eff4fe8ec8
boxbox reports contact point in B, rather then average point box, cylinder use halfextents corrected for scaling and margin. made the margin in this halfextents explicit in the 'getHalfExtentsWithMargin' and 'getHalfExtentsWithoutMargin' integrated changed for ODE quickstep solver replaced inline with SIMD_FORCE_INLINE some minor optimizations in the btSequentialImpulseConstraintSolver added cone drawing (for X,Y,Z cones)
116 lines
2.8 KiB
C++
116 lines
2.8 KiB
C++
/*
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Copyright (c) 2003-2006 Gino van den Bergen / 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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/*
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StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
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Nov.2006
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*/
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#ifndef BT_STACK_ALLOC
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#define BT_STACK_ALLOC
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#include "btScalar.h" //for btAssert
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#include "btAlignedAllocator.h"
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struct btBlock
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{
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btBlock* previous;
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unsigned char* address;
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};
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///StackAlloc provides some fast stack-based memory allocator (LIFO last-in first-out)
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class btStackAlloc
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{
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public:
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btStackAlloc(unsigned int size) { ctor();create(size); }
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~btStackAlloc() { destroy(); }
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inline void create(unsigned int size)
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{
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destroy();
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data = (unsigned char*) btAlignedAlloc(size,16);
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totalsize = size;
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}
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inline void destroy()
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{
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btAssert(usedsize==0);
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//Raise(L"StackAlloc is still in use");
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if(usedsize==0)
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{
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if(!ischild)
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btAlignedFree(data);
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data = 0;
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usedsize = 0;
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}
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}
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int getAvailableMemory() const
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{
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return totalsize - usedsize;
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}
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unsigned char* allocate(unsigned int size)
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{
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const unsigned int nus(usedsize+size);
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if(nus<totalsize)
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{
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usedsize=nus;
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return(data+(usedsize-size));
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}
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btAssert(0);
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//&& (L"Not enough memory"));
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return(0);
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}
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SIMD_FORCE_INLINE btBlock* beginBlock()
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{
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btBlock* pb = (btBlock*)allocate(sizeof(btBlock));
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pb->previous = current;
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pb->address = data+usedsize;
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current = pb;
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return(pb);
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}
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SIMD_FORCE_INLINE void endBlock(btBlock* block)
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{
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btAssert(block==current);
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//Raise(L"Unmatched blocks");
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if(block==current)
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{
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current = block->previous;
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usedsize = (unsigned int)((block->address-data)-sizeof(btBlock));
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}
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}
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private:
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void ctor()
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{
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data = 0;
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totalsize = 0;
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usedsize = 0;
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current = 0;
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ischild = false;
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}
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unsigned char* data;
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unsigned int totalsize;
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unsigned int usedsize;
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btBlock* current;
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bool ischild;
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};
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#endif //BT_STACK_ALLOC
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