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
|
||||
|
||||
@@ -1,72 +1,75 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_SOLVER_BODY_H
|
||||
#define BT_SOLVER_BODY_H
|
||||
|
||||
class btRigidBody;
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
|
||||
|
||||
|
||||
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
|
||||
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
|
||||
{
|
||||
btVector3 m_centerOfMassPosition;
|
||||
btVector3 m_linearVelocity;
|
||||
btVector3 m_angularVelocity;
|
||||
btRigidBody* m_originalBody;
|
||||
float m_invMass;
|
||||
float m_friction;
|
||||
float m_angularFactor;
|
||||
|
||||
inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
|
||||
{
|
||||
velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
|
||||
}
|
||||
|
||||
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
|
||||
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
|
||||
{
|
||||
m_linearVelocity += linearComponent*impulseMagnitude;
|
||||
m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
|
||||
}
|
||||
|
||||
void writebackVelocity()
|
||||
{
|
||||
if (m_invMass)
|
||||
{
|
||||
m_originalBody->setLinearVelocity(m_linearVelocity);
|
||||
m_originalBody->setAngularVelocity(m_angularVelocity);
|
||||
}
|
||||
}
|
||||
|
||||
void readVelocity()
|
||||
{
|
||||
if (m_invMass)
|
||||
{
|
||||
m_linearVelocity = m_originalBody->getLinearVelocity();
|
||||
m_angularVelocity = m_originalBody->getAngularVelocity();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SOLVER_BODY_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_SOLVER_BODY_H
|
||||
#define BT_SOLVER_BODY_H
|
||||
|
||||
class btRigidBody;
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
|
||||
|
||||
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
|
||||
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btVector3 m_centerOfMassPosition;
|
||||
btVector3 m_linearVelocity;
|
||||
btVector3 m_angularVelocity;
|
||||
btRigidBody* m_originalBody;
|
||||
float m_invMass;
|
||||
float m_friction;
|
||||
float m_angularFactor;
|
||||
|
||||
inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
|
||||
{
|
||||
velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
|
||||
}
|
||||
|
||||
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
|
||||
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
|
||||
{
|
||||
m_linearVelocity += linearComponent*impulseMagnitude;
|
||||
m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;
|
||||
}
|
||||
|
||||
void writebackVelocity()
|
||||
{
|
||||
if (m_invMass)
|
||||
{
|
||||
m_originalBody->setLinearVelocity(m_linearVelocity);
|
||||
m_originalBody->setAngularVelocity(m_angularVelocity);
|
||||
}
|
||||
}
|
||||
|
||||
void readVelocity()
|
||||
{
|
||||
if (m_invMass)
|
||||
{
|
||||
m_linearVelocity = m_originalBody->getLinearVelocity();
|
||||
m_angularVelocity = m_originalBody->getAngularVelocity();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SOLVER_BODY_H
|
||||
|
||||
@@ -1,63 +1,65 @@
|
||||
|
||||
|
||||
/*
|
||||
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_SOLVER_CONSTRAINT_H
|
||||
#define BT_SOLVER_CONSTRAINT_H
|
||||
|
||||
class btRigidBody;
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
//#define NO_FRICTION_TANGENTIALS 1
|
||||
|
||||
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
|
||||
ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
|
||||
{
|
||||
btVector3 m_relpos1CrossNormal;
|
||||
btVector3 m_relpos2CrossNormal;
|
||||
btVector3 m_contactNormal;
|
||||
btVector3 m_angularComponentA;
|
||||
btVector3 m_angularComponentB;
|
||||
|
||||
btScalar m_appliedVelocityImpulse;
|
||||
int m_solverBodyIdA;
|
||||
int m_solverBodyIdB;
|
||||
btScalar m_friction;
|
||||
btScalar m_restitution;
|
||||
btScalar m_jacDiagABInv;
|
||||
btScalar m_penetration;
|
||||
btScalar m_appliedImpulse;
|
||||
|
||||
int m_constraintType;
|
||||
int m_frictionIndex;
|
||||
int m_unusedPadding[2];
|
||||
|
||||
enum btSolverConstraintType
|
||||
{
|
||||
BT_SOLVER_CONTACT_1D = 0,
|
||||
BT_SOLVER_FRICTION_1D
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_SOLVER_CONSTRAINT_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_SOLVER_CONSTRAINT_H
|
||||
#define BT_SOLVER_CONSTRAINT_H
|
||||
|
||||
class btRigidBody;
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btMatrix3x3.h"
|
||||
|
||||
//#define NO_FRICTION_TANGENTIALS 1
|
||||
|
||||
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
|
||||
ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
|
||||
{
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btVector3 m_relpos1CrossNormal;
|
||||
btVector3 m_relpos2CrossNormal;
|
||||
btVector3 m_contactNormal;
|
||||
btVector3 m_angularComponentA;
|
||||
btVector3 m_angularComponentB;
|
||||
|
||||
btScalar m_appliedVelocityImpulse;
|
||||
int m_solverBodyIdA;
|
||||
int m_solverBodyIdB;
|
||||
btScalar m_friction;
|
||||
btScalar m_restitution;
|
||||
btScalar m_jacDiagABInv;
|
||||
btScalar m_penetration;
|
||||
btScalar m_appliedImpulse;
|
||||
|
||||
int m_constraintType;
|
||||
int m_frictionIndex;
|
||||
int m_unusedPadding[2];
|
||||
|
||||
enum btSolverConstraintType
|
||||
{
|
||||
BT_SOLVER_CONTACT_1D = 0,
|
||||
BT_SOLVER_FRICTION_1D
|
||||
};
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_SOLVER_CONSTRAINT_H
|
||||
|
||||
|
||||
|
||||
@@ -1,80 +1,80 @@
|
||||
/*
|
||||
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_DYNAMICS_WORLD_H
|
||||
#define BT_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
class btTypedConstraint;
|
||||
class btRaycastVehicle;
|
||||
class btConstraintSolver;
|
||||
|
||||
|
||||
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
|
||||
class btDynamicsWorld : public btCollisionWorld
|
||||
{
|
||||
public:
|
||||
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
|
||||
