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Added faster and more robust support for btStaticPlaneShape

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This commit is contained in:
ejcoumans
2007-12-11 23:13:29 +00:00
parent 66cdbb9659
commit a7e04dbdc2
7 changed files with 220 additions and 10 deletions
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29
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
@@ -58,7 +60,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* s
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
@@ -72,7 +74,13 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* s
m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
m_triangleSphereCF->m_swapped = true;
//convex versus plane
mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
m_planeConvexCF->m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
@@ -167,6 +175,11 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_triangleSphereCF);
m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexPlaneCF);
m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_planeConvexCF);
m_simplexSolver->~btVoronoiSimplexSolver();
btAlignedFree(m_simplexSolver);
m_pdSolver->~btGjkEpaPenetrationDepthSolver();
@@ -178,7 +191,8 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
@@ -205,6 +219,15 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
return m_triangleSphereCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
{
return m_convexPlaneCF;
}
if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
{
return m_planeConvexCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
{