3fe3b11924
improved performance of constraint solver by precalculating the cross product/impulse arm added collision comparison code: ODE box-box, also sphere-triangle added safety check into GJK, and an assert for AABB's that are very large write partid/triangle index outside of GJK
133 lines
4.5 KiB
C++
133 lines
4.5 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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#ifndef COLLISION__DISPATCHER_H
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#define COLLISION__DISPATCHER_H
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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class btIDebugDraw;
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class btOverlappingPairCache;
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#include "btCollisionCreateFunc.h"
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///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
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///Time of Impact, Closest Points and Penetration Depth.
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class btCollisionDispatcher : public btDispatcher
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{
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std::vector<btPersistentManifold*> m_manifoldsPtr;
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bool m_useIslands;
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btManifoldResult m_defaultManifoldResult;
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btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
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btCollisionAlgorithmCreateFunc* internalFindCreateFunc(int proxyType0,int proxyType1);
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//default CreationFunctions, filling the m_doubleDispatch table
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btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
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btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
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btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
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btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
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btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
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btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
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btCollisionAlgorithm* internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
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public:
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///allows the user to get contact point callbacks
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inline btManifoldResult* internalGetNewManifoldResult(btCollisionObject* obj0,btCollisionObject* obj1)
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{
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//in-place, this prevents parallel dispatching, but just adding a list would fix that.
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btManifoldResult* manifoldResult = new (&m_defaultManifoldResult) btManifoldResult(obj0,obj1);
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return manifoldResult;
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}
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///allows the user to get contact point callbacks
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inline void internalReleaseManifoldResult(btManifoldResult*)
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{
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}
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///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
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void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
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int getNumManifolds() const
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{
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return m_manifoldsPtr.size();
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}
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btPersistentManifold** getInternalManifoldPointer()
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{
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return &m_manifoldsPtr[0];
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}
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btPersistentManifold* getManifoldByIndexInternal(int index)
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{
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return m_manifoldsPtr[index];
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}
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const btPersistentManifold* getManifoldByIndexInternal(int index) const
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{
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return m_manifoldsPtr[index];
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}
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int m_count;
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///the default constructor creates/register default collision algorithms, for convex, compound and concave shape support
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btCollisionDispatcher ();
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///a special constructor that doesn't create/register the default collision algorithms
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btCollisionDispatcher(bool noDefaultAlgorithms);
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virtual ~btCollisionDispatcher();
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virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
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virtual void releaseManifold(btPersistentManifold* manifold);
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virtual void clearManifold(btPersistentManifold* manifold);
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btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
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virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
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virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
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virtual int getUniqueId() { return RIGIDBODY_DISPATCHER;}
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virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo);
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};
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#endif //COLLISION__DISPATCHER_H
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