e6202f58ad
BulletMultiThreaded/NarrowPhaseCollision makes use of this boxBoxDistance. Cache some values in src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.cpp, to avoid DMA transfers 2) Added btConvexSeparatingDistanceUtil: this allows caching of separating distance/vector as early-out to avoid convex-convex collision detection. btConvexSeparatingDistanceUtil is used in src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp and can be controlled by btDispatcherInfo.m_useConvexConservativeDistanceUtil/m_convexConservativeDistanceThreshold 3) Use BulletMultiThreaded/vectormath/scalar/cpp/vectormath/scalar/cpp/vectormath_aos.h as fallback for non-PlayStation 3 Cell SPU/PPU platforms (used by boxBoxDistance). Note there are other implementations in Extras/vectormath folder, that are potentially faster for IBM Cell SDK 3.0 SPU (libspe2)
90 lines
3.5 KiB
C++
90 lines
3.5 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 CONVEX_CONVEX_ALGORITHM_H
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#define CONVEX_CONVEX_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "btCollisionCreateFunc.h"
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#include "btCollisionDispatcher.h"
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#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
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class btConvexPenetrationDepthSolver;
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///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
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class btConvexConvexAlgorithm : public btCollisionAlgorithm
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{
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btGjkPairDetector m_gjkPairDetector;
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public:
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bool m_ownManifold;
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btPersistentManifold* m_manifoldPtr;
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bool m_lowLevelOfDetail;
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///cache separating vector to speedup collision detection
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btConvexSeparatingDistanceUtil m_sepDistance;
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public:
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btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
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virtual ~btConvexConvexAlgorithm();
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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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virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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///should we use m_ownManifold to avoid adding duplicates?
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if (m_manifoldPtr && m_ownManifold)
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manifoldArray.push_back(m_manifoldPtr);
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}
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void setLowLevelOfDetail(bool useLowLevel);
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const btPersistentManifold* getManifold()
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{
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return m_manifoldPtr;
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}
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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btConvexPenetrationDepthSolver* m_pdSolver;
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btSimplexSolverInterface* m_simplexSolver;
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CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
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virtual ~CreateFunc();
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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(btConvexConvexAlgorithm));
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return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
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}
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};
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};
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#endif //CONVEX_CONVEX_ALGORITHM_H
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