:btCollisionWorld(dispatcher,broadphase)
|
||||
{
|
||||
}
|
||||
|
||||
virtual ~btDynamicsWorld()
|
||||
{
|
||||
}
|
||||
|
||||
///stepSimulation proceeds the simulation over timeStep units
|
||||
///if maxSubSteps > 0, it will interpolate time steps
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
|
||||
|
||||
virtual void updateAabbs() = 0;
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
|
||||
|
||||
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
|
||||
|
||||
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
|
||||
|
||||
|
||||
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
|
||||
|
||||
virtual btIDebugDraw* getDebugDrawer() = 0;
|
||||
|
||||
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
|
||||
//existing rigidbodies in the world get gravity assigned too, during this method
|
||||
virtual void setGravity(const btVector3& gravity) = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver() = 0;
|
||||
|
||||
virtual int getNumConstraints() const { return 0; }
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
|
||||
|
||||
virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_DYNAMICS_WORLD_H
|
||||
#define BT_DYNAMICS_WORLD_H
|
||||
|
||||
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
|
||||
class btTypedConstraint;
|
||||
class btRaycastVehicle;
|
||||
class btConstraintSolver;
|
||||
|
||||
|
||||
///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
|
||||
class btDynamicsWorld : public btCollisionWorld
|
||||
{
|
||||
public:
|
||||
|
||||
|
||||
btDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphase)
|
||||
:btCollisionWorld(dispatcher,broadphase)
|
||||
{
|
||||
}
|
||||
|
||||
virtual ~btDynamicsWorld()
|
||||
{
|
||||
}
|
||||
|
||||
///stepSimulation proceeds the simulation over timeStep units
|
||||
///if maxSubSteps > 0, it will interpolate time steps
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.))=0;
|
||||
|
||||
virtual void updateAabbs() = 0;
|
||||
|
||||
virtual void addConstraint(btTypedConstraint* constraint, bool disableCollisionsBetweenLinkedBodies=false) { (void)constraint;};
|
||||
|
||||
virtual void removeConstraint(btTypedConstraint* constraint) {(void)constraint;};
|
||||
|
||||
virtual void addVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
|
||||
|
||||
virtual void removeVehicle(btRaycastVehicle* vehicle) {(void)vehicle;};
|
||||
|
||||
|
||||
virtual void setDebugDrawer(btIDebugDraw* debugDrawer) = 0;
|
||||
|
||||
virtual btIDebugDraw* getDebugDrawer() = 0;
|
||||
|
||||
//once a rigidbody is added to the dynamics world, it will get this gravity assigned
|
||||
//existing rigidbodies in the world get gravity assigned too, during this method
|
||||
virtual void setGravity(const btVector3& gravity) = 0;
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body) = 0;
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver) = 0;
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver() = 0;
|
||||
|
||||
virtual int getNumConstraints() const { return 0; }
|
||||
|
||||
virtual btTypedConstraint* getConstraint(int index) { (void)index; return 0; }
|
||||
|
||||
virtual const btTypedConstraint* getConstraint(int index) const { (void)index; return 0; }
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_DYNAMICS_WORLD_H
|
||||
|
||||
|
||||
@@ -347,4 +347,4 @@ void btRigidBody::removeConstraintRef(btTypedConstraint* c)
|
||||
{
|
||||
m_constraintRefs.remove(c);
|
||||
m_checkCollideWith = m_constraintRefs.size() > 0;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,84 +1,84 @@
|
||||
/*
|
||||
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_SIMPLE_DYNAMICS_WORLD_H
|
||||
#define BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
|
||||
#include "btDynamicsWorld.h"
|
||||
|
||||
class btDispatcher;
|
||||
class btOverlappingPairCache;
|
||||
class btConstraintSolver;
|
||||
|
||||
///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
|
||||
///It can be used for basic simulations, and as a starting point for porting Bullet
|
||||
///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
|
||||
///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
|
||||
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
|
||||
class btSimpleDynamicsWorld : public btDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
|
||||
bool m_ownsConstraintSolver;
|
||||
|
||||
btIDebugDraw* m_debugDrawer;
|
||||
|
||||
void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
void integrateTransforms(btScalar timeStep);
|
||||
|
||||
btVector3 m_gravity;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
|
||||
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
|
||||
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
|
||||
|
||||
virtual ~btSimpleDynamicsWorld();
|
||||
|
||||
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
|
||||
|
||||
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
|
||||
{
|
||||
m_debugDrawer = debugDrawer;
|
||||
};
|
||||
|
||||
virtual btIDebugDraw* getDebugDrawer()
|
||||
{
|
||||
return m_debugDrawer;
|
||||
}
|
||||
|
||||
virtual void setGravity(const btVector3& gravity);
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void updateAabbs();
|
||||
|
||||
void synchronizeMotionStates();
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||||
|
||||
/*
|
||||
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_SIMPLE_DYNAMICS_WORLD_H
|
||||
#define BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
|
||||
#include "btDynamicsWorld.h"
|
||||
|
||||
class btDispatcher;
|
||||
class btOverlappingPairCache;
|
||||
class btConstraintSolver;
|
||||
|
||||
///btSimpleDynamicsWorld demonstrates very basic usage of Bullet rigid body dynamics
|
||||
///It can be used for basic simulations, and as a starting point for porting Bullet
|
||||
///btSimpleDynamicsWorld lacks object deactivation, island management and other concepts.
