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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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35
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h
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@@ -25,6 +25,39 @@ class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btSoftBody;
class btCollisionShape;
#include "LinearMath/btHashMap.h"
#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
struct btTriIndex
{
int m_PartIdTriangleIndex;
class btCollisionShape* m_childShape;
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
{
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
m_childShape = shape;
}
int getTriangleIndex() const
{
// Get only the lower bits where the triangle index is stored
return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
}
int getPartId() const
{
// Get only the highest bits where the part index is stored
return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
}
int getUid() const
{
return m_PartIdTriangleIndex;
}
};
///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
class btSoftBodyTriangleCallback : public btTriangleCallback
@@ -40,6 +73,8 @@ class btSoftBodyTriangleCallback : public btTriangleCallback
btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr;
btScalar m_collisionMarginTriangle;
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
public:
int m_triangleCount;