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More EOL prop setting and fixing of files with mixed EOLs.

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git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@3206 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
mbjornstk
2009-03-01 00:46:47 +00:00
parent fc46307f54
commit 210fe11806
241 changed files with 44166 additions and 44166 deletions
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324
src/bullet/Demos/OpenGL/BMF_Api.cpp
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@@ -1,162 +1,162 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*
* Implementation of the API of the OpenGL bitmap font library.
*/
#include "BMF_Api.h"
#include "BMF_BitmapFont.h"
#if BMF_INCLUDE_HELV10
extern BMF_FontData BMF_font_helv10;
static BMF_BitmapFont bmfHelv10(&BMF_font_helv10);
#endif // BMF_INCLUDE_HELV10
#if BMF_INCLUDE_HELV12
extern BMF_FontData BMF_font_helv12;
static BMF_BitmapFont bmfHelv12(&BMF_font_helv12);
#endif // BMF_INCLUDE_HELV12
#if BMF_INCLUDE_HELVB8
extern BMF_FontData BMF_font_helvb8;
static BMF_BitmapFont bmfHelvb8(&BMF_font_helvb8);
#endif // BMF_INCLUDE_HELVB8
#if BMF_INCLUDE_HELVB10
extern BMF_FontData BMF_font_helvb10;
static BMF_BitmapFont bmfHelvb10(&BMF_font_helvb10);
#endif // BMF_INCLUDE_HELVB10
#if BMF_INCLUDE_HELVB12
extern BMF_FontData BMF_font_helvb12;
static BMF_BitmapFont bmfHelvb12(&BMF_font_helvb12);
#endif // BMF_INCLUDE_HELVB12
#if BMF_INCLUDE_HELVB14
extern BMF_FontData BMF_font_helvb14;
static BMF_BitmapFont bmfHelvb14(&BMF_font_helvb14);
#endif // BMF_INCLUDE_HELVB14
#if BMF_INCLUDE_SCR12
extern BMF_FontData BMF_font_scr12;
static BMF_BitmapFont bmfScreen12(&BMF_font_scr12);
#endif // BMF_INCLUDE_SCR12
#if BMF_INCLUDE_SCR14
extern BMF_FontData BMF_font_scr14;
static BMF_BitmapFont bmfScreen14(&BMF_font_scr14);
#endif // BMF_INCLUDE_SCR14
#if BMF_INCLUDE_SCR15
extern BMF_FontData BMF_font_scr15;
static BMF_BitmapFont bmfScreen15(&BMF_font_scr15);
#endif // BMF_INCLUDE_SCR15
BMF_Font* BMF_GetFont(BMF_FontType font)
{
switch (font)
{
#if BMF_INCLUDE_HELV10
case BMF_kHelvetica10: return (BMF_Font*) &bmfHelv10;
#endif // BMF_INCLUDE_HELV10
#if BMF_INCLUDE_HELV12
case BMF_kHelvetica12: return (BMF_Font*) &bmfHelv12;
#endif // BMF_INCLUDE_HELV12
#if BMF_INCLUDE_HELVB8
case BMF_kHelveticaBold8: return (BMF_Font*) &bmfHelvb8;
#endif // BMF_INCLUDE_HELVB8
#if BMF_INCLUDE_HELVB10
case BMF_kHelveticaBold10: return (BMF_Font*) &bmfHelvb10;
#endif // BMF_INCLUDE_HELVB10
#if BMF_INCLUDE_HELVB12
case BMF_kHelveticaBold12: return (BMF_Font*) &bmfHelvb12;
#endif // BMF_INCLUDE_HELVB12
#if BMF_INCLUDE_HELVB14
case BMF_kHelveticaBold14: return (BMF_Font*) &bmfHelvb14;
#endif // BMF_INCLUDE_HELVB12
#if BMF_INCLUDE_SCR12
case BMF_kScreen12: return (BMF_Font*) &bmfScreen12;
#endif // BMF_INCLUDE_SCR12
#if BMF_INCLUDE_SCR14
case BMF_kScreen14: return (BMF_Font*) &bmfScreen14;
#endif // BMF_INCLUDE_SCR14
#if BMF_INCLUDE_SCR15
case BMF_kScreen15: return (BMF_Font*) &bmfScreen15;
#endif // BMF_INCLUDE_SCR15
default:
break;
}
return 0;
}
int BMF_DrawCharacter(BMF_Font* font, char c)
{
char str[2] = {c, '\0'};
return BMF_DrawString(font, str);
}
int BMF_DrawString(BMF_Font* font, const char* str)
{
if (!font) return 0;
((BMF_BitmapFont*)font)->drawString(str);
return 1;
}
int BMF_GetCharacterWidth(BMF_Font* font, char c)
{
char str[2] = {c, '\0'};
return BMF_GetStringWidth(font, str);
}
int BMF_GetStringWidth(BMF_Font* font, char* str)
{
if (!font) return 0;
return ((BMF_BitmapFont*)font)->getStringWidth(str);
}
void BMF_GetBoundingBox(BMF_Font* font, int *xmin_r, int *ymin_r, int *xmax_r, int *ymax_r)
{
if (!font) return;
((BMF_BitmapFont*)font)->getBoundingBox(*xmin_r, *ymin_r, *xmax_r, *ymax_r);
}
int BMF_GetFontTexture(BMF_Font* font) {
if (!font) return -1;
return ((BMF_BitmapFont*)font)->getTexture();
}
void BMF_DrawStringTexture(BMF_Font* font, char *string, float x, float y, float z) {
if (!font) return;
((BMF_BitmapFont*)font)->drawStringTexture(string, x, y, z);
}
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*
* Implementation of the API of the OpenGL bitmap font library.
*/
#include "BMF_Api.h"
#include "BMF_BitmapFont.h"
#if BMF_INCLUDE_HELV10
extern BMF_FontData BMF_font_helv10;
static BMF_BitmapFont bmfHelv10(&BMF_font_helv10);
#endif // BMF_INCLUDE_HELV10
#if BMF_INCLUDE_HELV12
extern BMF_FontData BMF_font_helv12;
static BMF_BitmapFont bmfHelv12(&BMF_font_helv12);
#endif // BMF_INCLUDE_HELV12
#if BMF_INCLUDE_HELVB8
extern BMF_FontData BMF_font_helvb8;
static BMF_BitmapFont bmfHelvb8(&BMF_font_helvb8);
#endif // BMF_INCLUDE_HELVB8
#if BMF_INCLUDE_HELVB10
extern BMF_FontData BMF_font_helvb10;
static BMF_BitmapFont bmfHelvb10(&BMF_font_helvb10);
#endif // BMF_INCLUDE_HELVB10
#if BMF_INCLUDE_HELVB12
extern BMF_FontData BMF_font_helvb12;
static BMF_BitmapFont bmfHelvb12(&BMF_font_helvb12);
#endif // BMF_INCLUDE_HELVB12
#if BMF_INCLUDE_HELVB14
extern BMF_FontData BMF_font_helvb14;
static BMF_BitmapFont bmfHelvb14(&BMF_font_helvb14);
#endif // BMF_INCLUDE_HELVB14
#if BMF_INCLUDE_SCR12
extern BMF_FontData BMF_font_scr12;
static BMF_BitmapFont bmfScreen12(&BMF_font_scr12);
#endif // BMF_INCLUDE_SCR12
#if BMF_INCLUDE_SCR14
extern BMF_FontData BMF_font_scr14;
static BMF_BitmapFont bmfScreen14(&BMF_font_scr14);
#endif // BMF_INCLUDE_SCR14
#if BMF_INCLUDE_SCR15
extern BMF_FontData BMF_font_scr15;
static BMF_BitmapFont bmfScreen15(&BMF_font_scr15);
#endif // BMF_INCLUDE_SCR15
BMF_Font* BMF_GetFont(BMF_FontType font)
{
switch (font)
{
#if BMF_INCLUDE_HELV10
case BMF_kHelvetica10: return (BMF_Font*) &bmfHelv10;
#endif // BMF_INCLUDE_HELV10
#if BMF_INCLUDE_HELV12
case BMF_kHelvetica12: return (BMF_Font*) &bmfHelv12;
#endif // BMF_INCLUDE_HELV12
#if BMF_INCLUDE_HELVB8
case BMF_kHelveticaBold8: return (BMF_Font*) &bmfHelvb8;
#endif // BMF_INCLUDE_HELVB8
#if BMF_INCLUDE_HELVB10
case BMF_kHelveticaBold10: return (BMF_Font*) &bmfHelvb10;
#endif // BMF_INCLUDE_HELVB10
#if BMF_INCLUDE_HELVB12
case BMF_kHelveticaBold12: return (BMF_Font*) &bmfHelvb12;
#endif // BMF_INCLUDE_HELVB12
#if BMF_INCLUDE_HELVB14
case BMF_kHelveticaBold14: return (BMF_Font*) &bmfHelvb14;
#endif // BMF_INCLUDE_HELVB12
#if BMF_INCLUDE_SCR12
case BMF_kScreen12: return (BMF_Font*) &bmfScreen12;
#endif // BMF_INCLUDE_SCR12
#if BMF_INCLUDE_SCR14
case BMF_kScreen14: return (BMF_Font*) &bmfScreen14;
#endif // BMF_INCLUDE_SCR14
#if BMF_INCLUDE_SCR15
case BMF_kScreen15: return (BMF_Font*) &bmfScreen15;
#endif // BMF_INCLUDE_SCR15
default:
break;
}
return 0;
}
int BMF_DrawCharacter(BMF_Font* font, char c)
{
char str[2] = {c, '\0'};
return BMF_DrawString(font, str);
}
int BMF_DrawString(BMF_Font* font, const char* str)
{
if (!font) return 0;
((BMF_BitmapFont*)font)->drawString(str);
return 1;
}
int BMF_GetCharacterWidth(BMF_Font* font, char c)
{
char str[2] = {c, '\0'};
return BMF_GetStringWidth(font, str);
}
int BMF_GetStringWidth(BMF_Font* font, char* str)
{
if (!font) return 0;
return ((BMF_BitmapFont*)font)->getStringWidth(str);
}
void BMF_GetBoundingBox(BMF_Font* font, int *xmin_r, int *ymin_r, int *xmax_r, int *ymax_r)
{
if (!font) return;
((BMF_BitmapFont*)font)->getBoundingBox(*xmin_r, *ymin_r, *xmax_r, *ymax_r);
}
int BMF_GetFontTexture(BMF_Font* font) {
if (!font) return -1;
return ((BMF_BitmapFont*)font)->getTexture();
}
void BMF_DrawStringTexture(BMF_Font* font, char *string, float x, float y, float z) {
if (!font) return;
((BMF_BitmapFont*)font)->drawStringTexture(string, x, y, z);
}

256
src/bullet/Demos/OpenGL/BMF_Api.h
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@@ -1,128 +1,128 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*
* API of the OpenGL bitmap font library.
* Currently draws fonts using the glBitmap routine.
* This implies that drawing speed is heavyly dependant on
* the 2D capabilities of the graphics card.
*/
#ifndef __BMF_API_H
#define __BMF_API_H
#ifdef __cplusplus
extern "C" {
#endif
#include "BMF_Fonts.h"
/**
* Returns the font for a given font type.
* @param font The font to retrieve.
* @return The font (or nil if not found).
*/
BMF_Font* BMF_GetFont(BMF_FontType font);
/**
* Draws a character at the current raster position.
* @param font The font to use.
* @param c The character to draw.
* @return Indication of success (0 == error).
*/
int BMF_DrawCharacter(BMF_Font* font, char c);
/**
* Draws a string at the current raster position.
* @param font The font to use.
* @param str The string to draw.
* @return Indication of success (0 == error).
*/
int BMF_DrawString(BMF_Font* font, const char* str);
/**
* Returns the width of a character in pixels.
* @param font The font to use.
* @param c The character.
* @return The length.
*/
int BMF_GetCharacterWidth(BMF_Font* font, char c);
/**
* Returns the width of a string of characters.
* @param font The font to use.
* @param str The string.
* @return The length.
*/
int BMF_GetStringWidth(BMF_Font* font, char* str);
/**
* Returns the bounding box of the font. The width and
* height represent the bounding box of the union of
* all glyps. The minimum and maximum values of the
* box represent the extent of the font and its positioning
* about the origin.
*/
void BMF_GetBoundingBox(BMF_Font* font, int *xmin_r, int *ymin_r, int *xmax_r, int *ymax_r);
/**
* Convert the given @a font to a texture, and return the GL texture
* ID of the texture. If the texture ID is bound, text can
* be drawn using the texture by calling drawStringTexture.
*
* @param font The font to create the texture from.
* @return The GL texture ID of the new texture, or -1 if unable
* to create.
*/
int BMF_GetFontTexture(BMF_Font* font);
/**
* Draw the given @a str at the point @a x, @a y, @a z, using
* texture coordinates. This assumes that an appropriate texture
* has been bound, see BMF_BitmapFont::getTexture(). The string
* is drawn along the positive X axis.
*
* @param font The font to draw with.
* @param string The c-string to draw.
* @param x The x coordinate to start drawing at.
* @param y The y coordinate to start drawing at.
* @param z The z coordinate to start drawing at.
*/
void BMF_DrawStringTexture(BMF_Font* font, char* string, float x, float y, float z);
#ifdef __cplusplus
}
#endif
#endif /* __BMF_API_H */
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*
* API of the OpenGL bitmap font library.
* Currently draws fonts using the glBitmap routine.
* This implies that drawing speed is heavyly dependant on
* the 2D capabilities of the graphics card.
*/
#ifndef __BMF_API_H
#define __BMF_API_H
#ifdef __cplusplus
extern "C" {
#endif
#include "BMF_Fonts.h"
/**
* Returns the font for a given font type.
* @param font The font to retrieve.
* @return The font (or nil if not found).
*/
BMF_Font* BMF_GetFont(BMF_FontType font);
/**
* Draws a character at the current raster position.
* @param font The font to use.
* @param c The character to draw.
* @return Indication of success (0 == error).
*/
int BMF_DrawCharacter(BMF_Font* font, char c);
/**
* Draws a string at the current raster position.
* @param font The font to use.
* @param str The string to draw.
* @return Indication of success (0 == error).
*/
int BMF_DrawString(BMF_Font* font, const char* str);
/**
* Returns the width of a character in pixels.
* @param font The font to use.
* @param c The character.
* @return The length.
*/
int BMF_GetCharacterWidth(BMF_Font* font, char c);
/**
* Returns the width of a string of characters.
* @param font The font to use.
* @param str The string.
* @return The length.
*/
int BMF_GetStringWidth(BMF_Font* font, char* str);
/**
* Returns the bounding box of the font. The width and
* height represent the bounding box of the union of
* all glyps. The minimum and maximum values of the
* box represent the extent of the font and its positioning
* about the origin.
*/
void BMF_GetBoundingBox(BMF_Font* font, int *xmin_r, int *ymin_r, int *xmax_r, int *ymax_r);
/**
* Convert the given @a font to a texture, and return the GL texture
* ID of the texture. If the texture ID is bound, text can
* be drawn using the texture by calling drawStringTexture.
*
* @param font The font to create the texture from.
* @return The GL texture ID of the new texture, or -1 if unable
* to create.
*/
int BMF_GetFontTexture(BMF_Font* font);
/**
* Draw the given @a str at the point @a x, @a y, @a z, using
* texture coordinates. This assumes that an appropriate texture
* has been bound, see BMF_BitmapFont::getTexture(). The string
* is drawn along the positive X axis.
*
* @param font The font to draw with.
* @param string The c-string to draw.
* @param x The x coordinate to start drawing at.
* @param y The y coordinate to start drawing at.
* @param z The z coordinate to start drawing at.
*/
void BMF_DrawStringTexture(BMF_Font* font, char* string, float x, float y, float z);
#ifdef __cplusplus
}
#endif
#endif /* __BMF_API_H */