|
||||
///For more complicated simulations, btDiscreteDynamicsWorld and btContinuousDynamicsWorld are recommended
|
||||
///those classes replace the obsolete CcdPhysicsEnvironment/CcdPhysicsController
|
||||
class btSimpleDynamicsWorld : public btDynamicsWorld
|
||||
{
|
||||
protected:
|
||||
|
||||
btConstraintSolver* m_constraintSolver;
|
||||
|
||||
bool m_ownsConstraintSolver;
|
||||
|
||||
btIDebugDraw* m_debugDrawer;
|
||||
|
||||
void predictUnconstraintMotion(btScalar timeStep);
|
||||
|
||||
void integrateTransforms(btScalar timeStep);
|
||||
|
||||
btVector3 m_gravity;
|
||||
|
||||
public:
|
||||
|
||||
|
||||
|
||||
///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
|
||||
btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver);
|
||||
|
||||
virtual ~btSimpleDynamicsWorld();
|
||||
|
||||
///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
|
||||
virtual int stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
|
||||
|
||||
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
|
||||
{
|
||||
m_debugDrawer = debugDrawer;
|
||||
};
|
||||
|
||||
virtual btIDebugDraw* getDebugDrawer()
|
||||
{
|
||||
return m_debugDrawer;
|
||||
}
|
||||
|
||||
virtual void setGravity(const btVector3& gravity);
|
||||
|
||||
virtual void addRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void removeRigidBody(btRigidBody* body);
|
||||
|
||||
virtual void updateAabbs();
|
||||
|
||||
void synchronizeMotionStates();
|
||||
|
||||
virtual void setConstraintSolver(btConstraintSolver* solver);
|
||||
|
||||
virtual btConstraintSolver* getConstraintSolver();
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SIMPLE_DYNAMICS_WORLD_H
|
||||
|
||||
@@ -1,11 +1,11 @@
|
||||
SubDir TOP src BulletDynamics ;
|
||||
|
||||
Description bulletdynamics : "Bullet Rigidbody Dynamics" ;
|
||||
Library bulletdynamics :
|
||||
[ Wildcard ConstraintSolver : *.h *.cpp ]
|
||||
[ Wildcard Dynamics : *.h *.cpp ]
|
||||
[ Wildcard Vehicle : *.h *.cpp ]
|
||||
;
|
||||
|
||||
LibDepends bulletdynamics : bulletcollision ;
|
||||
|
||||
SubDir TOP src BulletDynamics ;
|
||||
|
||||
Description bulletdynamics : "Bullet Rigidbody Dynamics" ;
|
||||
Library bulletdynamics :
|
||||
[ Wildcard ConstraintSolver : *.h *.cpp ]
|
||||
[ Wildcard Dynamics : *.h *.cpp ]
|
||||
[ Wildcard Vehicle : *.h *.cpp ]
|
||||
;
|
||||
|
||||
LibDepends bulletdynamics : bulletcollision ;
|
||||
|
||||
|
||||
@@ -1,201 +1,201 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef RAYCASTVEHICLE_H
|
||||
#define RAYCASTVEHICLE_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "btVehicleRaycaster.h"
|
||||
class btDynamicsWorld;
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "btWheelInfo.h"
|
||||
|
||||
class btVehicleTuning;
|
||||
|
||||
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
|
||||
class btRaycastVehicle : public btTypedConstraint
|
||||
{
|
||||
public:
|
||||
class btVehicleTuning
|
||||
{
|
||||
public:
|
||||
|
||||
btVehicleTuning()
|
||||
:m_suspensionStiffness(btScalar(5.88)),
|
||||
m_suspensionCompression(btScalar(0.83)),
|
||||
m_suspensionDamping(btScalar(0.88)),
|
||||
m_maxSuspensionTravelCm(btScalar(500.)),
|
||||
m_frictionSlip(btScalar(10.5))
|
||||
{
|
||||
}
|
||||
btScalar m_suspensionStiffness;
|
||||
btScalar m_suspensionCompression;
|
||||
btScalar m_suspensionDamping;
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar m_frictionSlip;
|
||||
|
||||
};
|
||||
private:
|
||||
|
||||
btScalar m_tau;
|
||||
btScalar m_damping;
|
||||
btVehicleRaycaster* m_vehicleRaycaster;
|
||||
btScalar m_pitchControl;
|
||||
btScalar m_steeringValue;
|
||||
btScalar m_currentVehicleSpeedKmHour;
|
||||
|
||||
btRigidBody* m_chassisBody;
|
||||
|
||||
int m_indexRightAxis;
|
||||
int m_indexUpAxis;
|
||||
int m_indexForwardAxis;
|
||||
|
||||
void defaultInit(const btVehicleTuning& tuning);
|
||||
|
||||
public:
|
||||
|
||||
//constructor to create a car from an existing rigidbody
|
||||
btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
|
||||
|
||||
virtual ~btRaycastVehicle() ;
|
||||
|
||||
|
||||
const btTransform& getChassisWorldTransform() const;
|
||||
|
||||
btScalar rayCast(btWheelInfo& wheel);
|
||||
|
||||
virtual void updateVehicle(btScalar step);
|
||||
|
||||
void resetSuspension();
|
||||
|
||||
btScalar getSteeringValue(int wheel) const;
|
||||
|
||||
void setSteeringValue(btScalar steering,int wheel);
|
||||
|
||||
|
||||
void applyEngineForce(btScalar force, int wheel);
|
||||
|
||||
const btTransform& getWheelTransformWS( int wheelIndex ) const;
|
||||
|
||||
void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
|
||||
|
||||
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
|
||||
|
||||
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
|
||||
|
||||
inline int getNumWheels() const {
|
||||
return int (m_wheelInfo.size());
|
||||
}
|
||||
|
||||
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
|
||||
|
||||
|
||||
const btWheelInfo& getWheelInfo(int index) const;
|
||||
|
||||
btWheelInfo& getWheelInfo(int index);
|
||||
|
||||
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
|
||||
|
||||
|
||||
