moved files around

2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
--- a/Extras/BulletOdeCollide/BulletOdeCollide.cpp
+++ b/Extras/BulletOdeCollide/BulletOdeCollide.cpp
@@ -0,0 +1,139 @@
+
+#include "BulletOdeCollide.h"
+
+//quick hack, we need internals, not just the public ode api
+#include <../ode/src/collision_kernel.h>
+
+#include "NarrowPhaseCollision/PersistentManifold.h"
+#include "NarrowPhaseCollision/ManifoldPoint.h"
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "BulletOdeCollisionPair.h"
+#include "../ode/src/collision_convex_internal.h"
+
+#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip)))
+
+
+//Persistent collision pairs. Best is to store this in the broadphase/collision-pairs if the collision detection framework provides this
+#define MAX_COLLISION_PAIRS 10000
+static BulletOdeCollisionPair*	sCollisionPair[MAX_COLLISION_PAIRS];
+static int numActiveCollisionPairs = 0;
+
+void InitBulletOdeCollide()
+{
+	numActiveCollisionPairs  = 0;
+}
+
+void ExitBulletOdeCollide()
+{
+	//todo: cleanup memory
+	numActiveCollisionPairs  = 0;
+}
+
+
+
+CollisionShape* GetCollisionShapeFromConvex(dGeomID geom)
+{
+	dUASSERT (geom && geom->type == dConvexClass,"argument not a convex");
+	dxConvex* cnvx = (dxConvex*) geom;
+	return cnvx->m_bulletCollisionShape;
+}
+
+
+BulletOdeCollisionPair*	FindCollisionPair(dGeomID o1,dGeomID o2)
+{
+	int i;
+	for (i=0;i<numActiveCollisionPairs;i++)
+	{
+		if ( (sCollisionPair[i]->m_o1 == o1) && 
+			(sCollisionPair[i]->m_o2 == o2))
+		{
+			return sCollisionPair[i];
+		}
+	}
+	return 0;
+}
+
+
+void	RemoveOdeGeomFromCollisionCache(dGeomID geom)
+{
+	int i;
+	for (i=numActiveCollisionPairs-1;i>=0;i--)
+	{
+		if ( (sCollisionPair[i]->m_o1 == geom) || 
+			(sCollisionPair[i]->m_o2 == geom))
+		{
+			delete sCollisionPair[i];
+			sCollisionPair[i] = sCollisionPair[numActiveCollisionPairs-1];
+			numActiveCollisionPairs--;
+		}
+	}
+}
+
+int	BulletOdeCollide(dGeomID o1,dGeomID o2,dContactGeom *contact,int maxContact,int skip)
+{
+
+	//In order to have more then 1 point we use persistent manifold per overlapping pair
+	BulletOdeCollisionPair* collisionPair = FindCollisionPair(o1,o2);
+	if (!collisionPair)
+	{
+		if (numActiveCollisionPairs < MAX_COLLISION_PAIRS)
+		{
+			collisionPair = new BulletOdeCollisionPair(o1,o2);
+			sCollisionPair[numActiveCollisionPairs++] = collisionPair ;
+		} else
+		{
+			printf("overflow in collisionpair cache\n");
+			return 0;
+		}
+	}
+
+	//perform collision detection and recalculate the contact manifold
+	collisionPair->CalculateContacts();
+
+	//transfer contacts from PersistentManifold to gContactGeom
+	int validContacts = 0;
+	float maxDepth = -1e30f;
+
+	for (int i=0; i<collisionPair->m_manifold->GetNumContacts(); i++) 
+	{
+		const ManifoldPoint& pt = collisionPair->m_manifold->GetContactPoint(i);
+
+		if (pt.GetDistance() < 0.f)
+		{
+			float depth = -pt.GetDistance();
+
+			//add contacts, and make sure to add the deepest contact in any case
+			if ((validContacts < maxContact) || (depth > maxDepth))
+			{
+				maxDepth = depth;
+				int contactIndex = validContacts;
+
+				if (contactIndex >= maxContact)
+					contactIndex = 0;
+
+				if (contactIndex < maxContact)
+				{
+					SimdVector3 pos = (pt.m_positionWorldOnB + pt.m_positionWorldOnA)*0.5f;
+
+					CONTACT(contact,contactIndex*skip)->depth = depth;
+					CONTACT(contact,contactIndex*skip)->pos[0] = pos.getX();
+					CONTACT(contact,contactIndex*skip)->pos[1] = pos.getY();
+					CONTACT(contact,contactIndex*skip)->pos[2] = pos.getZ();
+					CONTACT(contact,contactIndex*skip)->normal[0] = pt.m_normalWorldOnB.getX();
+					CONTACT(contact,contactIndex*skip)->normal[1] = pt.m_normalWorldOnB.getY();
+					CONTACT(contact,contactIndex*skip)->normal[2] = pt.m_normalWorldOnB.getZ();
+					CONTACT(contact,contactIndex*skip)->g1 = o1;
+					CONTACT(contact,contactIndex*skip)->g2 = o2;
+				}
+				if (validContacts < maxContact)
+					validContacts++;
+			}
+			
+		}
+	}
+	
+	//printf("numcontacts: %d",validContacts);
+
+	return validContacts;
+}