416
src/bullet/Demos/OpenGL/BMF_BitmapFont.cpp
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@@ -1,208 +1,208 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*/
#include <string.h>
#if defined(WIN32) || defined(__APPLE__)
#ifdef WIN32
#if !defined(__CYGWIN32__)
#pragma warning(disable:4244)
#endif /* __CYGWIN32__ */
#include <windows.h>
#include <GL/gl.h>
#else // WIN32
// __APPLE__ is defined
#include <AGL/gl.h>
#endif // WIN32
#else // defined(WIN32) || defined(__APPLE__)
#include <GL/gl.h>
#endif // defined(WIN32) || defined(__APPLE__)
#include "BMF_BitmapFont.h"
BMF_BitmapFont::BMF_BitmapFont(BMF_FontData* fontData)
: m_fontData(fontData)
{
}
BMF_BitmapFont::~BMF_BitmapFont(void)
{
}
void BMF_BitmapFont::drawString(const char* str)
{
if (!str)
return;
GLint alignment;
unsigned char c;
glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
while ((c = (unsigned char) *str++)) {
BMF_CharData & cd = m_fontData->chars[c];
if (cd.data_offset==-1) {
GLubyte nullBitmap = 0;
glBitmap(1, 1, 0, 0, cd.advance, 0, &nullBitmap);
} else {
GLubyte *bitmap = &m_fontData->bitmap_data[cd.data_offset];
glBitmap(cd.width, cd.height, cd.xorig, cd.yorig, cd.advance, 0, bitmap);
}
}
glPixelStorei(GL_UNPACK_ALIGNMENT, alignment);
}
int BMF_BitmapFont::getStringWidth(char* str)
{
unsigned char c;
int length = 0;
while ((c = (unsigned char) *str++)) {
length += m_fontData->chars[c].advance;
}
return length;
}
void BMF_BitmapFont::getBoundingBox(int & xMin, int & yMin, int & xMax, int & yMax)
{
xMin = m_fontData->xmin;
yMin = m_fontData->ymin;
xMax = m_fontData->xmax;
yMax = m_fontData->ymax;
}
int BMF_BitmapFont::getTexture()
{
int fWidth = m_fontData->xmax - m_fontData->xmin;
int fHeight = m_fontData->ymax - m_fontData->ymin;
if (fWidth>=16 || fHeight>=16) {
return -1;
}
int cRows = 16, cCols = 16;
int cWidth = 16, cHeight = 16;
int iWidth = cCols*cWidth;
int iHeight = cRows*cHeight;
GLubyte *img = new GLubyte [iHeight*iWidth];
GLuint texId;
int baseLine = -(m_fontData->ymin);
memset(img, 0, iHeight*iWidth);
for (int i = 0; i<256; i++) {
BMF_CharData & cd = m_fontData->chars[i];
if (cd.data_offset != -1) {
int cellX = i%16;
int cellY = i/16;
for (int y = 0; y<cd.height; y++) {
GLubyte* imgRow = &img[(cellY*cHeight + y + baseLine - cd.yorig)*iWidth];
GLubyte* chrRow = &m_fontData->bitmap_data[cd.data_offset + ((cd.width+7)/8)*y];
for (int x = 0; x<cd.width; x++) {
GLubyte* imgPxl = &imgRow[(cellX*cWidth + x - cd.xorig)];
int byteIdx = x/8;
int bitIdx = 7 - (x%8);
if (chrRow[byteIdx]&(1<<bitIdx)) {
imgPxl[0] = 255;
}
}
}
}
}
glGenTextures(1, &texId);
glBindTexture(GL_TEXTURE_2D, texId);
glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA4, iWidth, iHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
if (glGetError()) {
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE4_ALPHA4, iWidth, iHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
}
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
delete [] img;
return texId;
}
void BMF_BitmapFont::drawStringTexture(char *str, float x, float y, float z)
{
unsigned char c;
float pos = 0;
int baseLine = -(m_fontData->ymin);
glBegin(GL_QUADS);
while ((c = (unsigned char) *str++)) {
BMF_CharData & cd = m_fontData->chars[c];
if (cd.data_offset != -1) {
float cellX = (c%16)/16.0;
float cellY = (c/16)/16.0;
glTexCoord2f(cellX + 1.0/16.0, cellY);
glVertex3f(x + pos + 16.0, -baseLine + y + 0.0, z);
glTexCoord2f(cellX + 1.0/16.0, cellY + 1.0/16.0);
glVertex3f(x + pos + 16.0, -baseLine + y + 16.0, z);
glTexCoord2f(cellX, cellY + 1.0/16.0);
glVertex3f(x + pos + 0.0, -baseLine + y + 16.0, z);
glTexCoord2f(cellX, cellY);
glVertex3f(x + pos + 0.0, -baseLine + y + 0.0, z);
}
pos += cd.advance;
}
glEnd();
}
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*/
#include <string.h>
#if defined(WIN32) || defined(__APPLE__)
#ifdef WIN32
#if !defined(__CYGWIN32__)
#pragma warning(disable:4244)
#endif /* __CYGWIN32__ */
#include <windows.h>
#include <GL/gl.h>
#else // WIN32
// __APPLE__ is defined
#include <AGL/gl.h>
#endif // WIN32
#else // defined(WIN32) || defined(__APPLE__)
#include <GL/gl.h>
#endif // defined(WIN32) || defined(__APPLE__)
#include "BMF_BitmapFont.h"
BMF_BitmapFont::BMF_BitmapFont(BMF_FontData* fontData)
: m_fontData(fontData)
{
}
BMF_BitmapFont::~BMF_BitmapFont(void)
{
}
void BMF_BitmapFont::drawString(const char* str)
{
if (!str)
return;
GLint alignment;
unsigned char c;
glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
while ((c = (unsigned char) *str++)) {
BMF_CharData & cd = m_fontData->chars[c];
if (cd.data_offset==-1) {
GLubyte nullBitmap = 0;
glBitmap(1, 1, 0, 0, cd.advance, 0, &nullBitmap);
} else {
GLubyte *bitmap = &m_fontData->bitmap_data[cd.data_offset];
glBitmap(cd.width, cd.height, cd.xorig, cd.yorig, cd.advance, 0, bitmap);
}
}
glPixelStorei(GL_UNPACK_ALIGNMENT, alignment);
}
int BMF_BitmapFont::getStringWidth(char* str)
{
unsigned char c;
int length = 0;
while ((c = (unsigned char) *str++)) {
length += m_fontData->chars[c].advance;
}
return length;
}
void BMF_BitmapFont::getBoundingBox(int & xMin, int & yMin, int & xMax, int & yMax)
{
xMin = m_fontData->xmin;
yMin = m_fontData->ymin;
xMax = m_fontData->xmax;
yMax = m_fontData->ymax;
}
int BMF_BitmapFont::getTexture()
{
int fWidth = m_fontData->xmax - m_fontData->xmin;
int fHeight = m_fontData->ymax - m_fontData->ymin;
if (fWidth>=16 || fHeight>=16) {
return -1;
}
int cRows = 16, cCols = 16;
int cWidth = 16, cHeight = 16;
int iWidth = cCols*cWidth;
int iHeight = cRows*cHeight;
GLubyte *img = new GLubyte [iHeight*iWidth];
GLuint texId;
int baseLine = -(m_fontData->ymin);
memset(img, 0, iHeight*iWidth);
for (int i = 0; i<256; i++) {
BMF_CharData & cd = m_fontData->chars[i];
if (cd.data_offset != -1) {
int cellX = i%16;
int cellY = i/16;
for (int y = 0; y<cd.height; y++) {
GLubyte* imgRow = &img[(cellY*cHeight + y + baseLine - cd.yorig)*iWidth];
GLubyte* chrRow = &m_fontData->bitmap_data[cd.data_offset + ((cd.width+7)/8)*y];
for (int x = 0; x<cd.width; x++) {
GLubyte* imgPxl = &imgRow[(cellX*cWidth + x - cd.xorig)];
int byteIdx = x/8;
int bitIdx = 7 - (x%8);
if (chrRow[byteIdx]&(1<<bitIdx)) {
imgPxl[0] = 255;
}
}
}
}
}
glGenTextures(1, &texId);
glBindTexture(GL_TEXTURE_2D, texId);
glTexImage2D(GL_TEXTURE_2D, 0, GL_ALPHA4, iWidth, iHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
if (glGetError()) {
glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE4_ALPHA4, iWidth, iHeight, 0, GL_ALPHA, GL_UNSIGNED_BYTE, img);
}
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
delete [] img;
return texId;
}
void BMF_BitmapFont::drawStringTexture(char *str, float x, float y, float z)
{
unsigned char c;
float pos = 0;
int baseLine = -(m_fontData->ymin);
glBegin(GL_QUADS);
while ((c = (unsigned char) *str++)) {
BMF_CharData & cd = m_fontData->chars[c];
if (cd.data_offset != -1) {
float cellX = (c%16)/16.0;
float cellY = (c/16)/16.0;
glTexCoord2f(cellX + 1.0/16.0, cellY);
glVertex3f(x + pos + 16.0, -baseLine + y + 0.0, z);
glTexCoord2f(cellX + 1.0/16.0, cellY + 1.0/16.0);
glVertex3f(x + pos + 16.0, -baseLine + y + 16.0, z);
glTexCoord2f(cellX, cellY + 1.0/16.0);
glVertex3f(x + pos + 0.0, -baseLine + y + 16.0, z);
glTexCoord2f(cellX, cellY);
glVertex3f(x + pos + 0.0, -baseLine + y + 0.0, z);
}
pos += cd.advance;
}
glEnd();
}

222
src/bullet/Demos/OpenGL/BMF_BitmapFont.h
View File

@@ -1,111 +1,111 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*/
#ifndef __BMF_BITMAP_FONT_H
#define __BMF_BITMAP_FONT_H
#include "BMF_FontData.h"
/**
* Base class for OpenGL bitmap fonts.
*/
class BMF_BitmapFont
{
public:
/**
* Default constructor.
*/
BMF_BitmapFont(BMF_FontData* fontData);
/**
* Destructor.
*/
virtual ~BMF_BitmapFont(void);
/**
* Draws a string at the current raster position.
* @param str The string to draw.
*/
void drawString(const char* str);
void drawStringMemory(char* str);
/**
* Draws a string at the current raster position.
* @param str The string to draw.
* @return The width of the string.
*/
int getStringWidth(char* str);
/**
* Returns the bounding box of the font. The width and
* height represent the bounding box of the union of
* all glyps. The minimum and maximum values of the
* box represent the extent of the font and its positioning
* about the origin.
*/
void getBoundingBox(int & xMin, int & yMin, int & xMax, int & yMax);
/**
* Convert the font to a texture, and return the GL texture
* ID of the texture. If the texture ID is bound, text can
* be drawn using the texture by calling drawStringTexture.
*
* @return The GL texture ID of the new texture, or -1 if unable
* to create.
*/
int getTexture();
/**
* Draw the given @a string at the point @a x, @a y, @a z, using
* texture coordinates. This assumes that an appropriate texture
* has been bound, see BMF_BitmapFont::getTexture(). The string
* is drawn along the positive X axis.
*
* @param string The c-string to draw.
* @param x The x coordinate to start drawing at.
* @param y The y coordinate to start drawing at.
* @param z The z coordinate to start drawing at.
*/
void drawStringTexture(char* string, float x, float y, float z);
protected:
/** Pointer to the font data. */
BMF_FontData* m_fontData;
};
#endif // __BMF_BITMAP_FONT_H
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*/
#ifndef __BMF_BITMAP_FONT_H
#define __BMF_BITMAP_FONT_H
#include "BMF_FontData.h"
/**
* Base class for OpenGL bitmap fonts.
*/
class BMF_BitmapFont
{
public:
/**
* Default constructor.
*/
BMF_BitmapFont(BMF_FontData* fontData);
/**
* Destructor.
*/
virtual ~BMF_BitmapFont(void);
/**
* Draws a string at the current raster position.
* @param str The string to draw.
*/
void drawString(const char* str);
void drawStringMemory(char* str);
/**
* Draws a string at the current raster position.
* @param str The string to draw.
* @return The width of the string.
*/
int getStringWidth(char* str);
/**
* Returns the bounding box of the font. The width and
* height represent the bounding box of the union of
* all glyps. The minimum and maximum values of the
* box represent the extent of the font and its positioning
* about the origin.
*/
void getBoundingBox(int & xMin, int & yMin, int & xMax, int & yMax);
/**
* Convert the font to a texture, and return the GL texture
* ID of the texture. If the texture ID is bound, text can
* be drawn using the texture by calling drawStringTexture.
*
* @return The GL texture ID of the new texture, or -1 if unable
* to create.
*/
int getTexture();
/**
* Draw the given @a string at the point @a x, @a y, @a z, using
* texture coordinates. This assumes that an appropriate texture
* has been bound, see BMF_BitmapFont::getTexture(). The string
* is drawn along the positive X axis.
*
* @param string The c-string to draw.
* @param x The x coordinate to start drawing at.
* @param y The y coordinate to start drawing at.
* @param z The z coordinate to start drawing at.
*/
void drawStringTexture(char* string, float x, float y, float z);
protected:
/** Pointer to the font data. */
BMF_FontData* m_fontData;
};
#endif // __BMF_BITMAP_FONT_H

112
src/bullet/Demos/OpenGL/BMF_FontData.h
View File

@@ -1,56 +1,56 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*/
#ifndef __BMF_FONTDATA_H__
#define __BMF_FONTDATA_H__
typedef struct {
signed char width, height;
signed char xorig, yorig;
signed char advance;
short data_offset;
} BMF_CharData;
typedef struct {
int xmin, ymin;
int xmax, ymax;
BMF_CharData chars[256];
unsigned char* bitmap_data;
} BMF_FontData;
#endif
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
*/
#ifndef __BMF_FONTDATA_H__
#define __BMF_FONTDATA_H__
typedef struct {
signed char width, height;
signed char xorig, yorig;
signed char advance;
short data_offset;
} BMF_CharData;
typedef struct {
int xmin, ymin;
int xmax, ymax;
BMF_CharData chars[256];
unsigned char* bitmap_data;
} BMF_FontData;
#endif

150
src/bullet/Demos/OpenGL/BMF_Fonts.h
View File

@@ -1,75 +1,75 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
* Defines the names of the fonts in the library.
*/
#ifndef __BMF_FONTS_H
#define __BMF_FONTS_H
#include "BMF_Settings.h"
typedef enum
{
BMF_kHelvetica10 = 0,
#if BMF_INCLUDE_HELV12
BMF_kHelvetica12,
#endif
#if BMF_INCLUDE_HELVB8
BMF_kHelveticaBold8,
#endif
#if BMF_INCLUDE_HELVB10
BMF_kHelveticaBold10,
#endif
#if BMF_INCLUDE_HELVB12
BMF_kHelveticaBold12,
#endif
#if BMF_INCLUDE_HELVB14
BMF_kHelveticaBold14,
#endif
#if BMF_INCLUDE_SCR12
BMF_kScreen12,
#endif
#if BMF_INCLUDE_SCR14
BMF_kScreen14,
#endif
#if BMF_INCLUDE_SCR15
BMF_kScreen15,
#endif
BMF_kNumFonts
} BMF_FontType;
typedef struct BMF_Font BMF_Font;
#endif /* __BMF_FONTS_H */
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
* Defines the names of the fonts in the library.
*/
#ifndef __BMF_FONTS_H
#define __BMF_FONTS_H
#include "BMF_Settings.h"
typedef enum
{
BMF_kHelvetica10 = 0,
#if BMF_INCLUDE_HELV12
BMF_kHelvetica12,
#endif
#if BMF_INCLUDE_HELVB8
BMF_kHelveticaBold8,
#endif
#if BMF_INCLUDE_HELVB10
BMF_kHelveticaBold10,
#endif
#if BMF_INCLUDE_HELVB12
BMF_kHelveticaBold12,
#endif
#if BMF_INCLUDE_HELVB14
BMF_kHelveticaBold14,
#endif
#if BMF_INCLUDE_SCR12
BMF_kScreen12,
#endif
#if BMF_INCLUDE_SCR14
BMF_kScreen14,
#endif
#if BMF_INCLUDE_SCR15
BMF_kScreen15,
#endif
BMF_kNumFonts
} BMF_FontType;
typedef struct BMF_Font BMF_Font;
#endif /* __BMF_FONTS_H */

