0405ce278a
added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto improved friction in 'cachefriendly' solver moved 'refreshcontactpoints' into collision detection, instead of solver avoid linear search for contact manifolds, by storing an index ignore margin for sphere shape (its entire radius is already margin) avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures made 'bomb' box more heavy
86 lines
3.2 KiB
C++
86 lines
3.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BoxBoxCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BoxBoxDetector.h"
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#define USE_PERSISTENT_CONTACTS 1
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BoxBoxCollisionAlgorithm::BoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
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: btCollisionAlgorithm(ci),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
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m_ownManifold = true;
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}
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}
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BoxBoxCollisionAlgorithm::~BoxBoxCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void BoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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return;
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btCollisionObject* col0 = body0;
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btCollisionObject* col1 = body1;
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btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
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btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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resultOut->setPersistentManifold(m_manifoldPtr);
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#ifndef USE_PERSISTENT_CONTACTS
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m_manifoldPtr->clearManifold();
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#endif //USE_PERSISTENT_CONTACTS
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btDiscreteCollisionDetectorInterface::ClosestPointInput input;
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input.m_maximumDistanceSquared = 1e30f;
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input.m_transformA = body0->getWorldTransform();
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input.m_transformB = body1->getWorldTransform();
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BoxBoxDetector detector(box0,box1);
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detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
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#ifdef USE_PERSISTENT_CONTACTS
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// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
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if (m_ownManifold)
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{
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resultOut->refreshContactPoints();
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}
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#endif //USE_PERSISTENT_CONTACTS
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}
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btScalar BoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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//not yet
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return 1.f;
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}
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