void setBrake(btScalar brake,int wheelIndex);
|
||||
|
||||
void setPitchControl(btScalar pitch)
|
||||
{
|
||||
m_pitchControl = pitch;
|
||||
}
|
||||
|
||||
void updateSuspension(btScalar deltaTime);
|
||||
|
||||
void updateFriction(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
inline btRigidBody* getRigidBody()
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
const btRigidBody* getRigidBody() const
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
inline int getRightAxis() const
|
||||
{
|
||||
return m_indexRightAxis;
|
||||
}
|
||||
inline int getUpAxis() const
|
||||
{
|
||||
return m_indexUpAxis;
|
||||
}
|
||||
|
||||
inline int getForwardAxis() const
|
||||
{
|
||||
return m_indexForwardAxis;
|
||||
}
|
||||
|
||||
|
||||
///Worldspace forward vector
|
||||
btVector3 getForwardVector() const
|
||||
{
|
||||
const btTransform& chassisTrans = getChassisWorldTransform();
|
||||
|
||||
btVector3 forwardW (
|
||||
chassisTrans.getBasis()[0][m_indexForwardAxis],
|
||||
chassisTrans.getBasis()[1][m_indexForwardAxis],
|
||||
chassisTrans.getBasis()[2][m_indexForwardAxis]);
|
||||
|
||||
return forwardW;
|
||||
}
|
||||
|
||||
///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
|
||||
btScalar getCurrentSpeedKmHour() const
|
||||
{
|
||||
return m_currentVehicleSpeedKmHour;
|
||||
}
|
||||
|
||||
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
|
||||
{
|
||||
m_indexRightAxis = rightIndex;
|
||||
m_indexUpAxis = upIndex;
|
||||
m_indexForwardAxis = forwardIndex;
|
||||
}
|
||||
|
||||
virtual void buildJacobian()
|
||||
{
|
||||
//not yet
|
||||
}
|
||||
|
||||
virtual void solveConstraint(btScalar timeStep)
|
||||
{
|
||||
(void)timeStep;
|
||||
//not yet
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
class btDefaultVehicleRaycaster : public btVehicleRaycaster
|
||||
{
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
public:
|
||||
btDefaultVehicleRaycaster(btDynamicsWorld* world)
|
||||
:m_dynamicsWorld(world)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //RAYCASTVEHICLE_H
|
||||
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef RAYCASTVEHICLE_H
|
||||
#define RAYCASTVEHICLE_H
|
||||
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
#include "btVehicleRaycaster.h"
|
||||
class btDynamicsWorld;
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "btWheelInfo.h"
|
||||
|
||||
class btVehicleTuning;
|
||||
|
||||
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
|
||||
class btRaycastVehicle : public btTypedConstraint
|
||||
{
|
||||
public:
|
||||
class btVehicleTuning
|
||||
{
|
||||
public:
|
||||
|
||||
btVehicleTuning()
|
||||
:m_suspensionStiffness(btScalar(5.88)),
|
||||
m_suspensionCompression(btScalar(0.83)),
|
||||
m_suspensionDamping(btScalar(0.88)),
|
||||
m_maxSuspensionTravelCm(btScalar(500.)),
|
||||
m_frictionSlip(btScalar(10.5))
|
||||
{
|
||||
}
|
||||
btScalar m_suspensionStiffness;
|
||||
btScalar m_suspensionCompression;
|
||||
btScalar m_suspensionDamping;
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar m_frictionSlip;
|
||||
|
||||
};
|
||||
private:
|
||||
|
||||
btScalar m_tau;
|
||||
btScalar m_damping;
|
||||
btVehicleRaycaster* m_vehicleRaycaster;
|
||||
btScalar m_pitchControl;
|
||||
btScalar m_steeringValue;
|
||||
btScalar m_currentVehicleSpeedKmHour;
|
||||
|
||||
btRigidBody* m_chassisBody;
|
||||
|
||||
int m_indexRightAxis;
|
||||
int m_indexUpAxis;
|
||||
int m_indexForwardAxis;
|
||||
|
||||
void defaultInit(const btVehicleTuning& tuning);
|
||||
|
||||
public:
|
||||
|
||||
//constructor to create a car from an existing rigidbody
|
||||
btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
|
||||
|
||||
virtual ~btRaycastVehicle() ;
|
||||
|
||||
|
||||
const btTransform& getChassisWorldTransform() const;
|
||||
|
||||
btScalar rayCast(btWheelInfo& wheel);
|
||||
|
||||
virtual void updateVehicle(btScalar step);
|
||||
|
||||
void resetSuspension();
|
||||
|
||||
btScalar getSteeringValue(int wheel) const;
|
||||
|
||||
void setSteeringValue(btScalar steering,int wheel);
|
||||
|
||||
|
||||
void applyEngineForce(btScalar force, int wheel);
|
||||
|
||||
const btTransform& getWheelTransformWS( int wheelIndex ) const;
|
||||
|
||||
void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
|
||||
|
||||
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
|
||||
|
||||
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
|
||||
|
||||
inline int getNumWheels() const {
|
||||
return int (m_wheelInfo.size());
|
||||
}
|
||||
|
||||
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
|
||||
|
||||
|
||||
const btWheelInfo& getWheelInfo(int index) const;
|
||||
|
||||
btWheelInfo& getWheelInfo(int index);
|
||||
|
||||
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
|
||||
|
||||
|
||||
void setBrake(btScalar brake,int wheelIndex);
|
||||
|
||||
void setPitchControl(btScalar pitch)
|
||||
{
|
||||
m_pitchControl = pitch;
|
||||
}
|
||||
|
||||
void updateSuspension(btScalar deltaTime);
|
||||
|
||||
void updateFriction(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
inline btRigidBody* getRigidBody()
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