104
src/bullet/Demos/OpenGL/BMF_Settings.h
View File

@@ -1,52 +1,52 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
* Allows you to determine which fonts to include in the library.
*/
#ifndef __BMF_SETTINGS_H
#define __BMF_SETTINGS_H
#define BMF_INCLUDE_HELV12 0
#define BMF_INCLUDE_HELVB8 0
#define BMF_INCLUDE_HELVB10 0
#define BMF_INCLUDE_HELVB12 0
#define BMF_INCLUDE_HELVB14 0
#define BMF_INCLUDE_SCR12 0
#define BMF_INCLUDE_SCR14 0
#define BMF_INCLUDE_SCR15 0
#define BMF_INCLUDE_HELV10 1
#endif /* __BMF_SETTINGS_H */
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
/**
* Copyright (C) 2001 NaN Technologies B.V.
* Allows you to determine which fonts to include in the library.
*/
#ifndef __BMF_SETTINGS_H
#define __BMF_SETTINGS_H
#define BMF_INCLUDE_HELV12 0
#define BMF_INCLUDE_HELVB8 0
#define BMF_INCLUDE_HELVB10 0
#define BMF_INCLUDE_HELVB12 0
#define BMF_INCLUDE_HELVB14 0
#define BMF_INCLUDE_SCR12 0
#define BMF_INCLUDE_SCR14 0
#define BMF_INCLUDE_SCR15 0
#define BMF_INCLUDE_HELV10 1
#endif /* __BMF_SETTINGS_H */

