315 lines
8.8 KiB
C++
315 lines
8.8 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 "btCollisionDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include <algorithm>
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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int gNumManifold = 0;
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#include <stdio.h>
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btCollisionDispatcher::btCollisionDispatcher ():
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m_useIslands(true),
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m_count(0)
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{
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int i;
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//default CreationFunctions, filling the m_doubleDispatch table
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m_convexConvexCreateFunc = new btConvexConvexAlgorithm::CreateFunc;
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m_convexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::CreateFunc;
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m_swappedConvexConcaveCreateFunc = new btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
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m_compoundCreateFunc = new btCompoundCollisionAlgorithm::CreateFunc;
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m_swappedCompoundCreateFunc = new btCompoundCollisionAlgorithm::SwappedCreateFunc;
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m_emptyCreateFunc = new btEmptyAlgorithm::CreateFunc;
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for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
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{
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for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
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{
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m_doubleDispatch[i][j] = internalFindCreateFunc(i,j);
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assert(m_doubleDispatch[i][j]);
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}
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}
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};
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void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
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{
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m_doubleDispatch[proxyType0][proxyType1] = createFunc;
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}
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btCollisionDispatcher::~btCollisionDispatcher()
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{
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delete m_convexConvexCreateFunc;
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delete m_convexConcaveCreateFunc;
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delete m_swappedConvexConcaveCreateFunc;
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delete m_compoundCreateFunc;
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delete m_swappedCompoundCreateFunc;
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delete m_emptyCreateFunc;
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}
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btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
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{
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gNumManifold++;
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//ASSERT(gNumManifold < 65535);
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btCollisionObject* body0 = (btCollisionObject*)b0;
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btCollisionObject* body1 = (btCollisionObject*)b1;
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btPersistentManifold* manifold = new btPersistentManifold (body0,body1);
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m_manifoldsPtr.push_back(manifold);
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return manifold;
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}
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void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
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{
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manifold->clearManifold();
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}
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void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
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{
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gNumManifold--;
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//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
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clearManifold(manifold);
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std::vector<btPersistentManifold*>::iterator i =
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std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
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if (!(i == m_manifoldsPtr.end()))
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{
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std::swap(*i, m_manifoldsPtr.back());
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m_manifoldsPtr.pop_back();
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delete manifold;
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}
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}
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btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
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{
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#define USE_DISPATCH_REGISTRY_ARRAY 1
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#ifdef USE_DISPATCH_REGISTRY_ARRAY
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher = this;
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btCollisionAlgorithm* algo = m_doubleDispatch[body0->m_collisionShape->getShapeType()][body1->m_collisionShape->getShapeType()]
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->CreateCollisionAlgorithm(ci,body0,body1);
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#else
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btCollisionAlgorithm* algo = internalFindAlgorithm(body0,body1);
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#endif //USE_DISPATCH_REGISTRY_ARRAY
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return algo;
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}
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btCollisionAlgorithmCreateFunc* btCollisionDispatcher::internalFindCreateFunc(int proxyType0,int proxyType1)
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{
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if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
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{
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return m_convexConvexCreateFunc;
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}
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if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
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{
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return m_convexConcaveCreateFunc;
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}
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if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
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{
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return m_swappedConvexConcaveCreateFunc;
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}
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if (btBroadphaseProxy::isCompound(proxyType0))
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{
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return m_compoundCreateFunc;
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} else
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{
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if (btBroadphaseProxy::isCompound(proxyType1))
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{
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return m_swappedCompoundCreateFunc;
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}
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}
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//failed to find an algorithm
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return m_emptyCreateFunc;
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}
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btCollisionAlgorithm* btCollisionDispatcher::internalFindAlgorithm(btCollisionObject* body0,btCollisionObject* body1)
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{
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m_count++;
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher = this;
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if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConvex() )
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{
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return new btConvexConvexAlgorithm(0,ci,body0,body1);
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}
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if (body0->m_collisionShape->isConvex() && body1->m_collisionShape->isConcave())
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{
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return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
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}
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if (body1->m_collisionShape->isConvex() && body0->m_collisionShape->isConcave())
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{
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return new btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
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}
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if (body0->m_collisionShape->isCompound())
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{
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return new btCompoundCollisionAlgorithm(ci,body0,body1,false);
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} else
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{
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if (body1->m_collisionShape->isCompound())
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{
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return new btCompoundCollisionAlgorithm(ci,body0,body1,true);
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}
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}
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//failed to find an algorithm
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return new btEmptyAlgorithm(ci);
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}
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bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
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{
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//here you can do filtering
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bool hasResponse =
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(body0->hasContactResponse() && body1->hasContactResponse());
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hasResponse = hasResponse &&
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(body0->IsActive() || body1->IsActive());
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return hasResponse;
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}
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bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
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{
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assert(body0);
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assert(body1);
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bool needsCollision = true;
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//broadphase filtering already deals with this
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if ((body0->isStaticObject() || body0->isKinematicObject()) &&
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(body1->isStaticObject() || body1->isKinematicObject()))
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{
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printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
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}
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if ((!body0->IsActive()) && (!body1->IsActive()))
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needsCollision = false;
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return needsCollision ;
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}
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///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
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///this is useful for the collision dispatcher.
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class btCollisionPairCallback : public btOverlapCallback
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{
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btDispatcherInfo& m_dispatchInfo;
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btCollisionDispatcher* m_dispatcher;
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int m_dispatcherId;
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public:
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btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher,int dispatcherId)
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:m_dispatchInfo(dispatchInfo),
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m_dispatcher(dispatcher),
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m_dispatcherId(dispatcherId)
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{
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}
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virtual bool processOverlap(btBroadphasePair& pair)
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{
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btCollisionObject* body0 = (btCollisionObject*)pair.m_pProxy0->m_clientObject;
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btCollisionObject* body1 = (btCollisionObject*)pair.m_pProxy1->m_clientObject;
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if (!m_dispatcher->needsCollision(body0,body1))
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return false;
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//dispatcher will keep algorithms persistent in the collision pair
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if (!pair.m_algorithms[m_dispatcherId])
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{
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pair.m_algorithms[m_dispatcherId] = m_dispatcher->findAlgorithm(
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body0,
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body1);
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}
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if (pair.m_algorithms[m_dispatcherId])
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{
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btManifoldResult* resultOut = m_dispatcher->internalGetNewManifoldResult(body0,body1);
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if (m_dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
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{
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pair.m_algorithms[m_dispatcherId]->processCollision(body0,body1,m_dispatchInfo,resultOut);
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} else
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{
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float toi = pair.m_algorithms[m_dispatcherId]->calculateTimeOfImpact(body0,body1,m_dispatchInfo,resultOut);
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if (m_dispatchInfo.m_timeOfImpact > toi)
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m_dispatchInfo.m_timeOfImpact = toi;
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}
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m_dispatcher->internalReleaseManifoldResult(resultOut);
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}
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return false;
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}
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};
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void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo)
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{
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//m_blockedForChanges = true;
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int dispatcherId = getUniqueId();
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btCollisionPairCallback collisionCallback(dispatchInfo,this,dispatcherId);
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pairCache->processAllOverlappingPairs(&collisionCallback);
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//m_blockedForChanges = false;
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}
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