const btRigidBody* getRigidBody() const
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
inline int getRightAxis() const
|
||||
{
|
||||
return m_indexRightAxis;
|
||||
}
|
||||
inline int getUpAxis() const
|
||||
{
|
||||
return m_indexUpAxis;
|
||||
}
|
||||
|
||||
inline int getForwardAxis() const
|
||||
{
|
||||
return m_indexForwardAxis;
|
||||
}
|
||||
|
||||
|
||||
///Worldspace forward vector
|
||||
btVector3 getForwardVector() const
|
||||
{
|
||||
const btTransform& chassisTrans = getChassisWorldTransform();
|
||||
|
||||
btVector3 forwardW (
|
||||
chassisTrans.getBasis()[0][m_indexForwardAxis],
|
||||
chassisTrans.getBasis()[1][m_indexForwardAxis],
|
||||
chassisTrans.getBasis()[2][m_indexForwardAxis]);
|
||||
|
||||
return forwardW;
|
||||
}
|
||||
|
||||
///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
|
||||
btScalar getCurrentSpeedKmHour() const
|
||||
{
|
||||
return m_currentVehicleSpeedKmHour;
|
||||
}
|
||||
|
||||
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
|
||||
{
|
||||
m_indexRightAxis = rightIndex;
|
||||
m_indexUpAxis = upIndex;
|
||||
m_indexForwardAxis = forwardIndex;
|
||||
}
|
||||
|
||||
virtual void buildJacobian()
|
||||
{
|
||||
//not yet
|
||||
}
|
||||
|
||||
virtual void solveConstraint(btScalar timeStep)
|
||||
{
|
||||
(void)timeStep;
|
||||
//not yet
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
class btDefaultVehicleRaycaster : public btVehicleRaycaster
|
||||
{
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
public:
|
||||
btDefaultVehicleRaycaster(btDynamicsWorld* world)
|
||||
:m_dynamicsWorld(world)
|
||||
{
|
||||
}
|
||||
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //RAYCASTVEHICLE_H
|
||||
|
||||
|
||||
@@ -1,35 +1,35 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef VEHICLE_RAYCASTER_H
|
||||
#define VEHICLE_RAYCASTER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
|
||||
struct btVehicleRaycaster
|
||||
{
|
||||
virtual ~btVehicleRaycaster()
|
||||
{
|
||||
}
|
||||
struct btVehicleRaycasterResult
|
||||
{
|
||||
btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
|
||||
btVector3 m_hitPointInWorld;
|
||||
btVector3 m_hitNormalInWorld;
|
||||
btScalar m_distFraction;
|
||||
};
|
||||
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //VEHICLE_RAYCASTER_H
|
||||
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef VEHICLE_RAYCASTER_H
|
||||
#define VEHICLE_RAYCASTER_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
|
||||
struct btVehicleRaycaster
|
||||
{
|
||||
virtual ~btVehicleRaycaster()
|
||||
{
|
||||
}
|
||||
struct btVehicleRaycasterResult
|
||||
{
|
||||
btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
|
||||
btVector3 m_hitPointInWorld;
|
||||
btVector3 m_hitNormalInWorld;
|
||||
btScalar m_distFraction;
|
||||
};
|
||||
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
|
||||
|
||||
};
|
||||
|
||||
#endif //VEHICLE_RAYCASTER_H
|
||||
|
||||
|
||||
@@ -1,116 +1,116 @@
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef WHEEL_INFO_H
|
||||
#define WHEEL_INFO_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
class btRigidBody;
|
||||
|
||||
struct btWheelInfoConstructionInfo
|
||||
{
|
||||
btVector3 m_chassisConnectionCS;
|
||||
btVector3 m_wheelDirectionCS;
|
||||
btVector3 m_wheelAxleCS;
|
||||
btScalar m_suspensionRestLength;
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar m_wheelRadius;
|
||||
|
||||
btScalar m_suspensionStiffness;
|
||||
btScalar m_wheelsDampingCompression;
|
||||
btScalar m_wheelsDampingRelaxation;
|
||||
btScalar m_frictionSlip;
|
||||
bool m_bIsFrontWheel;
|
||||
|
||||
};
|
||||
|
||||
/// btWheelInfo contains information per wheel about friction and suspension.
|
||||
struct btWheelInfo
|
||||
{
|
||||
struct RaycastInfo
|
||||
{
|
||||
//set by raycaster
|
||||
btVector3 m_contactNormalWS;//contactnormal
|
||||
btVector3 m_contactPointWS;//raycast hitpoint
|
||||
btScalar m_suspensionLength;
|
||||
btVector3 m_hardPointWS;//raycast starting point
|
||||
btVector3 m_wheelDirectionWS; //direction in worldspace
|
||||
btVector3 m_wheelAxleWS; // axle in worldspace
|
||||
bool m_isInContact;
|
||||
void* m_groundObject; //could be general void* ptr
|
||||
};
|
||||
|
||||
RaycastInfo m_raycastInfo;
|
||||
|
||||
btTransform m_worldTransform;
|
||||
|
||||
btVector3 m_chassisConnectionPointCS; //const
|
||||
btVector3 m_wheelDirectionCS;//const
|
||||
btVector3 m_wheelAxleCS; // const or modified by steering
|
||||
btScalar m_suspensionRestLength1;//const
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar getSuspensionRestLength() const;
|
||||
btScalar m_wheelsRadius;//const
|
||||
btScalar m_suspensionStiffness;//const
|
||||
btScalar m_wheelsDampingCompression;//const
|
||||
btScalar m_wheelsDampingRelaxation;//const
|
||||
btScalar m_frictionSlip;
|
||||
btScalar m_steering;
|
||||
btScalar m_rotation;
|
||||
btScalar m_deltaRotation;
|
||||
btScalar m_rollInfluence;
|
||||
|
||||
btScalar m_engineForce;
|
||||
|
||||
btScalar m_brake;
|
||||
|
||||
bool m_bIsFrontWheel;
|
||||
|
||||
void* m_clientInfo;//can be used to store pointer to sync transforms...