982
src/bullet/Demos/OpenGL/BMF_font_helv10.cpp
View File

@@ -1,491 +1,491 @@
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "BMF_FontData.h"
#include "BMF_Settings.h"
#if BMF_INCLUDE_HELV10
static unsigned char bitmap_data[]= {
0x80,0x00,0x80,0x80,0x80,0x80,0x80,0x80,
0xa0,0xa0,0x50,0x50,0xf8,0x28,0x7c,0x28,
0x28,0x20,0x70,0xa8,0x28,0x70,0xa0,0xa8,
0x70,0x20,0x26,0x29,0x16,0x10,0x08,0x68,
0x94,0x64,0x64,0x98,0x98,0xa4,0x60,0x50,
0x50,0x20,0x80,0x40,0x40,0x20,0x40,0x40,
0x80,0x80,0x80,0x80,0x40,0x40,0x20,0x80,
0x40,0x40,0x20,0x20,0x20,0x20,0x40,0x40,
0x80,0xa0,0x40,0xa0,0x20,0x20,0xf8,0x20,
0x20,0x80,0x40,0x40,0xf8,0x80,0x80,0x80,
0x40,0x40,0x40,0x40,0x20,0x20,0x70,0x88,
0x88,0x88,0x88,0x88,0x88,0x70,0x40,0x40,
0x40,0x40,0x40,0x40,0xc0,0x40,0xf8,0x80,
0x40,0x30,0x08,0x08,0x88,0x70,0x70,0x88,
0x08,0x08,0x30,0x08,0x88,0x70,0x10,0x10,
0xf8,0x90,0x50,0x50,0x30,0x10,0x70,0x88,
0x08,0x08,0xf0,0x80,0x80,0xf8,0x70,0x88,
0x88,0xc8,0xb0,0x80,0x88,0x70,0x40,0x40,
0x20,0x20,0x10,0x10,0x08,0xf8,0x70,0x88,
0x88,0x88,0x70,0x88,0x88,0x70,0x70,0x88,
0x08,0x68,0x98,0x88,0x88,0x70,0x80,0x00,
0x00,0x00,0x00,0x80,0x80,0x40,0x40,0x00,
0x00,0x00,0x00,0x40,0x20,0x40,0x80,0x40,
0x20,0xf0,0x00,0xf0,0x80,0x40,0x20,0x40,
0x80,0x40,0x00,0x40,0x40,0x20,0x10,0x90,
0x60,0x3e,0x00,0x40,0x00,0x9b,0x00,0xa4,
0x80,0xa4,0x80,0xa2,0x40,0x92,0x40,0x4d,
0x40,0x20,0x80,0x1f,0x00,0x82,0x82,0x7c,
0x44,0x28,0x28,0x10,0x10,0xf0,0x88,0x88,
0x88,0xf0,0x88,0x88,0xf0,0x78,0x84,0x80,
0x80,0x80,0x80,0x84,0x78,0xf0,0x88,0x84,
0x84,0x84,0x84,0x88,0xf0,0xf8,0x80,0x80,
0x80,0xf8,0x80,0x80,0xf8,0x80,0x80,0x80,
0x80,0xf0,0x80,0x80,0xf8,0x74,0x8c,0x84,
0x8c,0x80,0x80,0x84,0x78,0x84,0x84,0x84,
0x84,0xfc,0x84,0x84,0x84,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x60,0x90,0x10,
0x10,0x10,0x10,0x10,0x10,0x88,0x88,0x90,
0x90,0xe0,0xa0,0x90,0x88,0xf0,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x92,0x92,0x92,
0xaa,0xaa,0xc6,0xc6,0x82,0x8c,0x8c,0x94,
0x94,0xa4,0xa4,0xc4,0xc4,0x78,0x84,0x84,
0x84,0x84,0x84,0x84,0x78,0x80,0x80,0x80,
0x80,0xf0,0x88,0x88,0xf0,0x02,0x7c,0x8c,
0x94,0x84,0x84,0x84,0x84,0x78,0x88,0x88,
0x88,0x88,0xf0,0x88,0x88,0xf0,0x70,0x88,
0x88,0x08,0x70,0x80,0x88,0x70,0x20,0x20,
0x20,0x20,0x20,0x20,0x20,0xf8,0x78,0x84,
0x84,0x84,0x84,0x84,0x84,0x84,0x10,0x28,
0x28,0x44,0x44,0x44,0x82,0x82,0x22,0x00,
0x22,0x00,0x22,0x00,0x55,0x00,0x49,0x00,
0x49,0x00,0x88,0x80,0x88,0x80,0x88,0x88,
0x50,0x50,0x20,0x50,0x88,0x88,0x10,0x10,
0x10,0x28,0x28,0x44,0x44,0x82,0xf8,0x80,
0x40,0x20,0x20,0x10,0x08,0xf8,0xc0,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0xc0,
0x20,0x20,0x40,0x40,0x40,0x40,0x80,0x80,
0xc0,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x40,0xc0,0x88,0x50,0x50,0x20,0x20,0xfc,
0x80,0x80,0x40,0x68,0x90,0x90,0x70,0x10,
0xe0,0xb0,0xc8,0x88,0x88,0xc8,0xb0,0x80,
0x80,0x60,0x90,0x80,0x80,0x90,0x60,0x68,
0x98,0x88,0x88,0x98,0x68,0x08,0x08,0x60,
0x90,0x80,0xf0,0x90,0x60,0x40,0x40,0x40,
0x40,0x40,0xe0,0x40,0x30,0x70,0x08,0x68,
0x98,0x88,0x88,0x98,0x68,0x88,0x88,0x88,
0x88,0xc8,0xb0,0x80,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x00,0x80,0x90,0x90,
0xa0,0xc0,0xa0,0x90,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x92,0x92,
0x92,0x92,0x92,0xec,0x88,0x88,0x88,0x88,
0xc8,0xb0,0x70,0x88,0x88,0x88,0x88,0x70,
0x80,0x80,0xb0,0xc8,0x88,0x88,0xc8,0xb0,
0x08,0x08,0x68,0x98,0x88,0x88,0x98,0x68,
0x80,0x80,0x80,0x80,0xc0,0xa0,0x60,0x90,
0x10,0x60,0x90,0x60,0x60,0x40,0x40,0x40,
0x40,0xe0,0x40,0x40,0x70,0x90,0x90,0x90,
0x90,0x90,0x20,0x20,0x50,0x50,0x88,0x88,
0x28,0x28,0x54,0x54,0x92,0x92,0x88,0x88,
0x50,0x20,0x50,0x88,0x80,0x40,0x40,0x60,
0xa0,0xa0,0x90,0x90,0xf0,0x80,0x40,0x20,
0x10,0xf0,0x20,0x40,0x40,0x40,0x40,0x80,
0x40,0x40,0x40,0x20,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x40,
0x40,0x40,0x40,0x20,0x40,0x40,0x40,0x80,
0x98,0x64,0x80,0x80,0x80,0x80,0x80,0x80,
0x00,0x80,0x40,0x70,0xa8,0xa0,0xa0,0xa8,
0x70,0x10,0xb0,0x48,0x40,0x40,0xe0,0x40,
0x48,0x30,0x90,0x60,0x90,0x90,0x60,0x90,
0x20,0xf8,0x20,0xf8,0x50,0x50,0x88,0x88,
0x80,0x80,0x80,0x80,0x00,0x00,0x80,0x80,
0x80,0x80,0x70,0x88,0x18,0x70,0xc8,0x98,
0x70,0xc0,0x88,0x70,0xa0,0x38,0x44,0x9a,
0xa2,0x9a,0x44,0x38,0xe0,0x00,0xa0,0x20,
0xe0,0x28,0x50,0xa0,0x50,0x28,0x08,0x08,
0xf8,0xe0,0x38,0x44,0xaa,0xb2,0xba,0x44,
0x38,0xe0,0x60,0x90,0x90,0x60,0xf8,0x00,
0x20,0x20,0xf8,0x20,0x20,0xe0,0x40,0xa0,
0x60,0xc0,0x20,0x40,0xe0,0x80,0x40,0x80,
0x80,0xf0,0x90,0x90,0x90,0x90,0x90,0x28,
0x28,0x28,0x28,0x28,0x68,0xe8,0xe8,0xe8,
0x7c,0xc0,0xc0,0x40,0x40,0x40,0xc0,0x40,
0xe0,0x00,0xe0,0xa0,0xe0,0xa0,0x50,0x28,
0x50,0xa0,0x21,0x00,0x17,0x80,0x13,0x00,
0x09,0x00,0x48,0x00,0x44,0x00,0xc4,0x00,
0x42,0x00,0x27,0x12,0x15,0x0b,0x48,0x44,
0xc4,0x42,0x21,0x00,0x17,0x80,0x13,0x00,
0x09,0x00,0xc8,0x00,0x24,0x00,0x44,0x00,
0xe2,0x00,0x60,0x90,0x80,0x40,0x20,0x20,
0x00,0x20,0x82,0x82,0x7c,0x44,0x28,0x28,
0x10,0x10,0x00,0x10,0x20,0x82,0x82,0x7c,
0x44,0x28,0x28,0x10,0x10,0x00,0x10,0x08,
0x82,0x82,0x7c,0x44,0x28,0x28,0x10,0x10,
0x00,0x28,0x10,0x82,0x82,0x7c,0x44,0x28,
0x28,0x10,0x10,0x00,0x28,0x14,0x82,0x82,
0x7c,0x44,0x28,0x28,0x10,0x10,0x00,0x28,
0x82,0x82,0x7c,0x44,0x28,0x28,0x10,0x10,
0x10,0x28,0x10,0x8f,0x80,0x88,0x00,0x78,
0x00,0x48,0x00,0x2f,0x80,0x28,0x00,0x18,
0x00,0x1f,0x80,0x30,0x10,0x78,0x84,0x80,
0x80,0x80,0x80,0x84,0x78,0xf8,0x80,0x80,
0x80,0xf8,0x80,0x80,0xf8,0x00,0x20,0x40,
0xf8,0x80,0x80,0x80,0xf8,0x80,0x80,0xf8,
0x00,0x20,0x10,0xf8,0x80,0x80,0xf8,0x80,
0x80,0x80,0xf8,0x00,0x50,0x20,0xf8,0x80,
0x80,0x80,0xf8,0x80,0x80,0xf8,0x00,0x50,
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x00,0x40,0x80,0x80,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x00,0x80,0x40,0x40,0x40,
0x40,0x40,0x40,0x40,0x40,0x40,0x00,0xa0,
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x40,0x00,0xa0,0x78,0x44,0x42,0x42,0xf2,
0x42,0x44,0x78,0x8c,0x8c,0x94,0x94,0xa4,
0xa4,0xc4,0xc4,0x00,0x50,0x28,0x78,0x84,
0x84,0x84,0x84,0x84,0x84,0x78,0x00,0x10,
0x20,0x78,0x84,0x84,0x84,0x84,0x84,0x84,
0x78,0x00,0x10,0x08,0x78,0x84,0x84,0x84,
0x84,0x84,0x84,0x78,0x00,0x28,0x10,0x78,
0x84,0x84,0x84,0x84,0x84,0x84,0x78,0x00,
0x50,0x28,0x78,0x84,0x84,0x84,0x84,0x84,
0x84,0x78,0x00,0x48,0x88,0x50,0x20,0x50,
0x88,0x80,0x78,0xc4,0xa4,0xa4,0x94,0x94,
0x8c,0x78,0x04,0x78,0x84,0x84,0x84,0x84,
0x84,0x84,0x84,0x00,0x10,0x20,0x78,0x84,
0x84,0x84,0x84,0x84,0x84,0x84,0x00,0x20,
0x10,0x78,0x84,0x84,0x84,0x84,0x84,0x84,
0x84,0x00,0x28,0x10,0x78,0x84,0x84,0x84,
0x84,0x84,0x84,0x84,0x00,0x48,0x10,0x10,
0x10,0x28,0x28,0x44,0x44,0x82,0x00,0x10,
0x08,0x80,0x80,0xf0,0x88,0x88,0xf0,0x80,
0x80,0xa0,0x90,0x90,0x90,0xa0,0x90,0x90,
0x60,0x68,0x90,0x90,0x70,0x10,0xe0,0x00,
0x20,0x40,0x68,0x90,0x90,0x70,0x10,0xe0,
0x00,0x20,0x10,0x68,0x90,0x90,0x70,0x10,
0xe0,0x00,0x50,0x20,0x68,0x90,0x90,0x70,
0x10,0xe0,0x00,0xa0,0x50,0x68,0x90,0x90,
0x70,0x10,0xe0,0x00,0x50,0x68,0x90,0x90,
0x70,0x10,0xe0,0x20,0x50,0x20,0x6c,0x92,
0x90,0x7e,0x12,0xec,0x60,0x20,0x60,0x90,
0x80,0x80,0x90,0x60,0x60,0x90,0x80,0xf0,
0x90,0x60,0x00,0x20,0x40,0x60,0x90,0x80,
0xf0,0x90,0x60,0x00,0x40,0x20,0x60,0x90,
0x80,0xf0,0x90,0x60,0x00,0x50,0x20,0x60,
0x90,0x80,0xf0,0x90,0x60,0x00,0x50,0x40,
0x40,0x40,0x40,0x40,0x40,0x00,0x40,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x80,
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
0xa0,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x00,0xa0,0x70,0x88,0x88,0x88,0x88,0x78,
0x90,0x60,0x50,0x90,0x90,0x90,0x90,0x90,
0xe0,0x00,0xa0,0x50,0x70,0x88,0x88,0x88,
0x88,0x70,0x00,0x20,0x40,0x70,0x88,0x88,
0x88,0x88,0x70,0x00,0x20,0x10,0x70,0x88,
0x88,0x88,0x88,0x70,0x00,0x50,0x20,0x70,
0x88,0x88,0x88,0x88,0x70,0x00,0x50,0x28,
0x70,0x88,0x88,0x88,0x88,0x70,0x00,0x50,
0x20,0x00,0xf8,0x00,0x20,0x70,0x88,0xc8,
0xa8,0x98,0x74,0x70,0x90,0x90,0x90,0x90,
0x90,0x00,0x20,0x40,0x70,0x90,0x90,0x90,
0x90,0x90,0x00,0x40,0x20,0x70,0x90,0x90,
0x90,0x90,0x90,0x00,0x50,0x20,0x70,0x90,
0x90,0x90,0x90,0x90,0x00,0x50,0x80,0x40,
0x40,0x60,0xa0,0xa0,0x90,0x90,0x00,0x20,
0x10,0x80,0x80,0xb0,0xc8,0x88,0x88,0xc8,
0xb0,0x80,0x80,0x80,0x40,0x40,0x60,0xa0,
0xa0,0x90,0x90,0x00,0x50,
};
BMF_FontData BMF_font_helv10 = {
-1, -2,
10, 11,
{
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0, 0, 0, 0, 12, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0, 0, 0, 0, 3, -1},
{1, 8, -1, 0, 3, 0},
{3, 2, -1, -6, 4, 8},
{6, 7, 0, 0, 6, 10},
{5, 9, 0, 1, 6, 17},
{8, 8, 0, 0, 9, 26},
{6, 8, -1, 0, 8, 34},
{2, 3, -1, -5, 3, 42},
{3, 10, 0, 2, 4, 45},
{3, 10, -1, 2, 4, 55},
{3, 3, 0, -5, 4, 65},
{5, 5, 0, -1, 6, 68},
{2, 3, 0, 2, 3, 73},
{5, 1, -1, -3, 7, 76},
{1, 1, -1, 0, 3, 77},
{3, 8, 0, 0, 3, 78},
{5, 8, 0, 0, 6, 86},
{2, 8, -1, 0, 6, 94},
{5, 8, 0, 0, 6, 102},
{5, 8, 0, 0, 6, 110},
{5, 8, 0, 0, 6, 118},
{5, 8, 0, 0, 6, 126},
{5, 8, 0, 0, 6, 134},
{5, 8, 0, 0, 6, 142},
{5, 8, 0, 0, 6, 150},
{5, 8, 0, 0, 6, 158},
{1, 6, -1, 0, 3, 166},
{2, 8, 0, 2, 3, 172},
{3, 5, -1, -1, 6, 180},
{4, 3, 0, -2, 5, 185},
{3, 5, -1, -1, 6, 188},
{4, 8, -1, 0, 6, 193},
{10, 10, 0, 2, 11, 201},
{7, 8, 0, 0, 7, 221},
{5, 8, -1, 0, 7, 229},
{6, 8, -1, 0, 8, 237},
{6, 8, -1, 0, 8, 245},
{5, 8, -1, 0, 7, 253},
{5, 8, -1, 0, 6, 261},
{6, 8, -1, 0, 8, 269},
{6, 8, -1, 0, 8, 277},
{1, 8, -1, 0, 3, 285},
{4, 8, 0, 0, 5, 293},
{5, 8, -1, 0, 7, 301},
{4, 8, -1, 0, 6, 309},
{7, 8, -1, 0, 9, 317},
{6, 8, -1, 0, 8, 325},
{6, 8, -1, 0, 8, 333},
{5, 8, -1, 0, 7, 341},
{7, 9, -1, 1, 8, 349},
{5, 8, -1, 0, 7, 358},
{5, 8, -1, 0, 7, 366},
{5, 8, 0, 0, 5, 374},
{6, 8, -1, 0, 8, 382},
{7, 8, 0, 0, 7, 390},
{9, 8, 0, 0, 9, 398},
{5, 8, -1, 0, 7, 414},
{7, 8, 0, 0, 7, 422},
{5, 8, -1, 0, 7, 430},
{2, 10, -1, 2, 3, 438},
{3, 8, 0, 0, 3, 448},
{2, 10, 0, 2, 3, 456},
{5, 5, 0, -3, 6, 466},
{6, 1, 0, 2, 6, 471},
{2, 3, 0, -5, 3, 472},
{5, 6, 0, 0, 5, 475},
{5, 8, 0, 0, 6, 481},
{4, 6, 0, 0, 5, 489},
{5, 8, 0, 0, 6, 495},
{4, 6, 0, 0, 5, 503},
{4, 8, 0, 0, 4, 509},
{5, 8, 0, 2, 6, 517},
{5, 8, 0, 0, 6, 525},
{1, 8, 0, 0, 2, 533},
{1, 9, 0, 1, 2, 541},
{4, 8, 0, 0, 5, 550},
{1, 8, 0, 0, 2, 558},
{7, 6, 0, 0, 8, 566},
{5, 6, 0, 0, 6, 572},
{5, 6, 0, 0, 6, 578},
{5, 8, 0, 2, 6, 584},
{5, 8, 0, 2, 6, 592},
{3, 6, 0, 0, 4, 600},
{4, 6, 0, 0, 5, 606},
{3, 8, 0, 0, 4, 612},
{4, 6, 0, 0, 5, 620},
{5, 6, 0, 0, 6, 626},
{7, 6, 0, 0, 8, 632},
{5, 6, 0, 0, 6, 638},
{4, 8, 0, 2, 5, 644},
{4, 6, 0, 0, 5, 652},
{3, 10, 0, 2, 3, 658},
{1, 10, -1, 2, 3, 668},
{3, 10, 0, 2, 3, 678},
{6, 2, 0, -3, 7, 688},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0, 0, 0, 0, 3, -1},
{1, 8, -1, 2, 3, 690},
{5, 8, 0, 1, 6, 698},
{5, 8, 0, 0, 6, 706},
{4, 6, 0, -1, 5, 714},
{5, 8, 0, 0, 6, 720},
{1, 10, -1, 2, 3, 728},
{5, 10, 0, 2, 6, 738},
{3, 1, 0, -7, 3, 748},
{7, 7, -1, 0, 9, 749},
{3, 5, 0, -3, 4, 756},
{5, 5, 0, 0, 6, 761},
{5, 3, -1, -2, 7, 766},
{3, 1, 0, -3, 4, 769},
{7, 7, -1, 0, 9, 770},
{3, 1, 0, -7, 3, 777},
{4, 4, 0, -3, 4, 778},
{5, 7, 0, 0, 6, 782},
{3, 4, 0, -3, 3, 789},
{3, 4, 0, -3, 3, 793},
{2, 2, 0, -6, 3, 797},
{4, 8, 0, 2, 5, 799},
{6, 10, 0, 2, 6, 807},
{2, 1, 0, -3, 3, 817},
{2, 2, 0, 2, 3, 818},
{2, 4, 0, -3, 3, 820},
{3, 5, 0, -3, 4, 824},
{5, 5, 0, 0, 6, 829},
{9, 8, 0, 0, 9, 834},
{8, 8, 0, 0, 9, 850},
{9, 8, 0, 0, 9, 858},
{4, 8, -1, 2, 6, 874},
{7, 11, 0, 0, 7, 882},
{7, 11, 0, 0, 7, 893},
{7, 11, 0, 0, 7, 904},
{7, 11, 0, 0, 7, 915},
{7, 10, 0, 0, 7, 926},
{7, 11, 0, 0, 7, 936},
{9, 8, 0, 0, 10, 947},
{6, 10, -1, 2, 8, 963},
{5, 11, -1, 0, 7, 973},
{5, 11, -1, 0, 7, 984},
{5, 11, -1, 0, 7, 995},
{5, 10, -1, 0, 7, 1006},
{2, 11, 0, 0, 3, 1016},
{2, 11, -1, 0, 3, 1027},
{3, 11, 0, 0, 3, 1038},
{3, 10, 0, 0, 3, 1049},
{7, 8, 0, 0, 8, 1059},
{6, 11, -1, 0, 8, 1067},
{6, 11, -1, 0, 8, 1078},
{6, 11, -1, 0, 8, 1089},
{6, 11, -1, 0, 8, 1100},
{6, 11, -1, 0, 8, 1111},
{6, 10, -1, 0, 8, 1122},
{5, 5, 0, -1, 6, 1132},
{6, 10, -1, 1, 8, 1137},
{6, 11, -1, 0, 8, 1147},
{6, 11, -1, 0, 8, 1158},
{6, 11, -1, 0, 8, 1169},
{6, 10, -1, 0, 8, 1180},
{7, 11, 0, 0, 7, 1190},
{5, 8, -1, 0, 7, 1201},
{4, 8, 0, 0, 5, 1209},
{5, 9, 0, 0, 5, 1217},
{5, 9, 0, 0, 5, 1226},
{5, 9, 0, 0, 5, 1235},
{5, 9, 0, 0, 5, 1244},
{5, 8, 0, 0, 5, 1253},
{5, 9, 0, 0, 5, 1261},
{7, 6, 0, 0, 8, 1270},
{4, 8, 0, 2, 5, 1276},
{4, 9, 0, 0, 5, 1284},
{4, 9, 0, 0, 5, 1293},
{4, 9, 0, 0, 5, 1302},
{4, 8, 0, 0, 5, 1311},
{2, 9, 1, 0, 2, 1319},
{2, 9, 0, 0, 2, 1328},
{3, 9, 1, 0, 2, 1337},
{3, 8, 0, 0, 2, 1346},
{5, 9, 0, 0, 6, 1354},
{4, 9, 0, 0, 5, 1363},
{5, 9, 0, 0, 6, 1372},
{5, 9, 0, 0, 6, 1381},
