
||||
btSphereBoxCollisionAlgorithm.o \
|
||||
btSphereSphereCollisionAlgorithm.o \
|
||||
btSphereTriangleCollisionAlgorithm.o \
|
||||
btUnionFind.o \
|
||||
SphereTriangleDetector.o \
|
||||
btBoxShape.o \
|
||||
btBvhTriangleMeshShape.o \
|
||||
btCapsuleShape.o \
|
||||
btCollisionShape.o \
|
||||
btCompoundShape.o \
|
||||
btConcaveShape.o \
|
||||
btConeShape.o \
|
||||
btConvexHullShape.o \
|
||||
btConvexShape.o \
|
||||
btConvexInternalShape.o \
|
||||
btConvexTriangleMeshShape.o \
|
||||
btCylinderShape.o \
|
||||
btEmptyShape.o \
|
||||
btHeightfieldTerrainShape.o \
|
||||
btMinkowskiSumShape.o \
|
||||
btMultiSphereShape.o \
|
||||
btOptimizedBvh.o \
|
||||
btPolyhedralConvexShape.o \
|
||||
btSphereShape.o \
|
||||
btStaticPlaneShape.o \
|
||||
btStridingMeshInterface.o \
|
||||
btTetrahedronShape.o \
|
||||
btTriangleBuffer.o \
|
||||
btTriangleCallback.o \
|
||||
btTriangleIndexVertexArray.o \
|
||||
btTriangleMesh.o \
|
||||
btTriangleMeshShape.o \
|
||||
btUniformScalingShape.o
|
||||
|
||||
#### Install directories
|
||||
INSTALL_DIR = $(ROOT)/lib/ibmsdk
|
||||
INSTALL_FILES = $(LIBRARY_ppu)
|
||||
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||
include $(CELL_TOP)/make.footer
|
||||
#### Source code Dirs
|
||||
VPATH = \
|
||||
../BroadphaseCollision \
|
||||
../CollisionDispatch \
|
||||
../NarrowPhaseCollision \
|
||||
../CollisionShapes
|
||||
|
||||
ROOT = ../../..
|
||||
|
||||
#### Library
|
||||
LIBRARY_ppu = bulletcollision.a
|
||||
|
||||
#### Compiler flags
|
||||
CPPFLAGS = \
|
||||
-I../BroadphaseCollision \
|
||||
-I../CollisionDispath \
|
||||
-I../NarrowPhaseCollision \
|
||||
-I../CollisionShapes \
|
||||
-I$(ROOT)/src/ \
|
||||
-I$(SDKINC)
|
||||
|
||||
#### Optimization level flags
|
||||
#CC_OPT_LEVEL = $(CC_OPT_LEVEL_DEBUG)
|
||||
CC_OPT_LEVEL = -O3
|
||||
|
||||
##### Objects to be archived in lib
|
||||
|
||||
OBJS = \
|
||||
btAxisSweep3.o \
|
||||
btBroadphaseProxy.o \
|
||||
btCollisionAlgorithm.o \
|
||||
btDispatcher.o \
|
||||
btOverlappingPairCache.o \
|
||||
btSimpleBroadphase.o \
|
||||
btContinuousConvexCollision.o \
|
||||
btConvexCast.o \
|
||||
btGjkConvexCast.o \
|
||||
btGjkEpa.o \
|
||||
btGjkEpaPenetrationDepthSolver.o \
|
||||
btGjkPairDetector.o \
|
||||
btMinkowskiPenetrationDepthSolver.o \
|
||||
btPersistentManifold.o \
|
||||
btRaycastCallback.o \
|
||||
btSubSimplexConvexCast.o \
|
||||
btVoronoiSimplexSolver.o \
|
||||
btCollisionDispatcher.o \
|
||||
btCollisionObject.o \
|
||||
btCollisionWorld.o \
|
||||
btCompoundCollisionAlgorithm.o \
|
||||
btConvexConcaveCollisionAlgorithm.o \
|
||||
btConvexConvexAlgorithm.o \
|
||||
btEmptyCollisionAlgorithm.o \
|
||||
btManifoldResult.o \
|
||||
btSimulationIslandManager.o \
|
||||
btSphereBoxCollisionAlgorithm.o \
|
||||
btSphereSphereCollisionAlgorithm.o \
|
||||
btSphereTriangleCollisionAlgorithm.o \
|
||||
btUnionFind.o \
|
||||
SphereTriangleDetector.o \
|
||||
btBoxShape.o \
|
||||
btBvhTriangleMeshShape.o \
|
||||
btCapsuleShape.o \
|
||||
btCollisionShape.o \
|
||||
btCompoundShape.o \
|
||||
btConcaveShape.o \
|
||||
btConeShape.o \
|
||||
btConvexHullShape.o \
|
||||
btConvexShape.o \
|
||||
btConvexInternalShape.o \
|
||||
btConvexTriangleMeshShape.o \
|
||||
btCylinderShape.o \
|
||||
btEmptyShape.o \
|
||||
btHeightfieldTerrainShape.o \
|
||||
btMinkowskiSumShape.o \
|
||||
btMultiSphereShape.o \
|
||||
btOptimizedBvh.o \
|
||||
btPolyhedralConvexShape.o \
|
||||
btSphereShape.o \
|
||||
btStaticPlaneShape.o \
|
||||
btStridingMeshInterface.o \
|
||||
btTetrahedronShape.o \
|
||||
btTriangleBuffer.o \
|
||||
btTriangleCallback.o \
|
||||
btTriangleIndexVertexArray.o \
|
||||
btTriangleMesh.o \
|
||||
btTriangleMeshShape.o \
|
||||
btUniformScalingShape.o
|
||||
|
||||
#### Install directories
|
||||
INSTALL_DIR = $(ROOT)/lib/ibmsdk
|
||||
INSTALL_FILES = $(LIBRARY_ppu)
|
||||
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||
include $(CELL_TOP)/make.footer
|
||||
|
||||
Reference in New Issue
Block a user