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fixed some outstanding issues with Bullet soft bodies:

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1) re-allocate a pool allocator, if one of the soft body collision algorithms is larger than max pool element size
2) manage child shapes properly, and call RemoveReferences on the m_sparsesdf
This commit is contained in:
erwin.coumans
2008-09-26 23:39:17 +00:00
parent 682a0a1b90
commit e590f4a721
6 changed files with 98 additions and 42 deletions
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65
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
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@@ -74,35 +74,23 @@ btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
void btSoftBodyTriangleCallback::clearCache()
{
//m_dispatcher->clearManifold(m_manifoldPtr);
for (int i=0;i<m_shapeCache.size();i++)
{
btTriIndex* tmp = m_shapeCache.getAtIndex(i);
btAssert(tmp);
btAssert(tmp->m_childShape);
m_softBody->getWorldInfo()->m_sparsesdf.RemoveReferences(tmp->m_childShape);//necessary?
delete tmp->m_childShape;
}
m_shapeCache.clear();
};
static const int maxParts = 1;
static const int maxTriangleIndex = 100*100;
btCollisionShape* shapeCache[maxParts][maxTriangleIndex];
void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
static bool hackedFirst = true;
if (hackedFirst)
{
hackedFirst = false;
int i,j;
for (i=0;i<maxParts;i++)
{
for (j=0;j<maxTriangleIndex;j++)
{
shapeCache[i][j]=0;
}
}
}
//just for debugging purposes
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
@@ -114,18 +102,17 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
if (shapeCache[partId][triangleIndex])
btTriIndex triIndex(partId,triangleIndex,0);
btHashKey<btTriIndex> triKey(triIndex.getUid());
btTriIndex* shapeIndex = m_shapeCache[triKey];
if (shapeIndex)
{
btCollisionShape* tm = shapeCache[partId][triangleIndex];
btCollisionShape* tm = shapeIndex->m_childShape;
btAssert(tm);
//copy over user pointers to temporary shape
tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
@@ -145,13 +132,6 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
//aabb filter is already applied!
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
// if (m_softBody->getCollisionShape()->getShapeType()==
@@ -194,10 +174,11 @@ btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->internalSetTemporaryCollisionShape( tmpShape );
// delete tm;
shapeCache[partId][triangleIndex] = tm;
triIndex.m_childShape = tm;
m_shapeCache.insert(triKey,triIndex);
}