{5, 9, 0, 0, 6, 1390},
{5, 9, 0, 0, 6, 1399},
{5, 8, 0, 0, 6, 1408},
{5, 5, 0, -1, 6, 1416},
{6, 6, 0, 0, 6, 1421},
{4, 9, 0, 0, 5, 1427},
{4, 9, 0, 0, 5, 1436},
{4, 9, 0, 0, 5, 1445},
{4, 8, 0, 0, 5, 1454},
{4, 11, 0, 2, 5, 1462},
{5, 10, 0, 2, 6, 1473},
{4, 10, 0, 2, 5, 1483},
},
bitmap_data
};
#endif
/**
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU bteral Public License
* as published by the Free Software Foundation; either version 3
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU bteral Public License for more details.
*
* You should have received a copy of the GNU bteral Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "BMF_FontData.h"
#include "BMF_Settings.h"
#if BMF_INCLUDE_HELV10
static unsigned char bitmap_data[]= {
0x80,0x00,0x80,0x80,0x80,0x80,0x80,0x80,
0xa0,0xa0,0x50,0x50,0xf8,0x28,0x7c,0x28,
0x28,0x20,0x70,0xa8,0x28,0x70,0xa0,0xa8,
0x70,0x20,0x26,0x29,0x16,0x10,0x08,0x68,
0x94,0x64,0x64,0x98,0x98,0xa4,0x60,0x50,
0x50,0x20,0x80,0x40,0x40,0x20,0x40,0x40,
0x80,0x80,0x80,0x80,0x40,0x40,0x20,0x80,
0x40,0x40,0x20,0x20,0x20,0x20,0x40,0x40,
0x80,0xa0,0x40,0xa0,0x20,0x20,0xf8,0x20,
0x20,0x80,0x40,0x40,0xf8,0x80,0x80,0x80,
0x40,0x40,0x40,0x40,0x20,0x20,0x70,0x88,
0x88,0x88,0x88,0x88,0x88,0x70,0x40,0x40,
0x40,0x40,0x40,0x40,0xc0,0x40,0xf8,0x80,
0x40,0x30,0x08,0x08,0x88,0x70,0x70,0x88,
0x08,0x08,0x30,0x08,0x88,0x70,0x10,0x10,
0xf8,0x90,0x50,0x50,0x30,0x10,0x70,0x88,
0x08,0x08,0xf0,0x80,0x80,0xf8,0x70,0x88,
0x88,0xc8,0xb0,0x80,0x88,0x70,0x40,0x40,
0x20,0x20,0x10,0x10,0x08,0xf8,0x70,0x88,
0x88,0x88,0x70,0x88,0x88,0x70,0x70,0x88,
0x08,0x68,0x98,0x88,0x88,0x70,0x80,0x00,
0x00,0x00,0x00,0x80,0x80,0x40,0x40,0x00,
0x00,0x00,0x00,0x40,0x20,0x40,0x80,0x40,
0x20,0xf0,0x00,0xf0,0x80,0x40,0x20,0x40,
0x80,0x40,0x00,0x40,0x40,0x20,0x10,0x90,
0x60,0x3e,0x00,0x40,0x00,0x9b,0x00,0xa4,
0x80,0xa4,0x80,0xa2,0x40,0x92,0x40,0x4d,
0x40,0x20,0x80,0x1f,0x00,0x82,0x82,0x7c,
0x44,0x28,0x28,0x10,0x10,0xf0,0x88,0x88,
0x88,0xf0,0x88,0x88,0xf0,0x78,0x84,0x80,
0x80,0x80,0x80,0x84,0x78,0xf0,0x88,0x84,
0x84,0x84,0x84,0x88,0xf0,0xf8,0x80,0x80,
0x80,0xf8,0x80,0x80,0xf8,0x80,0x80,0x80,
0x80,0xf0,0x80,0x80,0xf8,0x74,0x8c,0x84,
0x8c,0x80,0x80,0x84,0x78,0x84,0x84,0x84,
0x84,0xfc,0x84,0x84,0x84,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x60,0x90,0x10,
0x10,0x10,0x10,0x10,0x10,0x88,0x88,0x90,
0x90,0xe0,0xa0,0x90,0x88,0xf0,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x92,0x92,0x92,
0xaa,0xaa,0xc6,0xc6,0x82,0x8c,0x8c,0x94,
0x94,0xa4,0xa4,0xc4,0xc4,0x78,0x84,0x84,
0x84,0x84,0x84,0x84,0x78,0x80,0x80,0x80,
0x80,0xf0,0x88,0x88,0xf0,0x02,0x7c,0x8c,
0x94,0x84,0x84,0x84,0x84,0x78,0x88,0x88,
0x88,0x88,0xf0,0x88,0x88,0xf0,0x70,0x88,
0x88,0x08,0x70,0x80,0x88,0x70,0x20,0x20,
0x20,0x20,0x20,0x20,0x20,0xf8,0x78,0x84,
0x84,0x84,0x84,0x84,0x84,0x84,0x10,0x28,
0x28,0x44,0x44,0x44,0x82,0x82,0x22,0x00,
0x22,0x00,0x22,0x00,0x55,0x00,0x49,0x00,
0x49,0x00,0x88,0x80,0x88,0x80,0x88,0x88,
0x50,0x50,0x20,0x50,0x88,0x88,0x10,0x10,
0x10,0x28,0x28,0x44,0x44,0x82,0xf8,0x80,
0x40,0x20,0x20,0x10,0x08,0xf8,0xc0,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0xc0,
0x20,0x20,0x40,0x40,0x40,0x40,0x80,0x80,
0xc0,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x40,0xc0,0x88,0x50,0x50,0x20,0x20,0xfc,
0x80,0x80,0x40,0x68,0x90,0x90,0x70,0x10,
0xe0,0xb0,0xc8,0x88,0x88,0xc8,0xb0,0x80,
0x80,0x60,0x90,0x80,0x80,0x90,0x60,0x68,
0x98,0x88,0x88,0x98,0x68,0x08,0x08,0x60,
0x90,0x80,0xf0,0x90,0x60,0x40,0x40,0x40,
0x40,0x40,0xe0,0x40,0x30,0x70,0x08,0x68,
0x98,0x88,0x88,0x98,0x68,0x88,0x88,0x88,
0x88,0xc8,0xb0,0x80,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x00,0x80,0x90,0x90,
0xa0,0xc0,0xa0,0x90,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x92,0x92,
0x92,0x92,0x92,0xec,0x88,0x88,0x88,0x88,
0xc8,0xb0,0x70,0x88,0x88,0x88,0x88,0x70,
0x80,0x80,0xb0,0xc8,0x88,0x88,0xc8,0xb0,
0x08,0x08,0x68,0x98,0x88,0x88,0x98,0x68,
0x80,0x80,0x80,0x80,0xc0,0xa0,0x60,0x90,
0x10,0x60,0x90,0x60,0x60,0x40,0x40,0x40,
0x40,0xe0,0x40,0x40,0x70,0x90,0x90,0x90,
0x90,0x90,0x20,0x20,0x50,0x50,0x88,0x88,
0x28,0x28,0x54,0x54,0x92,0x92,0x88,0x88,
0x50,0x20,0x50,0x88,0x80,0x40,0x40,0x60,
0xa0,0xa0,0x90,0x90,0xf0,0x80,0x40,0x20,
0x10,0xf0,0x20,0x40,0x40,0x40,0x40,0x80,
0x40,0x40,0x40,0x20,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x40,
0x40,0x40,0x40,0x20,0x40,0x40,0x40,0x80,
0x98,0x64,0x80,0x80,0x80,0x80,0x80,0x80,
0x00,0x80,0x40,0x70,0xa8,0xa0,0xa0,0xa8,
0x70,0x10,0xb0,0x48,0x40,0x40,0xe0,0x40,
0x48,0x30,0x90,0x60,0x90,0x90,0x60,0x90,
0x20,0xf8,0x20,0xf8,0x50,0x50,0x88,0x88,
0x80,0x80,0x80,0x80,0x00,0x00,0x80,0x80,
0x80,0x80,0x70,0x88,0x18,0x70,0xc8,0x98,
0x70,0xc0,0x88,0x70,0xa0,0x38,0x44,0x9a,
0xa2,0x9a,0x44,0x38,0xe0,0x00,0xa0,0x20,
0xe0,0x28,0x50,0xa0,0x50,0x28,0x08,0x08,
0xf8,0xe0,0x38,0x44,0xaa,0xb2,0xba,0x44,
0x38,0xe0,0x60,0x90,0x90,0x60,0xf8,0x00,
0x20,0x20,0xf8,0x20,0x20,0xe0,0x40,0xa0,
0x60,0xc0,0x20,0x40,0xe0,0x80,0x40,0x80,
0x80,0xf0,0x90,0x90,0x90,0x90,0x90,0x28,
0x28,0x28,0x28,0x28,0x68,0xe8,0xe8,0xe8,
0x7c,0xc0,0xc0,0x40,0x40,0x40,0xc0,0x40,
0xe0,0x00,0xe0,0xa0,0xe0,0xa0,0x50,0x28,
0x50,0xa0,0x21,0x00,0x17,0x80,0x13,0x00,
0x09,0x00,0x48,0x00,0x44,0x00,0xc4,0x00,
0x42,0x00,0x27,0x12,0x15,0x0b,0x48,0x44,
0xc4,0x42,0x21,0x00,0x17,0x80,0x13,0x00,
0x09,0x00,0xc8,0x00,0x24,0x00,0x44,0x00,
0xe2,0x00,0x60,0x90,0x80,0x40,0x20,0x20,
0x00,0x20,0x82,0x82,0x7c,0x44,0x28,0x28,
0x10,0x10,0x00,0x10,0x20,0x82,0x82,0x7c,
0x44,0x28,0x28,0x10,0x10,0x00,0x10,0x08,
0x82,0x82,0x7c,0x44,0x28,0x28,0x10,0x10,
0x00,0x28,0x10,0x82,0x82,0x7c,0x44,0x28,
0x28,0x10,0x10,0x00,0x28,0x14,0x82,0x82,
0x7c,0x44,0x28,0x28,0x10,0x10,0x00,0x28,
0x82,0x82,0x7c,0x44,0x28,0x28,0x10,0x10,
0x10,0x28,0x10,0x8f,0x80,0x88,0x00,0x78,
0x00,0x48,0x00,0x2f,0x80,0x28,0x00,0x18,
0x00,0x1f,0x80,0x30,0x10,0x78,0x84,0x80,
0x80,0x80,0x80,0x84,0x78,0xf8,0x80,0x80,
0x80,0xf8,0x80,0x80,0xf8,0x00,0x20,0x40,
0xf8,0x80,0x80,0x80,0xf8,0x80,0x80,0xf8,
0x00,0x20,0x10,0xf8,0x80,0x80,0xf8,0x80,
0x80,0x80,0xf8,0x00,0x50,0x20,0xf8,0x80,
0x80,0x80,0xf8,0x80,0x80,0xf8,0x00,0x50,
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x00,0x40,0x80,0x80,0x80,0x80,0x80,0x80,
0x80,0x80,0x80,0x00,0x80,0x40,0x40,0x40,
0x40,0x40,0x40,0x40,0x40,0x40,0x00,0xa0,
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x40,0x00,0xa0,0x78,0x44,0x42,0x42,0xf2,
0x42,0x44,0x78,0x8c,0x8c,0x94,0x94,0xa4,
0xa4,0xc4,0xc4,0x00,0x50,0x28,0x78,0x84,
0x84,0x84,0x84,0x84,0x84,0x78,0x00,0x10,
0x20,0x78,0x84,0x84,0x84,0x84,0x84,0x84,
0x78,0x00,0x10,0x08,0x78,0x84,0x84,0x84,
0x84,0x84,0x84,0x78,0x00,0x28,0x10,0x78,
0x84,0x84,0x84,0x84,0x84,0x84,0x78,0x00,
0x50,0x28,0x78,0x84,0x84,0x84,0x84,0x84,
0x84,0x78,0x00,0x48,0x88,0x50,0x20,0x50,
0x88,0x80,0x78,0xc4,0xa4,0xa4,0x94,0x94,
0x8c,0x78,0x04,0x78,0x84,0x84,0x84,0x84,
0x84,0x84,0x84,0x00,0x10,0x20,0x78,0x84,
0x84,0x84,0x84,0x84,0x84,0x84,0x00,0x20,
0x10,0x78,0x84,0x84,0x84,0x84,0x84,0x84,
0x84,0x00,0x28,0x10,0x78,0x84,0x84,0x84,
0x84,0x84,0x84,0x84,0x00,0x48,0x10,0x10,
0x10,0x28,0x28,0x44,0x44,0x82,0x00,0x10,
0x08,0x80,0x80,0xf0,0x88,0x88,0xf0,0x80,
0x80,0xa0,0x90,0x90,0x90,0xa0,0x90,0x90,
0x60,0x68,0x90,0x90,0x70,0x10,0xe0,0x00,
0x20,0x40,0x68,0x90,0x90,0x70,0x10,0xe0,
0x00,0x20,0x10,0x68,0x90,0x90,0x70,0x10,
0xe0,0x00,0x50,0x20,0x68,0x90,0x90,0x70,
0x10,0xe0,0x00,0xa0,0x50,0x68,0x90,0x90,
0x70,0x10,0xe0,0x00,0x50,0x68,0x90,0x90,
0x70,0x10,0xe0,0x20,0x50,0x20,0x6c,0x92,
0x90,0x7e,0x12,0xec,0x60,0x20,0x60,0x90,
0x80,0x80,0x90,0x60,0x60,0x90,0x80,0xf0,
0x90,0x60,0x00,0x20,0x40,0x60,0x90,0x80,
0xf0,0x90,0x60,0x00,0x40,0x20,0x60,0x90,
0x80,0xf0,0x90,0x60,0x00,0x50,0x20,0x60,
0x90,0x80,0xf0,0x90,0x60,0x00,0x50,0x40,
0x40,0x40,0x40,0x40,0x40,0x00,0x40,0x80,
0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x80,
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,
0xa0,0x40,0x40,0x40,0x40,0x40,0x40,0x40,
0x00,0xa0,0x70,0x88,0x88,0x88,0x88,0x78,
0x90,0x60,0x50,0x90,0x90,0x90,0x90,0x90,
0xe0,0x00,0xa0,0x50,0x70,0x88,0x88,0x88,
0x88,0x70,0x00,0x20,0x40,0x70,0x88,0x88,
0x88,0x88,0x70,0x00,0x20,0x10,0x70,0x88,
0x88,0x88,0x88,0x70,0x00,0x50,0x20,0x70,
0x88,0x88,0x88,0x88,0x70,0x00,0x50,0x28,
0x70,0x88,0x88,0x88,0x88,0x70,0x00,0x50,
0x20,0x00,0xf8,0x00,0x20,0x70,0x88,0xc8,
0xa8,0x98,0x74,0x70,0x90,0x90,0x90,0x90,
0x90,0x00,0x20,0x40,0x70,0x90,0x90,0x90,
0x90,0x90,0x00,0x40,0x20,0x70,0x90,0x90,
0x90,0x90,0x90,0x00,0x50,0x20,0x70,0x90,
0x90,0x90,0x90,0x90,0x00,0x50,0x80,0x40,
0x40,0x60,0xa0,0xa0,0x90,0x90,0x00,0x20,
0x10,0x80,0x80,0xb0,0xc8,0x88,0x88,0xc8,
0xb0,0x80,0x80,0x80,0x40,0x40,0x60,0xa0,
0xa0,0x90,0x90,0x00,0x50,
};
BMF_FontData BMF_font_helv10 = {
-1, -2,
10, 11,
{
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{0,0,0,0,0, -1},
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{1, 8, -1, 0, 3, 0},
{3, 2, -1, -6, 4, 8},
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{10, 10, 0, 2, 11, 201},
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{5, 8, -1, 0, 7, 229},
{6, 8, -1, 0, 8, 237},
{6, 8, -1, 0, 8, 245},
{5, 8, -1, 0, 7, 253},
{5, 8, -1, 0, 6, 261},
{6, 8, -1, 0, 8, 269},
{6, 8, -1, 0, 8, 277},
{1, 8, -1, 0, 3, 285},
{4, 8, 0, 0, 5, 293},
{5, 8, -1, 0, 7, 301},
{4, 8, -1, 0, 6, 309},
{7, 8, -1, 0, 9, 317},
{6, 8, -1, 0, 8, 325},
{6, 8, -1, 0, 8, 333},
{5, 8, -1, 0, 7, 341},
{7, 9, -1, 1, 8, 349},
{5, 8, -1, 0, 7, 358},
{5, 8, -1, 0, 7, 366},
{5, 8, 0, 0, 5, 374},
{6, 8, -1, 0, 8, 382},
{7, 8, 0, 0, 7, 390},
{9, 8, 0, 0, 9, 398},
{5, 8, -1, 0, 7, 414},
{7, 8, 0, 0, 7, 422},
{5, 8, -1, 0, 7, 430},
{2, 10, -1, 2, 3, 438},
{3, 8, 0, 0, 3, 448},
{2, 10, 0, 2, 3, 456},
{5, 5, 0, -3, 6, 466},
{6, 1, 0, 2, 6, 471},
{2, 3, 0, -5, 3, 472},
{5, 6, 0, 0, 5, 475},
{5, 8, 0, 0, 6, 481},
{4, 6, 0, 0, 5, 489},
{5, 8, 0, 0, 6, 495},
{4, 6, 0, 0, 5, 503},
{4, 8, 0, 0, 4, 509},
{5, 8, 0, 2, 6, 517},
{5, 8, 0, 0, 6, 525},
{1, 8, 0, 0, 2, 533},
{1, 9, 0, 1, 2, 541},
{4, 8, 0, 0, 5, 550},
{1, 8, 0, 0, 2, 558},
{7, 6, 0, 0, 8, 566},
{5, 6, 0, 0, 6, 572},
{5, 6, 0, 0, 6, 578},
{5, 8, 0, 2, 6, 584},
{5, 8, 0, 2, 6, 592},
{3, 6, 0, 0, 4, 600},
{4, 6, 0, 0, 5, 606},
{3, 8, 0, 0, 4, 612},
{4, 6, 0, 0, 5, 620},
{5, 6, 0, 0, 6, 626},
{7, 6, 0, 0, 8, 632},
{5, 6, 0, 0, 6, 638},
{4, 8, 0, 2, 5, 644},
{4, 6, 0, 0, 5, 652},
{3, 10, 0, 2, 3, 658},
{1, 10, -1, 2, 3, 668},
{3, 10, 0, 2, 3, 678},
{6, 2, 0, -3, 7, 688},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
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{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
{0,0,0,0,0, -1},
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{0,0,0,0,0, -1},
{0, 0, 0, 0, 3, -1},
{1, 8, -1, 2, 3, 690},
{5, 8, 0, 1, 6, 698},
{5, 8, 0, 0, 6, 706},
{4, 6, 0, -1, 5, 714},
{5, 8, 0, 0, 6, 720},
{1, 10, -1, 2, 3, 728},
{5, 10, 0, 2, 6, 738},
{3, 1, 0, -7, 3, 748},
{7, 7, -1, 0, 9, 749},
{3, 5, 0, -3, 4, 756},
{5, 5, 0, 0, 6, 761},
{5, 3, -1, -2, 7, 766},
{3, 1, 0, -3, 4, 769},
{7, 7, -1, 0, 9, 770},
{3, 1, 0, -7, 3, 777},
{4, 4, 0, -3, 4, 778},
{5, 7, 0, 0, 6, 782},
{3, 4, 0, -3, 3, 789},
{3, 4, 0, -3, 3, 793},
{2, 2, 0, -6, 3, 797},
{4, 8, 0, 2, 5, 799},
{6, 10, 0, 2, 6, 807},
{2, 1, 0, -3, 3, 817},
{2, 2, 0, 2, 3, 818},
{2, 4, 0, -3, 3, 820},
{3, 5, 0, -3, 4, 824},
{5, 5, 0, 0, 6, 829},
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{8, 8, 0, 0, 9, 850},
{9, 8, 0, 0, 9, 858},
{4, 8, -1, 2, 6, 874},
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{2, 11, -1, 0, 3, 1027},
{3, 11, 0, 0, 3, 1038},
{3, 10, 0, 0, 3, 1049},
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{6, 11, -1, 0, 8, 1100},
{6, 11, -1, 0, 8, 1111},
{6, 10, -1, 0, 8, 1122},
{5, 5, 0, -1, 6, 1132},
{6, 10, -1, 1, 8, 1137},
{6, 11, -1, 0, 8, 1147},
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{6, 11, -1, 0, 8, 1169},
{6, 10, -1, 0, 8, 1180},
{7, 11, 0, 0, 7, 1190},
{5, 8, -1, 0, 7, 1201},
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{7, 6, 0, 0, 8, 1270},
{4, 8, 0, 2, 5, 1276},
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{4, 9, 0, 0, 5, 1302},
{4, 8, 0, 0, 5, 1311},
{2, 9, 1, 0, 2, 1319},
{2, 9, 0, 0, 2, 1328},
{3, 9, 1, 0, 2, 1337},
{3, 8, 0, 0, 2, 1346},
{5, 9, 0, 0, 6, 1354},
{4, 9, 0, 0, 5, 1363},
{5, 9, 0, 0, 6, 1372},
{5, 9, 0, 0, 6, 1381},
{5, 9, 0, 0, 6, 1390},
{5, 9, 0, 0, 6, 1399},
{5, 8, 0, 0, 6, 1408},
{5, 5, 0, -1, 6, 1416},
{6, 6, 0, 0, 6, 1421},
{4, 9, 0, 0, 5, 1427},
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{4, 10, 0, 2, 5, 1483},
},
bitmap_data
};
#endif