|
||||
|
||||
btWheelInfo(btWheelInfoConstructionInfo& ci)
|
||||
|
||||
{
|
||||
|
||||
m_suspensionRestLength1 = ci.m_suspensionRestLength;
|
||||
m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
|
||||
|
||||
m_wheelsRadius = ci.m_wheelRadius;
|
||||
m_suspensionStiffness = ci.m_suspensionStiffness;
|
||||
m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
|
||||
m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
|
||||
m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
|
||||
m_wheelDirectionCS = ci.m_wheelDirectionCS;
|
||||
m_wheelAxleCS = ci.m_wheelAxleCS;
|
||||
m_frictionSlip = ci.m_frictionSlip;
|
||||
m_steering = btScalar(0.);
|
||||
m_engineForce = btScalar(0.);
|
||||
m_rotation = btScalar(0.);
|
||||
m_deltaRotation = btScalar(0.);
|
||||
m_brake = btScalar(0.);
|
||||
m_rollInfluence = btScalar(0.1);
|
||||
m_bIsFrontWheel = ci.m_bIsFrontWheel;
|
||||
|
||||
}
|
||||
|
||||
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
|
||||
|
||||
btScalar m_clippedInvContactDotSuspension;
|
||||
btScalar m_suspensionRelativeVelocity;
|
||||
//calculated by suspension
|
||||
btScalar m_wheelsSuspensionForce;
|
||||
btScalar m_skidInfo;
|
||||
|
||||
};
|
||||
|
||||
#endif //WHEEL_INFO_H
|
||||
|
||||
/*
|
||||
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
*
|
||||
* Permission to use, copy, modify, distribute and sell this software
|
||||
* and its documentation for any purpose is hereby granted without fee,
|
||||
* provided that the above copyright notice appear in all copies.
|
||||
* Erwin Coumans makes no representations about the suitability
|
||||
* of this software for any purpose.
|
||||
* It is provided "as is" without express or implied warranty.
|
||||
*/
|
||||
#ifndef WHEEL_INFO_H
|
||||
#define WHEEL_INFO_H
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
class btRigidBody;
|
||||
|
||||
struct btWheelInfoConstructionInfo
|
||||
{
|
||||
btVector3 m_chassisConnectionCS;
|
||||
btVector3 m_wheelDirectionCS;
|
||||
btVector3 m_wheelAxleCS;
|
||||
btScalar m_suspensionRestLength;
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar m_wheelRadius;
|
||||
|
||||
btScalar m_suspensionStiffness;
|
||||
btScalar m_wheelsDampingCompression;
|
||||
btScalar m_wheelsDampingRelaxation;
|
||||
btScalar m_frictionSlip;
|
||||
bool m_bIsFrontWheel;
|
||||
|
||||
};
|
||||
|
||||
/// btWheelInfo contains information per wheel about friction and suspension.
|
||||
struct btWheelInfo
|
||||
{
|
||||
struct RaycastInfo
|
||||
{
|
||||
//set by raycaster
|
||||
btVector3 m_contactNormalWS;//contactnormal
|
||||
btVector3 m_contactPointWS;//raycast hitpoint
|
||||
btScalar m_suspensionLength;
|
||||
btVector3 m_hardPointWS;//raycast starting point
|
||||
btVector3 m_wheelDirectionWS; //direction in worldspace
|
||||
btVector3 m_wheelAxleWS; // axle in worldspace
|
||||
bool m_isInContact;
|
||||
void* m_groundObject; //could be general void* ptr
|
||||
};
|
||||
|
||||
RaycastInfo m_raycastInfo;
|
||||
|
||||
btTransform m_worldTransform;
|
||||
|
||||
btVector3 m_chassisConnectionPointCS; //const
|
||||
btVector3 m_wheelDirectionCS;//const
|
||||
btVector3 m_wheelAxleCS; // const or modified by steering
|
||||
btScalar m_suspensionRestLength1;//const
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar getSuspensionRestLength() const;
|
||||
btScalar m_wheelsRadius;//const
|
||||
btScalar m_suspensionStiffness;//const
|
||||
btScalar m_wheelsDampingCompression;//const
|
||||
btScalar m_wheelsDampingRelaxation;//const
|
||||
btScalar m_frictionSlip;
|
||||
btScalar m_steering;
|
||||
btScalar m_rotation;
|
||||
btScalar m_deltaRotation;
|
||||
btScalar m_rollInfluence;
|
||||
|
||||
btScalar m_engineForce;
|
||||
|
||||
btScalar m_brake;
|
||||
|
||||
bool m_bIsFrontWheel;
|
||||
|
||||
void* m_clientInfo;//can be used to store pointer to sync transforms...
