87df3d0f32
Some dynamic memory allocations have been replace by pool allocation or stack allocations. quantized aabb versus quantized aabb overlap check is made branch-free (helps a lot on consoles PS3/XBox 360) Collision algorithms are now created through a new btDefaultCollisionConfiguration, to decouple dependency (this is the API change): Example: btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration(); m_dispatcher = new btCollisionDispatcher(collisionConfiguration);
84 lines
3.0 KiB
C++
84 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
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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 SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
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#define SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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class btPersistentManifold;
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/// SpuContactManifoldCollisionAlgorithm provides contact manifold and should be processed on SPU.
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ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
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{
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btPersistentManifold* m_manifoldPtr;
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int m_shapeType0;
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int m_shapeType1;
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float m_collisionMargin0;
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float m_collisionMargin1;
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public:
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virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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SpuContactManifoldCollisionAlgorithm();
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SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
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virtual ~SpuContactManifoldCollisionAlgorithm();
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btPersistentManifold* getContactManifoldPtr()
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{
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return m_manifoldPtr;
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}
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int getShapeType0() const
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{
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return m_shapeType0;
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}
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int getShapeType1() const
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{
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return m_shapeType1;
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}
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float getCollisionMargin0() const
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{
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return m_collisionMargin0;
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}
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float getCollisionMargin1() const
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{
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return m_collisionMargin1;
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}
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
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return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0,body1);
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}
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};
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};
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#endif //SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
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