166
src/bullet/Demos/OpenGL/DebugCastResult.h
View File

@@ -1,83 +1,83 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef DEBUG_CAST_RESULT_H
#define DEBUG_CAST_RESULT_H
#include "BulletCollision/NarrowPhaseCollision/btConvexCast.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef WIN32
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#endif
struct btDebugCastResult : public btConvexCast::CastResult
{
btTransform m_fromTrans;
const btPolyhedralConvexShape* m_shape;
btVector3 m_linVel;
btVector3 m_angVel;
GL_ShapeDrawer* m_shapeDrawer;
btDebugCastResult(const btTransform& fromTrans,const btPolyhedralConvexShape* shape,
const btVector3& linVel,const btVector3& angVel,GL_ShapeDrawer* drawer)
:m_fromTrans(fromTrans),
m_shape(shape),
m_linVel(linVel),
m_angVel(angVel)
{
}
virtual void drawCoordSystem(const btTransform& tr)
{
btScalar m[16];
tr.getOpenGLMatrix(m);
glPushMatrix();
btglLoadMatrix(m);
glBegin(GL_LINES);
btglColor3(1, 0, 0);
btglVertex3(0, 0, 0);
btglVertex3(1, 0, 0);
btglColor3(0, 1, 0);
btglVertex3(0, 0, 0);
btglVertex3(0, 1, 0);
btglColor3(0, 0, 1);
btglVertex3(0, 0, 0);
btglVertex3(0, 0, 1);
glEnd();
glPopMatrix();
}
virtual void DebugDraw(btScalar fraction)
{
btScalar m[16];
btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
}
};
#endif //DEBUG_CAST_RESULT_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef DEBUG_CAST_RESULT_H
#define DEBUG_CAST_RESULT_H
#include "BulletCollision/NarrowPhaseCollision/btConvexCast.h"
#include "LinearMath/btTransform.h"
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef WIN32
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#endif
struct btDebugCastResult : public btConvexCast::CastResult
{
btTransform m_fromTrans;
const btPolyhedralConvexShape* m_shape;
btVector3 m_linVel;
btVector3 m_angVel;
GL_ShapeDrawer* m_shapeDrawer;
btDebugCastResult(const btTransform& fromTrans,const btPolyhedralConvexShape* shape,
const btVector3& linVel,const btVector3& angVel,GL_ShapeDrawer* drawer)
:m_fromTrans(fromTrans),
m_shape(shape),
m_linVel(linVel),
m_angVel(angVel)
{
}
virtual void drawCoordSystem(const btTransform& tr)
{
btScalar m[16];
tr.getOpenGLMatrix(m);
glPushMatrix();
btglLoadMatrix(m);
glBegin(GL_LINES);
btglColor3(1, 0, 0);
btglVertex3(0, 0, 0);
btglVertex3(1, 0, 0);
btglColor3(0, 1, 0);
btglVertex3(0, 0, 0);
btglVertex3(0, 1, 0);
btglColor3(0, 0, 1);
btglVertex3(0, 0, 0);
btglVertex3(0, 0, 1);
glEnd();
glPopMatrix();
}
virtual void DebugDraw(btScalar fraction)
{
btScalar m[16];
btTransform hitTrans;
btTransformUtil::integrateTransform(m_fromTrans,m_linVel,m_angVel,fraction,hitTrans);
hitTrans.getOpenGLMatrix(m);
m_shapeDrawer->drawOpenGL(m,m_shape,btVector3(1,0,0),btIDebugDraw::DBG_NoDebug);
}
};
#endif //DEBUG_CAST_RESULT_H

2352
src/bullet/Demos/OpenGL/DemoApplication.cpp
View File

File diff suppressed because it is too large Load Diff

402
src/bullet/Demos/OpenGL/DemoApplication.h
View File

@@ -1,201 +1,201 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef DEMO_APPLICATION_H
#define DEMO_APPLICATION_H
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btAlignedObjectArray.h"
class btCollisionShape;
class btDynamicsWorld;
class btRigidBody;
class btTypedConstraint;
class DemoApplication
{
void displayProfileString(int xOffset,int yStart,char* message);
class CProfileIterator* m_profileIterator;
protected:
#ifdef USE_BT_CLOCK
btClock m_clock;
#endif //USE_BT_CLOCK
///this is the most important class
btDynamicsWorld* m_dynamicsWorld;
///constraint for mouse picking
btTypedConstraint* m_pickConstraint;
btCollisionShape* m_shootBoxShape;
float m_cameraDistance;
int m_debugMode;
float m_ele;
float m_azi;
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition;//look at
float m_scaleBottom;
float m_scaleFactor;
btVector3 m_cameraUp;
int m_forwardAxis;
int m_glutScreenWidth;
int m_glutScreenHeight;
float m_ShootBoxInitialSpeed;
bool m_stepping;
bool m_singleStep;
bool m_idle;
int m_lastKey;
void showProfileInfo(float& xOffset,float& yStart, float yIncr);
GL_ShapeDrawer m_shapeDrawer;
public:
DemoApplication();
virtual ~DemoApplication();
btDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
void setOrthographicProjection();
void resetPerspectiveProjection();
int getDebugMode()
{
return m_debugMode ;
}
void setDebugMode(int mode);
void setCameraUp(const btVector3& camUp)
{
m_cameraUp = camUp;
}
void setCameraForwardAxis(int axis)
{
m_forwardAxis = axis;
}
void myinit();
void toggleIdle();
virtual void updateCamera();
btVector3 getCameraPosition()
{
return m_cameraPosition;
}
btVector3 getCameraTargetPosition()
{
return m_cameraTargetPosition;
}
btScalar getDeltaTimeMicroseconds()
{
#ifdef USE_BT_CLOCK
btScalar dt = m_clock.getTimeMicroseconds();
m_clock.reset();
return dt;
#else
return btScalar(16666.);
#endif
}
///glut callbacks
float getCameraDistance();
void setCameraDistance(float dist);
void moveAndDisplay();
virtual void clientMoveAndDisplay() = 0;
virtual void clientResetScene();
///Demo functions
void shootBox(const btVector3& destination);
btVector3 getRayTo(int x,int y);
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
///callback methods by glut
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void specialKeyboard(int key, int x, int y);
virtual void specialKeyboardUp(int key, int x, int y);
virtual void reshape(int w, int h);
virtual void mouseFunc(int button, int state, int x, int y);
virtual void mouseMotionFunc(int x,int y);
virtual void displayCallback();
virtual void renderme();
void stepLeft();
void stepRight();
void stepFront();
void stepBack();
void zoomIn();
void zoomOut();
bool isIdle() const
{
return m_idle;
}
void setIdle(bool idle)
{
m_idle = idle;
}
};
#endif //DEMO_APPLICATION_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef DEMO_APPLICATION_H
#define DEMO_APPLICATION_H
#include "GlutStuff.h"
#include "GL_ShapeDrawer.h"
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btAlignedObjectArray.h"
class btCollisionShape;
class btDynamicsWorld;
class btRigidBody;
class btTypedConstraint;
class DemoApplication
{
void displayProfileString(int xOffset,int yStart,char* message);
class CProfileIterator* m_profileIterator;
protected:
#ifdef USE_BT_CLOCK
btClock m_clock;
#endif //USE_BT_CLOCK
///this is the most important class
btDynamicsWorld* m_dynamicsWorld;
///constraint for mouse picking
btTypedConstraint* m_pickConstraint;
btCollisionShape* m_shootBoxShape;
float m_cameraDistance;
int m_debugMode;
float m_ele;
float m_azi;
btVector3 m_cameraPosition;
btVector3 m_cameraTargetPosition;//look at
float m_scaleBottom;
float m_scaleFactor;
btVector3 m_cameraUp;
int m_forwardAxis;
int m_glutScreenWidth;
int m_glutScreenHeight;
float m_ShootBoxInitialSpeed;
bool m_stepping;
bool m_singleStep;
bool m_idle;
int m_lastKey;
void showProfileInfo(float& xOffset,float& yStart, float yIncr);
GL_ShapeDrawer m_shapeDrawer;
public:
DemoApplication();
virtual ~DemoApplication();
btDynamicsWorld* getDynamicsWorld()
{
return m_dynamicsWorld;
}
void setOrthographicProjection();
void resetPerspectiveProjection();
int getDebugMode()
{
return m_debugMode ;
}
void setDebugMode(int mode);
void setCameraUp(const btVector3& camUp)
{
m_cameraUp = camUp;
}
void setCameraForwardAxis(int axis)
{
m_forwardAxis = axis;
}
void myinit();
void toggleIdle();
virtual void updateCamera();
btVector3 getCameraPosition()
{
return m_cameraPosition;
}
btVector3 getCameraTargetPosition()
{
return m_cameraTargetPosition;
}
btScalar getDeltaTimeMicroseconds()
{
#ifdef USE_BT_CLOCK
btScalar dt = m_clock.getTimeMicroseconds();
m_clock.reset();
return dt;
#else
return btScalar(16666.);
#endif
}
///glut callbacks
float getCameraDistance();
void setCameraDistance(float dist);
void moveAndDisplay();
virtual void clientMoveAndDisplay() = 0;
virtual void clientResetScene();
///Demo functions
void shootBox(const btVector3& destination);
btVector3 getRayTo(int x,int y);
btRigidBody* localCreateRigidBody(float mass, const btTransform& startTransform,btCollisionShape* shape);
///callback methods by glut
virtual void keyboardCallback(unsigned char key, int x, int y);
virtual void specialKeyboard(int key, int x, int y);
virtual void specialKeyboardUp(int key, int x, int y);
virtual void reshape(int w, int h);
virtual void mouseFunc(int button, int state, int x, int y);
virtual void mouseMotionFunc(int x,int y);
virtual void displayCallback();
virtual void renderme();
void stepLeft();
void stepRight();
void stepFront();
void stepBack();
void zoomIn();
void zoomOut();
bool isIdle() const
{
return m_idle;
}
void setIdle(bool idle)
{
m_idle = idle;
}
};
#endif //DEMO_APPLICATION_H

156
src/bullet/Demos/OpenGL/GLDebugDrawer.cpp
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@@ -1,78 +1,78 @@
#include "GLDebugDrawer.h"
#include "LinearMath/btPoint3.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
GLDebugDrawer::GLDebugDrawer()
:m_debugMode(0)
{
}
void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
// if (m_debugMode > 0)
{
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
}
}
void GLDebugDrawer::setDebugMode(int debugMode)
{
m_debugMode = debugMode;
}
void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
{
glRasterPos3f(location.x(), location.y(), location.z());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
}
void GLDebugDrawer::reportErrorWarning(const char* warningString)
{
printf("%s", warningString);
}
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
{
btVector3 to=pointOnB+normalOnB*distance;
const btVector3&from = pointOnB;
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
glRasterPos3f(from.x(), from.y(), from.z());
char buf[12];
sprintf(buf," %d",lifeTime);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}
#include "GLDebugDrawer.h"
#include "LinearMath/btPoint3.h"
#ifdef WIN32 //needed for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
GLDebugDrawer::GLDebugDrawer()
:m_debugMode(0)
{
}
void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
// if (m_debugMode > 0)
{
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
}
}
void GLDebugDrawer::setDebugMode(int debugMode)
{
m_debugMode = debugMode;
}
void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
{
glRasterPos3f(location.x(), location.y(), location.z());
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
}
void GLDebugDrawer::reportErrorWarning(const char* warningString)
{
printf("%s", warningString);
}
void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
if (m_debugMode & btIDebugDraw::DBG_DrawContactPoints)
{
btVector3 to=pointOnB+normalOnB*distance;
const btVector3&from = pointOnB;
glBegin(GL_LINES);
glColor3f(color.getX(), color.getY(), color.getZ());
glVertex3d(from.getX(), from.getY(), from.getZ());
glVertex3d(to.getX(), to.getY(), to.getZ());
glEnd();
glRasterPos3f(from.x(), from.y(), from.z());
char buf[12];
sprintf(buf," %d",lifeTime);
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
}
}

62
src/bullet/Demos/OpenGL/GLDebugDrawer.h
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@@ -1,31 +1,31 @@
#ifndef GL_DEBUG_DRAWER_H
#define GL_DEBUG_DRAWER_H
#include "LinearMath/btIDebugDraw.h"
class GLDebugDrawer : public btIDebugDraw
{
int m_debugMode;
public:
GLDebugDrawer();
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
virtual void reportErrorWarning(const char* warningString);
virtual void draw3dText(const btVector3& location,const char* textString);
virtual void setDebugMode(int debugMode);
virtual int getDebugMode() const { return m_debugMode;}
};
#endif//GL_DEBUG_DRAWER_H
#ifndef GL_DEBUG_DRAWER_H
#define GL_DEBUG_DRAWER_H
#include "LinearMath/btIDebugDraw.h"
class GLDebugDrawer : public btIDebugDraw
{
int m_debugMode;
public:
GLDebugDrawer();
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color);
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color);
virtual void reportErrorWarning(const char* warningString);
virtual void draw3dText(const btVector3& location,const char* textString);
virtual void setDebugMode(int debugMode);
virtual int getDebugMode() const { return m_debugMode;}
};
#endif//GL_DEBUG_DRAWER_H

1366
src/bullet/Demos/OpenGL/GL_ShapeDrawer.cpp
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88
src/bullet/Demos/OpenGL/GL_ShapeDrawer.h
View File

@@ -1,44 +1,44 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GL_SHAPE_DRAWER_H
#define GL_SHAPE_DRAWER_H
class btCollisionShape;
class btShapeHull;
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
/// OpenGL shape drawing
class GL_ShapeDrawer
{
//clean-up memory of dynamically created shape hulls
btAlignedObjectArray<btShapeHull*> m_shapeHulls;
public:
GL_ShapeDrawer();
virtual ~GL_ShapeDrawer();
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void drawCylinder(float radius,float halfHeight, int upAxis);
static void drawCoordSystem();
};
void OGL_displaylist_register_shape(btCollisionShape * shape);
void OGL_displaylist_clean();
#endif //GL_SHAPE_DRAWER_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GL_SHAPE_DRAWER_H
#define GL_SHAPE_DRAWER_H
class btCollisionShape;
class btShapeHull;
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
/// OpenGL shape drawing
class GL_ShapeDrawer
{
//clean-up memory of dynamically created shape hulls
btAlignedObjectArray<btShapeHull*> m_shapeHulls;
public:
GL_ShapeDrawer();
virtual ~GL_ShapeDrawer();
///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode);
static void drawCylinder(float radius,float halfHeight, int upAxis);
static void drawCoordSystem();
};
void OGL_displaylist_register_shape(btCollisionShape * shape);
void OGL_displaylist_clean();
#endif //GL_SHAPE_DRAWER_H

152
src/bullet/Demos/OpenGL/GL_Simplex1to4.cpp
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@@ -1,76 +1,76 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "GL_Simplex1to4.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "GL_ShapeDrawer.h"
#ifdef WIN32
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#endif
#include "GlutStuff.h"
#include "LinearMath/btTransform.h"
GL_Simplex1to4::GL_Simplex1to4()
:m_simplexSolver(0)
{
}
///
/// Debugging method calcClosest calculates the closest point to the origin, using m_simplexSolver
///
void GL_Simplex1to4::calcClosest(btScalar* m)
{
btTransform tr;
tr.setFromOpenGLMatrix(m);
GL_ShapeDrawer::drawCoordSystem();
if (m_simplexSolver)
{
m_simplexSolver->reset();
bool res;
btVector3 v;
for (int i=0;i<m_numVertices;i++)
{
v = tr(m_vertices[i]);
m_simplexSolver->addVertex(v,v,btPoint3(0.f,0.f,0.f));
res = m_simplexSolver->closest(v);
}
//draw v?
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
btglColor3(1.f, 0.f, 0.f);
btglVertex3(0.f, 0.f, 0.f);
btglVertex3(v.x(),v.y(),v.z());
glEnd();
glEnable(GL_LIGHTING);
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "GL_Simplex1to4.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "GL_ShapeDrawer.h"
#ifdef WIN32
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#else
#include <GL/gl.h>
#endif
#include "GlutStuff.h"
#include "LinearMath/btTransform.h"
GL_Simplex1to4::GL_Simplex1to4()
:m_simplexSolver(0)
{
}
///
/// Debugging method calcClosest calculates the closest point to the origin, using m_simplexSolver
///
void GL_Simplex1to4::calcClosest(btScalar* m)
{
btTransform tr;
tr.setFromOpenGLMatrix(m);
GL_ShapeDrawer::drawCoordSystem();
if (m_simplexSolver)
{
m_simplexSolver->reset();
bool res;
btVector3 v;
for (int i=0;i<m_numVertices;i++)
{
v = tr(m_vertices[i]);
m_simplexSolver->addVertex(v,v,btPoint3(0.f,0.f,0.f));
res = m_simplexSolver->closest(v);
}
//draw v?
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
btglColor3(1.f, 0.f, 0.f);
btglVertex3(0.f, 0.f, 0.f);
btglVertex3(v.x(),v.y(),v.z());
glEnd();
glEnable(GL_LIGHTING);
}
}