|
||||
|
||||
btWheelInfo(btWheelInfoConstructionInfo& ci)
|
||||
|
||||
{
|
||||
|
||||
m_suspensionRestLength1 = ci.m_suspensionRestLength;
|
||||
m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
|
||||
|
||||
m_wheelsRadius = ci.m_wheelRadius;
|
||||
m_suspensionStiffness = ci.m_suspensionStiffness;
|
||||
m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
|
||||
m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
|
||||
m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
|
||||
m_wheelDirectionCS = ci.m_wheelDirectionCS;
|
||||
m_wheelAxleCS = ci.m_wheelAxleCS;
|
||||
m_frictionSlip = ci.m_frictionSlip;
|
||||
m_steering = btScalar(0.);
|
||||
m_engineForce = btScalar(0.);
|
||||
m_rotation = btScalar(0.);
|
||||
m_deltaRotation = btScalar(0.);
|
||||
m_brake = btScalar(0.);
|
||||
m_rollInfluence = btScalar(0.1);
|
||||
m_bIsFrontWheel = ci.m_bIsFrontWheel;
|
||||
|
||||
}
|
||||
|
||||
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
|
||||
|
||||
btScalar m_clippedInvContactDotSuspension;
|
||||
btScalar m_suspensionRelativeVelocity;
|
||||
//calculated by suspension
|
||||
btScalar m_wheelsSuspensionForce;
|
||||
btScalar m_skidInfo;
|
||||
|
||||
};
|
||||
|
||||
#endif //WHEEL_INFO_H
|
||||
|
||||
|
||||
@@ -1,44 +1,44 @@
|
||||
#### Source code Dirs
|
||||
VPATH = \
|
||||
../ConstraintSolver \
|
||||
../Dynamics \
|
||||
../Vehicle
|
||||
|
||||
ROOT = ../../..
|
||||
|
||||
#### Library
|
||||
LIBRARY_ppu = bulletdynamics.a
|
||||
|
||||
#### Compiler flags
|
||||
CPPFLAGS = \
|
||||
-I../ConstraintSolver \
|
||||
-I../Dynamics \
|
||||
-I../Vehicle \
|
||||
-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 = \
|
||||
btContactConstraint.o \
|
||||
btGeneric6DofConstraint.o \
|
||||
btHingeConstraint.o \
|
||||
btPoint2PointConstraint.o \
|
||||
btSequentialImpulseConstraintSolver.o \
|
||||
btSolve2LinearConstraint.o \
|
||||
btTypedConstraint.o \
|
||||
btDiscreteDynamicsWorld.o \
|
||||
btRigidBody.o \
|
||||
btSimpleDynamicsWorld.o \
|
||||
btRaycastVehicle.o \
|
||||
btWheelInfo.o
|
||||
#### Install directories
|
||||
INSTALL_DIR = $(ROOT)/lib/ibmsdk
|
||||
INSTALL_FILES = $(LIBRARY_ppu)
|
||||
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||
|
||||
include $(CELL_TOP)/make.footer
|
||||
#### Source code Dirs
|
||||
VPATH = \
|
||||
../ConstraintSolver \
|
||||
../Dynamics \
|
||||
../Vehicle
|
||||
|
||||
ROOT = ../../..
|
||||
|
||||
#### Library
|
||||
LIBRARY_ppu = bulletdynamics.a
|
||||
|
||||
#### Compiler flags
|
||||
CPPFLAGS = \
|
||||
-I../ConstraintSolver \
|
||||
-I../Dynamics \
|
||||
-I../Vehicle \
|
||||
-I$(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 = \
|
||||
btContactConstraint.o \
|
||||
btGeneric6DofConstraint.o \
|
||||
btHingeConstraint.o \
|
||||
btPoint2PointConstraint.o \
|
||||
btSequentialImpulseConstraintSolver.o \
|
||||
btSolve2LinearConstraint.o \
|
||||
btTypedConstraint.o \
|
||||
btDiscreteDynamicsWorld.o \
|
||||
btRigidBody.o \
|
||||
btSimpleDynamicsWorld.o \
|
||||
btRaycastVehicle.o \
|
||||
btWheelInfo.o
|
||||
#### Install directories
|
||||
INSTALL_DIR = $(ROOT)/lib/ibmsdk
|
||||
INSTALL_FILES = $(LIBRARY_ppu)
|
||||
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||
|
||||
include $(CELL_TOP)/make.footer
|
||||
|
||||
@@ -17,6 +17,7 @@ subject to the following restrictions:
|
||||
#define _BT_POOL_ALLOCATOR_H
|
||||
|
||||
#include "btScalar.h"
|
||||
#include "btAlignedAllocator.h"
|
||||
|
||||
class btPoolAllocator
|
||||
{
|
||||
@@ -32,7 +33,7 @@ public:
|
||||
:m_elemSize(elemSize),
|
||||
m_maxElements(maxElements)
|
||||
{
|
||||
m_pool = new unsigned char[m_elemSize*m_maxElements];
|
||||
m_pool = (unsigned char*) btAlignedAlloc(m_elemSize*m_maxElements,16);
|
||||
|
||||
unsigned char* p = m_pool;
|
||||
m_firstFree = p;
|
||||
@@ -47,7 +48,7 @@ public:
|
||||
|
||||
~btPoolAllocator()
|
||||
{
|
||||
delete m_pool;
|
||||
btAlignedFree( m_pool);
|
||||
}
|
||||
|
||||
void* allocate(int size)
|
||||
|
||||
@@ -25,11 +25,13 @@ subject to the following restrictions:
|
||||
|
||||
|
||||
|
||||
|
||||
#ifdef WIN32
|
||||
|
||||
#if defined(__MINGW32__) || defined(__CYGWIN__) || (defined (_MSC_VER) && _MSC_VER < 1300)
|
||||
