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another large series of changes, related to the refactoring.

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CompoundShapes are tricky to manage with respect to persistent contact points and swapped order of btCollisionObjects,
During dispatch, finding an algorith etc. order can be swapped.
fixed several other issues, related to SimpleBroadphase (removing a proxy was not working)
This commit is contained in:
ejcoumans
2006-10-06 05:22:13 +00:00
parent 97b287a6bc
commit bf847b839a
54 changed files with 1852 additions and 1946 deletions
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7
src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
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@@ -18,6 +18,9 @@ subject to the following restrictions:
struct btBroadphaseProxy;
class btDispatcher;
class btManifoldResult;
struct btCollisionObject;
struct btDispatcherInfo;
struct btCollisionAlgorithmConstructionInfo
{
@@ -57,9 +60,9 @@ public:
virtual ~btCollisionAlgorithm() {};
virtual void processCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const struct btDispatcherInfo& dispatchInfo) = 0;
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual float calculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const struct btDispatcherInfo& dispatchInfo) = 0;
virtual float calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
};

11
src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@@ -20,7 +20,6 @@ class btCollisionAlgorithm;
struct btBroadphaseProxy;
class btRigidBody;
struct btCollisionObject;
class btManifoldResult;
class btOverlappingPairCache;
enum btCollisionDispatcherId
@@ -66,7 +65,7 @@ class btDispatcher
public:
virtual ~btDispatcher() ;
virtual btCollisionAlgorithm* findAlgorithm(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) = 0;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1) = 0;
//
// asume dispatchers to have unique id's in the range [0..max dispacher]
@@ -79,13 +78,9 @@ public:
virtual void clearManifold(btPersistentManifold* manifold)=0;
virtual bool needsCollision(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) = 0;
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
virtual bool needsResponse(const btCollisionObject& colObj0,const btCollisionObject& colObj1)=0;
virtual btManifoldResult* getNewManifoldResult(btCollisionObject* obj0,btCollisionObject* obj1,btPersistentManifold* manifold) =0;
virtual void releaseManifoldResult(btManifoldResult*)=0;
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo)=0;

4
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
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@@ -75,7 +75,7 @@ void btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa
//don't add overlap with own
assert(proxy0 != proxy1);
if (!needsCollision(proxy0,proxy1))
if (!needsBroadphaseCollision(proxy0,proxy1))
return;
@@ -92,7 +92,7 @@ void btOverlappingPairCache::addOverlappingPair(btBroadphaseProxy* proxy0,btBroa
///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
btBroadphasePair* btOverlappingPairCache::findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
if (!needsCollision(proxy0,proxy1))
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
btBroadphasePair tmpPair(*proxy0,*proxy1);

2
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -64,7 +64,7 @@ class btOverlappingPairCache : public btBroadphaseInterface
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy);
inline bool needsCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);

20
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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@@ -134,25 +134,7 @@ void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg)
assert (index < m_maxProxies);
m_freeProxies[--m_firstFreeProxy] = index;
//removeOverlappingPairsContainingProxy(proxyOrg);
assert(0);
//then remove non-overlapping ones
/*for (i=0;i<GetNumOverlappingPairs();i++)
{
btBroadphasePair& pair = GetOverlappingPair(i);
btSimpleBroadphaseProxy* proxy0 = getSimpleProxyFromProxy(pair.m_pProxy0);
btSimpleBroadphaseProxy* proxy1 = getSimpleProxyFromProxy(pair.m_pProxy1);
if ((proxy0==proxyOrg) || (proxy1==proxyOrg))
{
removeOverlappingPair(pair);
}
}
*/
removeOverlappingPairsContainingProxy(proxyOrg);
for (i=0;i<m_numProxies;i++)
{