80
src/bullet/Demos/OpenGL/GL_Simplex1to4.h
View File

@@ -1,40 +1,40 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GL_SIMPLEX_1TO4_H
#define GL_SIMPLEX_1TO4_H
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
///GL_Simplex1to4 is a class to debug a Simplex Solver with 1 to 4 points.
///Can be used by GJK.
class GL_Simplex1to4 : public btBU_Simplex1to4
{
btSimplexSolverInterface* m_simplexSolver;
public:
GL_Simplex1to4();
void calcClosest(btScalar* m);
void setSimplexSolver(btSimplexSolverInterface* simplexSolver) {
m_simplexSolver = simplexSolver;
}
};
#endif //GL_SIMPLEX_1TO4_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GL_SIMPLEX_1TO4_H
#define GL_SIMPLEX_1TO4_H
#include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
///GL_Simplex1to4 is a class to debug a Simplex Solver with 1 to 4 points.
///Can be used by GJK.
class GL_Simplex1to4 : public btBU_Simplex1to4
{
btSimplexSolverInterface* m_simplexSolver;
public:
GL_Simplex1to4();
void calcClosest(btScalar* m);
void setSimplexSolver(btSimplexSolverInterface* simplexSolver) {
m_simplexSolver = simplexSolver;
}
};
#endif //GL_SIMPLEX_1TO4_H

198
src/bullet/Demos/OpenGL/GlutStuff.cpp
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@@ -1,99 +1,99 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "DemoApplication.h"
//glut is C code, this global gDemoApplication links glut to the C++ demo
static DemoApplication* gDemoApplication = 0;
#include "GlutStuff.h"
static void glutKeyboardCallback(unsigned char key, int x, int y)
{
gDemoApplication->keyboardCallback(key,x,y);
}
static void glutSpecialKeyboardCallback(int key, int x, int y)
{
gDemoApplication->specialKeyboard(key,x,y);
}
static void glutSpecialKeyboardUpCallback(int key, int x, int y)
{
gDemoApplication->specialKeyboardUp(key,x,y);
}
static void glutReshapeCallback(int w, int h)
{
gDemoApplication->reshape(w,h);
}
static void glutMoveAndDisplayCallback()
{
gDemoApplication->moveAndDisplay();
}
static void glutMouseFuncCallback(int button, int state, int x, int y)
{
gDemoApplication->mouseFunc(button,state,x,y);
}
static void glutMotionFuncCallback(int x,int y)
{
gDemoApplication->mouseMotionFunc(x,y);
}
static void glutDisplayCallback(void)
{
gDemoApplication->displayCallback();
}
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
gDemoApplication = demoApp;
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowPosition(0, 0);
glutInitWindowSize(width, height);
glutCreateWindow(title);
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
gDemoApplication->myinit();
glutKeyboardFunc(glutKeyboardCallback);
glutSpecialFunc(glutSpecialKeyboardCallback);
glutSpecialUpFunc(glutSpecialKeyboardUpCallback);
glutReshapeFunc(glutReshapeCallback);
//createMenu();
glutIdleFunc(glutMoveAndDisplayCallback);
glutMouseFunc(glutMouseFuncCallback);
glutMotionFunc(glutMotionFuncCallback);
glutDisplayFunc( glutDisplayCallback );
glutMoveAndDisplayCallback();
glutMainLoop();
return 0;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "DemoApplication.h"
//glut is C code, this global gDemoApplication links glut to the C++ demo
static DemoApplication* gDemoApplication = 0;
#include "GlutStuff.h"
static void glutKeyboardCallback(unsigned char key, int x, int y)
{
gDemoApplication->keyboardCallback(key,x,y);
}
static void glutSpecialKeyboardCallback(int key, int x, int y)
{
gDemoApplication->specialKeyboard(key,x,y);
}
static void glutSpecialKeyboardUpCallback(int key, int x, int y)
{
gDemoApplication->specialKeyboardUp(key,x,y);
}
static void glutReshapeCallback(int w, int h)
{
gDemoApplication->reshape(w,h);
}
static void glutMoveAndDisplayCallback()
{
gDemoApplication->moveAndDisplay();
}
static void glutMouseFuncCallback(int button, int state, int x, int y)
{
gDemoApplication->mouseFunc(button,state,x,y);
}
static void glutMotionFuncCallback(int x,int y)
{
gDemoApplication->mouseMotionFunc(x,y);
}
static void glutDisplayCallback(void)
{
gDemoApplication->displayCallback();
}
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp) {
gDemoApplication = demoApp;
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowPosition(0, 0);
glutInitWindowSize(width, height);
glutCreateWindow(title);
#ifdef BT_USE_FREEGLUT
glutSetOption (GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_GLUTMAINLOOP_RETURNS);
#endif
gDemoApplication->myinit();
glutKeyboardFunc(glutKeyboardCallback);
glutSpecialFunc(glutSpecialKeyboardCallback);
glutSpecialUpFunc(glutSpecialKeyboardUpCallback);
glutReshapeFunc(glutReshapeCallback);
//createMenu();
glutIdleFunc(glutMoveAndDisplayCallback);
glutMouseFunc(glutMouseFuncCallback);
glutMotionFunc(glutMotionFuncCallback);
glutDisplayFunc( glutDisplayCallback );
glutMoveAndDisplayCallback();
glutMainLoop();
return 0;
}

104
src/bullet/Demos/OpenGL/GlutStuff.h
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@@ -1,52 +1,52 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GLUT_STUFF_H
#define GLUT_STUFF_H
#ifdef WIN32//for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#if BT_USE_FREEGLUT
#include "GL/freeglut_ext.h" //to be able to return from glutMainLoop()
#endif
class DemoApplication;
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);
#if defined(BT_USE_DOUBLE_PRECISION)
#define btglLoadMatrix glLoadMatrixd
#define btglMultMatrix glMultMatrixd
#define btglColor3 glColor3d
#define btglVertex3 glVertex3d
#else
#define btglLoadMatrix glLoadMatrixf
#define btglMultMatrix glMultMatrixf
#define btglColor3 glColor3f
#define btglVertex3 glVertex3d
#endif
#endif //GLUT_STUFF_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef GLUT_STUFF_H
#define GLUT_STUFF_H
#ifdef WIN32//for glut.h
#include <windows.h>
#endif
//think different
#if defined(__APPLE__) && !defined (VMDMESA)
#include <OpenGL/gl.h>
#include <OpenGL/glu.h>
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#if BT_USE_FREEGLUT
#include "GL/freeglut_ext.h" //to be able to return from glutMainLoop()
#endif
class DemoApplication;
int glutmain(int argc, char **argv,int width,int height,const char* title,DemoApplication* demoApp);
#if defined(BT_USE_DOUBLE_PRECISION)
#define btglLoadMatrix glLoadMatrixd
#define btglMultMatrix glMultMatrixd
#define btglColor3 glColor3d
#define btglVertex3 glVertex3d
#else
#define btglLoadMatrix glLoadMatrixf
#define btglMultMatrix glMultMatrixf
#define btglColor3 glColor3f
#define btglVertex3 glVertex3d
#endif
#endif //GLUT_STUFF_H

146
src/bullet/Demos/OpenGL/RenderTexture.cpp
View File

@@ -1,73 +1,73 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "RenderTexture.h"
#include <memory.h>
#include "BMF_FontData.h"
renderTexture::renderTexture(int width,int height)
:m_height(height),m_width(width)
{
m_buffer = new unsigned char[m_width*m_height*4];
//clear screen
memset(m_buffer,0,m_width*m_height*4);
//clear screen version 2
for (int x=0;x<m_width;x++)
{
for (int y=0;y<m_height;y++)
{
setPixel(x,y,btVector4(float(x),float(y),0.f,1.f));
}
}
}
void renderTexture::grapicalPrintf(char* str, BMF_FontData* fontData, int startx,int starty)
{
unsigned char c;
int rasterposx = startx;
int rasterposy = starty;
while ((c = (unsigned char) *str++)) {
BMF_CharData & cd = fontData->chars[c];
if (cd.data_offset!=-1) {
unsigned char* bitmap = &fontData->bitmap_data[cd.data_offset];
for (int y=0;y<cd.height;y++)
{
int bit = 128;
for (int x=0;x<cd.width;x++)
{
char packedColor = bitmap[y];
float colorf = packedColor & bit ? 0.f : 1.f;
btVector4 rgba(colorf,colorf,colorf,1.f);
setPixel(rasterposx+x,rasterposy+8-y-1,rgba);
bit >>=1;
}
}
}
rasterposx+= cd.advance;
}
}
renderTexture::~renderTexture()
{
delete [] m_buffer;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "RenderTexture.h"
#include <memory.h>
#include "BMF_FontData.h"
renderTexture::renderTexture(int width,int height)
:m_height(height),m_width(width)
{
m_buffer = new unsigned char[m_width*m_height*4];
//clear screen
memset(m_buffer,0,m_width*m_height*4);
//clear screen version 2
for (int x=0;x<m_width;x++)
{
for (int y=0;y<m_height;y++)
{
setPixel(x,y,btVector4(float(x),float(y),0.f,1.f));
}
}
}
void renderTexture::grapicalPrintf(char* str, BMF_FontData* fontData, int startx,int starty)
{
unsigned char c;
int rasterposx = startx;
int rasterposy = starty;
while ((c = (unsigned char) *str++)) {
BMF_CharData & cd = fontData->chars[c];
if (cd.data_offset!=-1) {
unsigned char* bitmap = &fontData->bitmap_data[cd.data_offset];
for (int y=0;y<cd.height;y++)
{
int bit = 128;
for (int x=0;x<cd.width;x++)
{
char packedColor = bitmap[y];
float colorf = packedColor & bit ? 0.f : 1.f;
btVector4 rgba(colorf,colorf,colorf,1.f);
setPixel(rasterposx+x,rasterposy+8-y-1,rgba);
bit >>=1;
}
}
}
rasterposx+= cd.advance;
}
}
renderTexture::~renderTexture()
{
delete [] m_buffer;
}

126
src/bullet/Demos/OpenGL/RenderTexture.h
View File

@@ -1,63 +1,63 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef RENDER_TEXTURE_H
#define RENDER_TEXTURE_H
#include "LinearMath/btVector3.h"
#include "BMF_FontData.h"
///
///renderTexture provides a software-render context (setpixel/printf)
///
class renderTexture
{
int m_height;
int m_width;
unsigned char* m_buffer;
public:
renderTexture(int width,int height);
~renderTexture();
inline void setPixel(int x,int y,const btVector4& rgba)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];
pixel[0] = (unsigned char)(255*rgba.getX());
pixel[1] = (unsigned char)(255*rgba.getY());
pixel[2] = (unsigned char)(255*rgba.getZ());
pixel[3] = (unsigned char)(255*rgba.getW());
}
inline btVector4 getPixel(int x,int y)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];
return btVector4(pixel[0]*1.f/255.f,
pixel[1]*1.f/255.f,
pixel[2]*1.f/255.f,
pixel[3]*1.f/255.f);
}
const unsigned char* getBuffer() const { return m_buffer;}
int getWidth() const { return m_width;}
int getHeight() const { return m_height;}
void grapicalPrintf(char* str, BMF_FontData* fontData, int startx = 0,int starty=0);
};
#endif //RENDER_TEXTURE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef RENDER_TEXTURE_H
#define RENDER_TEXTURE_H
#include "LinearMath/btVector3.h"
#include "BMF_FontData.h"
///
///renderTexture provides a software-render context (setpixel/printf)
///
class renderTexture
{
int m_height;
int m_width;
unsigned char* m_buffer;
public:
renderTexture(int width,int height);
~renderTexture();
inline void setPixel(int x,int y,const btVector4& rgba)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];
pixel[0] = (unsigned char)(255*rgba.getX());
pixel[1] = (unsigned char)(255*rgba.getY());
pixel[2] = (unsigned char)(255*rgba.getZ());
pixel[3] = (unsigned char)(255*rgba.getW());
}
inline btVector4 getPixel(int x,int y)
{
unsigned char* pixel = &m_buffer[ (x+y*m_width) * 4];
return btVector4(pixel[0]*1.f/255.f,
pixel[1]*1.f/255.f,
pixel[2]*1.f/255.f,
pixel[3]*1.f/255.f);
}
const unsigned char* getBuffer() const { return m_buffer;}
int getWidth() const { return m_width;}
int getHeight() const { return m_height;}
void grapicalPrintf(char* str, BMF_FontData* fontData, int startx = 0,int starty=0);
};
#endif //RENDER_TEXTURE_H