#define SIMD_FORCE_INLINE inline
|
||||
#define ATTRIBUTE_ALIGNED16(a) a
|
||||
#define ATTRIBUTE_ALIGNED128(a) a
|
||||
#else
|
||||
#define BT_HAS_ALIGNED_ALOCATOR
|
||||
#pragma warning(disable:4530)
|
||||
@@ -37,6 +39,7 @@ subject to the following restrictions:
|
||||
#pragma warning(disable:4786)
|
||||
#define SIMD_FORCE_INLINE __forceinline
|
||||
#define ATTRIBUTE_ALIGNED16(a) __declspec(align(16)) a
|
||||
#define ATTRIBUTE_ALIGNED128(a) __declspec (align(128)) a
|
||||
#ifdef _XBOX
|
||||
#define BT_USE_VMX128
|
||||
|
||||
@@ -52,29 +55,61 @@ subject to the following restrictions:
|
||||
#define btAssert assert
|
||||
//btFullAssert is optional, slows down a lot
|
||||
#define btFullAssert(x)
|
||||
|
||||
#define btLikely(_c) _c
|
||||
#define btUnlikely(_c) _c
|
||||
|
||||
#else
|
||||
|
||||
#if defined (__CELLOS_LV2__)
|
||||
#define SIMD_FORCE_INLINE inline
|
||||
#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
|
||||
#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
|
||||
#ifndef assert
|
||||
#include <assert.h>
|
||||
#endif
|
||||
#define btAssert assert
|
||||
//btFullAssert is optional, slows down a lot
|
||||
#define btFullAssert(x)
|
||||
|
||||
#define btLikely(_c) _c
|
||||
#define btUnlikely(_c) _c
|
||||
|
||||
#else
|
||||
|
||||
#ifdef USE_LIBSPE2
|
||||
|
||||
#define SIMD_FORCE_INLINE __inline
|
||||
#define ATTRIBUTE_ALIGNED16(a) a __attribute__ ((aligned (16)))
|
||||
#define ATTRIBUTE_ALIGNED128(a) a __attribute__ ((aligned (128)))
|
||||
#ifndef assert
|
||||
#include <assert.h>
|
||||
#endif
|
||||
#define btAssert assert
|
||||
//btFullAssert is optional, slows down a lot
|
||||
#define btFullAssert(x)
|
||||
|
||||
|
||||
#define btLikely(_c) __builtin_expect((_c), 1)
|
||||
#define btUnlikely(_c) __builtin_expect((_c), 0)
|
||||
|
||||
|
||||
#else
|
||||
//non-windows systems
|
||||
|
||||
#define SIMD_FORCE_INLINE inline
|
||||
#define ATTRIBUTE_ALIGNED16(a) a
|
||||
#define ATTRIBUTE_ALIGNED128(a) a
|
||||
#ifndef assert
|
||||
#include <assert.h>
|
||||
#endif
|
||||
#define btAssert assert
|
||||
//btFullAssert is optional, slows down a lot
|
||||
#define btFullAssert(x)
|
||||
|
||||
|
||||
#endif // LIBSPE2
|
||||
|
||||
#endif //__CELLOS_LV2__
|
||||
#endif
|
||||
|
||||
@@ -94,6 +129,14 @@ typedef float btScalar;
|
||||
#endif
|
||||
|
||||
|
||||
#define BT_DECLARE_ALIGNED_ALLOCATOR() \
|
||||
SIMD_FORCE_INLINE void* operator new(size_t sizeInBytes) { return btAlignedAlloc(sizeInBytes,16); } \
|
||||
SIMD_FORCE_INLINE void operator delete(void* ptr) { btAlignedFree(ptr); } \
|
||||
SIMD_FORCE_INLINE void* operator new(size_t, void* ptr) { return ptr; } \
|
||||
SIMD_FORCE_INLINE void operator delete(void*, void*) { } \
|
||||
|
||||
|
||||
|
||||
#if defined(BT_USE_DOUBLE_PRECISION) || defined(BT_FORCE_DOUBLE_FUNCTIONS)
|
||||
|
||||
SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrt(x); }
|
||||
|
||||
@@ -21,6 +21,7 @@ Nov.2006
|
||||
#define BT_STACK_ALLOC
|
||||
|
||||
#include "btScalar.h" //for btAssert
|
||||
#include "btAlignedAllocator.h"
|
||||
|
||||
struct btBlock
|
||||
{
|
||||
@@ -39,7 +40,7 @@ public:
|
||||
inline void create(unsigned int size)
|
||||
{
|
||||
destroy();
|
||||
data = new unsigned char[size];
|
||||
data = (unsigned char*) btAlignedAlloc(size,16);
|
||||
totalsize = size;
|
||||
}
|
||||
inline void destroy()
|
||||
@@ -49,7 +50,9 @@ public:
|
||||
|
||||
if(usedsize==0)
|
||||
{
|
||||
if(!ischild) delete[] data;
|
||||
if(!ischild)
|
||||
btAlignedFree(data);
|
||||
|
||||
data = 0;
|
||||
usedsize = 0;
|
||||
}
|
||||
|
||||
@@ -1,10 +1,10 @@
|
||||
#### Visit Bullet library ibmsdk dirs and build code
|
||||
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||
|
||||
DIRS := \
|
||||
../BulletCollision/ibmsdk \
|
||||
../BulletDynamics/ibmsdk \
|
||||
../LinearMath/ibmsdk
|
||||
|
||||
|
||||
include $(CELL_TOP)/make.footer
|
||||
#### Visit Bullet library ibmsdk dirs and build code
|
||||
CELL_TOP ?= /opt/ibm/cell-sdk/prototype
|
||||
|
||||
DIRS := \
|
||||
../BulletCollision/ibmsdk \
|
||||
../BulletDynamics/ibmsdk \
|
||||
../LinearMath/ibmsdk
|
||||
|
||||
|
||||
include $(CELL_TOP)/make.footer
|
||||
|
||||
Reference in New Issue
Block a user