342
src/bullet/src/Bullet-C-Api.h
View File

@@ -1,171 +1,171 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/*
Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
Work in progress, functionality will be added on demand.
If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
*/
#ifndef BULLET_C_API_H
#define BULLET_C_API_H
#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
#ifdef BT_USE_DOUBLE_PRECISION
typedef double plReal;
#else
typedef float plReal;
#endif
typedef plReal plVector3[3];
typedef plReal plQuaternion[4];
#ifdef __cplusplus
extern "C" {
#endif
/* Particular physics SDK */
PL_DECLARE_HANDLE(plPhysicsSdkHandle);
/* Dynamics world, belonging to some physics SDK */
PL_DECLARE_HANDLE(plDynamicsWorldHandle);
/* Rigid Body that can be part of a Dynamics World */
PL_DECLARE_HANDLE(plRigidBodyHandle);
/* Collision Shape/Geometry, property of a Rigid Body */
PL_DECLARE_HANDLE(plCollisionShapeHandle);
/* Constraint for Rigid Bodies */
PL_DECLARE_HANDLE(plConstraintHandle);
/* Triangle Mesh interface */
PL_DECLARE_HANDLE(plMeshInterfaceHandle);
/* Broadphase Scene/Proxy Handles */
PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
PL_DECLARE_HANDLE(plCollisionWorldHandle);
/*
Create and Delete a Physics SDK
*/
extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk);
/* Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback);
extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp);
extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle);
extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
/* todo: add pair cache support with queries like add/remove/find pair */
extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk);
/* todo: add/remove objects */
/* Dynamics World */
extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world);
extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep);
extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
/* Rigid Body */
extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape );
extern void plDeleteRigidBody(plRigidBodyHandle body);
/* Collision Shape definition */
extern plCollisionShapeHandle plNewSphereShape(plReal radius);
extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewCompoundShape();
extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
extern void plDeleteShape(plCollisionShapeHandle shape);
/* Convex Meshes */
extern plCollisionShapeHandle plNewConvexHullShape();
extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
/* Concave static triangle meshes */
extern plMeshInterfaceHandle plNewMeshInterface();
extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
/* SOLID has Response Callback/Table/Management */
/* PhysX has Triggers, User Callbacks and filtering */
/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
/* get world transform */
extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
/* set world transform (position/orientation) */
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
typedef struct plRayCastResult {
plRigidBodyHandle m_body;
plCollisionShapeHandle m_shape;
plVector3 m_positionWorld;
plVector3 m_normalWorld;
} plRayCastResult;
extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
/* Sweep API */
/* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
/* Continuous Collision Detection API */
#ifdef __cplusplus
}
#endif
#endif //BULLET_C_API_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/*
Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
Work in progress, functionality will be added on demand.
If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
*/
#ifndef BULLET_C_API_H
#define BULLET_C_API_H
#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
#ifdef BT_USE_DOUBLE_PRECISION
typedef double plReal;
#else
typedef float plReal;
#endif
typedef plReal plVector3[3];
typedef plReal plQuaternion[4];
#ifdef __cplusplus
extern "C" {
#endif
/* Particular physics SDK */
PL_DECLARE_HANDLE(plPhysicsSdkHandle);
/* Dynamics world, belonging to some physics SDK */
PL_DECLARE_HANDLE(plDynamicsWorldHandle);
/* Rigid Body that can be part of a Dynamics World */
PL_DECLARE_HANDLE(plRigidBodyHandle);
/* Collision Shape/Geometry, property of a Rigid Body */
PL_DECLARE_HANDLE(plCollisionShapeHandle);
/* Constraint for Rigid Bodies */
PL_DECLARE_HANDLE(plConstraintHandle);
/* Triangle Mesh interface */
PL_DECLARE_HANDLE(plMeshInterfaceHandle);
/* Broadphase Scene/Proxy Handles */
PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
PL_DECLARE_HANDLE(plCollisionWorldHandle);
/*
Create and Delete a Physics SDK
*/
extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk);
/* Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback);
extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp);
extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle);
extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
/* todo: add pair cache support with queries like add/remove/find pair */
extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk);
/* todo: add/remove objects */
/* Dynamics World */
extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world);
extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep);
extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
/* Rigid Body */
extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape );
extern void plDeleteRigidBody(plRigidBodyHandle body);
/* Collision Shape definition */
extern plCollisionShapeHandle plNewSphereShape(plReal radius);
extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewCompoundShape();
extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
extern void plDeleteShape(plCollisionShapeHandle shape);
/* Convex Meshes */
extern plCollisionShapeHandle plNewConvexHullShape();
extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
/* Concave static triangle meshes */
extern plMeshInterfaceHandle plNewMeshInterface();
extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
/* SOLID has Response Callback/Table/Management */
/* PhysX has Triggers, User Callbacks and filtering */
/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
/* get world transform */
extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
/* set world transform (position/orientation) */
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
typedef struct plRayCastResult {
plRigidBodyHandle m_body;
plCollisionShapeHandle m_shape;
plVector3 m_positionWorld;
plVector3 m_normalWorld;
} plRayCastResult;
extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
/* Sweep API */
/* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
/* Continuous Collision Detection API */
#ifdef __cplusplus
}
#endif
#endif //BULLET_C_API_H

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@@ -1,38 +1,38 @@
//Bullet Continuous Collision Detection and Physics Library
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
//
// btAxisSweep3
//
// Copyright (c) 2006 Simon Hobbs
//
// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
//
// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
//
// 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.
//
// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
//
// 3. This notice may not be removed or altered from any source distribution.
#include "btAxisSweep3.h"
#include <assert.h>
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
{
// 1 handle is reserved as sentinel
btAssert(maxHandles > 1 && maxHandles < 32767);
}
bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
{
// 1 handle is reserved as sentinel
btAssert(maxHandles > 1 && maxHandles < 2147483647);
}
//Bullet Continuous Collision Detection and Physics Library
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
//
// btAxisSweep3
//
// Copyright (c) 2006 Simon Hobbs
//
// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
//
// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
//
// 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.
//
// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
//
// 3. This notice may not be removed or altered from any source distribution.
#include "btAxisSweep3.h"
#include <assert.h>
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache)
:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache)
{
// 1 handle is reserved as sentinel
btAssert(maxHandles > 1 && maxHandles < 32767);
}
bt32BitAxisSweep3::bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache )
:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache)
{
// 1 handle is reserved as sentinel
btAssert(maxHandles > 1 && maxHandles < 2147483647);
}

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104
src/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
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@@ -1,52 +1,52 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_INTERFACE_H
#define BROADPHASE_INTERFACE_H
struct btDispatcherInfo;
class btDispatcher;
#include "btBroadphaseProxy.h"
class btOverlappingPairCache;
#include "LinearMath/btVector3.h"
///BroadphaseInterface for aabb-overlapping object pairs
class btBroadphaseInterface
{
public:
virtual ~btBroadphaseInterface() {}
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
virtual btOverlappingPairCache* getOverlappingPairCache()=0;
virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void printStats() = 0;
};
#endif //BROADPHASE_INTERFACE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_INTERFACE_H
#define BROADPHASE_INTERFACE_H
struct btDispatcherInfo;
class btDispatcher;
#include "btBroadphaseProxy.h"
class btOverlappingPairCache;
#include "LinearMath/btVector3.h"
///BroadphaseInterface for aabb-overlapping object pairs
class btBroadphaseInterface
{
public:
virtual ~btBroadphaseInterface() {}
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
virtual btOverlappingPairCache* getOverlappingPairCache()=0;
virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void printStats() = 0;
};
#endif //BROADPHASE_INTERFACE_H

34
src/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
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@@ -1,17 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBroadphaseProxy.h"
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBroadphaseProxy.h"

460
src/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
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@@ -1,230 +1,230 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_PROXY_H
#define BROADPHASE_PROXY_H
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
#include "LinearMath/btAlignedAllocator.h"
/// btDispatcher uses these types
/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
/// to facilitate type checking
enum BroadphaseNativeTypes
{
// polyhedral convex shapes
BOX_SHAPE_PROXYTYPE,
TRIANGLE_SHAPE_PROXYTYPE,
TETRAHEDRAL_SHAPE_PROXYTYPE,
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
CONVEX_HULL_SHAPE_PROXYTYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
SPHERE_SHAPE_PROXYTYPE,
MULTI_SPHERE_SHAPE_PROXYTYPE,
CAPSULE_SHAPE_PROXYTYPE,
CONE_SHAPE_PROXYTYPE,
CONVEX_SHAPE_PROXYTYPE,
CYLINDER_SHAPE_PROXYTYPE,
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
TRIANGLE_MESH_SHAPE_PROXYTYPE,
///used for demo integration FAST/Swift collision library and Bullet
FAST_CONCAVE_MESH_PROXYTYPE,
//terrain
TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
GIMPACT_SHAPE_PROXYTYPE,
EMPTY_SHAPE_PROXYTYPE,
STATIC_PLANE_PROXYTYPE,
CONCAVE_SHAPES_END_HERE,
COMPOUND_SHAPE_PROXYTYPE,
SOFTBODY_SHAPE_PROXYTYPE,
MAX_BROADPHASE_COLLISION_TYPES
};
//#include <stdio.h>
///btBroadphaseProxy
ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
{
BT_DECLARE_ALIGNED_ALLOCATOR();
///optional filtering to cull potential collisions
enum CollisionFilterGroups
{
DefaultFilter = 1,
StaticFilter = 2,
KinematicFilter = 4,
DebrisFilter = 8,
SensorTrigger = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
};
//Usually the client btCollisionObject or Rigidbody class
void* m_clientObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
void* m_multiSapParentProxy;
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
SIMD_FORCE_INLINE int getUid() const
{
return m_uniqueId;
}
//used for memory pools
btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
{
}
btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
:m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
{
m_multiSapParentProxy = multiSapParentProxy;
}
static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
{
return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
}
static SIMD_FORCE_INLINE bool isConvex(int proxyType)
{
return (proxyType < CONCAVE_SHAPES_START_HERE);
}
static SIMD_FORCE_INLINE bool isConcave(int proxyType)
{
return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
(proxyType < CONCAVE_SHAPES_END_HERE));
}
static SIMD_FORCE_INLINE bool isCompound(int proxyType)
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
}
;
class btCollisionAlgorithm;
struct btBroadphaseProxy;
/// contains a pair of aabb-overlapping objects
ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
{
btBroadphasePair ()
:
m_pProxy0(0),
m_pProxy1(0),
m_algorithm(0),
m_userInfo(0)
{
}
BT_DECLARE_ALIGNED_ALLOCATOR();
btBroadphasePair(const btBroadphasePair& other)
: m_pProxy0(other.m_pProxy0),
m_pProxy1(other.m_pProxy1),
m_algorithm(other.m_algorithm),
m_userInfo(other.m_userInfo)
{
}
btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
{
//keep them sorted, so the std::set operations work
if (&proxy0 < &proxy1)
{
m_pProxy0 = &proxy0;
m_pProxy1 = &proxy1;
}
else
{
m_pProxy0 = &proxy1;
m_pProxy1 = &proxy0;
}
m_algorithm = 0;
m_userInfo = 0;
}
btBroadphaseProxy* m_pProxy0;
btBroadphaseProxy* m_pProxy1;
mutable btCollisionAlgorithm* m_algorithm;
mutable void* m_userInfo;
};
/*
//comparison for set operation, see Solid DT_Encounter
SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
{
return a.m_pProxy0 < b.m_pProxy0 ||
(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
}
*/
class btBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
{
return a.m_pProxy0 > b.m_pProxy0 ||
(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
}
};
SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
{
return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
}
#endif //BROADPHASE_PROXY_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_PROXY_H
#define BROADPHASE_PROXY_H
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
#include "LinearMath/btAlignedAllocator.h"
/// btDispatcher uses these types
/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
/// to facilitate type checking
enum BroadphaseNativeTypes
{
// polyhedral convex shapes
BOX_SHAPE_PROXYTYPE,
TRIANGLE_SHAPE_PROXYTYPE,
TETRAHEDRAL_SHAPE_PROXYTYPE,
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
CONVEX_HULL_SHAPE_PROXYTYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
SPHERE_SHAPE_PROXYTYPE,
MULTI_SPHERE_SHAPE_PROXYTYPE,
CAPSULE_SHAPE_PROXYTYPE,
CONE_SHAPE_PROXYTYPE,
CONVEX_SHAPE_PROXYTYPE,
CYLINDER_SHAPE_PROXYTYPE,
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
TRIANGLE_MESH_SHAPE_PROXYTYPE,
///used for demo integration FAST/Swift collision library and Bullet
FAST_CONCAVE_MESH_PROXYTYPE,
//terrain
TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
GIMPACT_SHAPE_PROXYTYPE,
EMPTY_SHAPE_PROXYTYPE,
STATIC_PLANE_PROXYTYPE,
CONCAVE_SHAPES_END_HERE,
COMPOUND_SHAPE_PROXYTYPE,
SOFTBODY_SHAPE_PROXYTYPE,
MAX_BROADPHASE_COLLISION_TYPES
};
//#include <stdio.h>
///btBroadphaseProxy
ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy
{
BT_DECLARE_ALIGNED_ALLOCATOR();
///optional filtering to cull potential collisions
enum CollisionFilterGroups
{
DefaultFilter = 1,
StaticFilter = 2,
KinematicFilter = 4,
DebrisFilter = 8,
SensorTrigger = 16,
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
};
//Usually the client btCollisionObject or Rigidbody class
void* m_clientObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
void* m_multiSapParentProxy;
int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
SIMD_FORCE_INLINE int getUid() const
{
return m_uniqueId;
}
//used for memory pools
btBroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
{
}
btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
:m_clientObject(userPtr),
m_collisionFilterGroup(collisionFilterGroup),
m_collisionFilterMask(collisionFilterMask)
{
m_multiSapParentProxy = multiSapParentProxy;
}
static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType)
{
return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE);
}
static SIMD_FORCE_INLINE bool isConvex(int proxyType)
{
return (proxyType < CONCAVE_SHAPES_START_HERE);
}
static SIMD_FORCE_INLINE bool isConcave(int proxyType)
{
return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
(proxyType < CONCAVE_SHAPES_END_HERE));
}
static SIMD_FORCE_INLINE bool isCompound(int proxyType)
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
}
}
;
class btCollisionAlgorithm;
struct btBroadphaseProxy;
/// contains a pair of aabb-overlapping objects
ATTRIBUTE_ALIGNED16(struct) btBroadphasePair
{
btBroadphasePair ()
:
m_pProxy0(0),
m_pProxy1(0),
m_algorithm(0),
m_userInfo(0)
{
}
BT_DECLARE_ALIGNED_ALLOCATOR();
btBroadphasePair(const btBroadphasePair& other)
: m_pProxy0(other.m_pProxy0),
m_pProxy1(other.m_pProxy1),
m_algorithm(other.m_algorithm),
m_userInfo(other.m_userInfo)
{
}
btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1)
{
//keep them sorted, so the std::set operations work
if (&proxy0 < &proxy1)
{
m_pProxy0 = &proxy0;
m_pProxy1 = &proxy1;
}
else
{
m_pProxy0 = &proxy1;
m_pProxy1 = &proxy0;
}
m_algorithm = 0;
m_userInfo = 0;
}
btBroadphaseProxy* m_pProxy0;
btBroadphaseProxy* m_pProxy1;
mutable btCollisionAlgorithm* m_algorithm;
mutable void* m_userInfo;
};
/*
//comparison for set operation, see Solid DT_Encounter
SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePair& b)
{
return a.m_pProxy0 < b.m_pProxy0 ||
(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 < b.m_pProxy1);
}
*/
class btBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
{
return a.m_pProxy0 > b.m_pProxy0 ||
(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 > b.m_pProxy1) ||
(a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm);
}
};
SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b)
{
return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1);
}
#endif //BROADPHASE_PROXY_H

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src/bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
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@@ -1,23 +1,23 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCollisionAlgorithm.h"
#include "btDispatcher.h"
btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
{
m_dispatcher = ci.m_dispatcher1;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCollisionAlgorithm.h"
#include "btDispatcher.h"
btCollisionAlgorithm::btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
{
m_dispatcher = ci.m_dispatcher1;
}

154
src/bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
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@@ -1,77 +1,77 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_ALGORITHM_H
#define COLLISION_ALGORITHM_H
#include "LinearMath/btScalar.h"
struct btBroadphaseProxy;
class btDispatcher;
class btManifoldResult;
class btCollisionObject;
struct btDispatcherInfo;
class btPersistentManifold;
struct btCollisionAlgorithmConstructionInfo
{
btCollisionAlgorithmConstructionInfo()
:m_dispatcher1(0),
m_manifold(0)
{
}
btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
:m_dispatcher1(dispatcher)
{
(void)temp;
}
btDispatcher* m_dispatcher1;
btPersistentManifold* m_manifold;
int getDispatcherId();
};
///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
///It is persistent over frames
class btCollisionAlgorithm
{
protected:
btDispatcher* m_dispatcher;
protected:
int getDispatcherId();
public:
btCollisionAlgorithm() {};
btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
virtual ~btCollisionAlgorithm() {};
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
};
#endif //COLLISION_ALGORITHM_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_ALGORITHM_H
#define COLLISION_ALGORITHM_H
#include "LinearMath/btScalar.h"
struct btBroadphaseProxy;
class btDispatcher;
class btManifoldResult;
class btCollisionObject;
struct btDispatcherInfo;
class btPersistentManifold;
struct btCollisionAlgorithmConstructionInfo
{
btCollisionAlgorithmConstructionInfo()
:m_dispatcher1(0),
m_manifold(0)
{
}
btCollisionAlgorithmConstructionInfo(btDispatcher* dispatcher,int temp)
:m_dispatcher1(dispatcher)
{
(void)temp;
}
btDispatcher* m_dispatcher1;
btPersistentManifold* m_manifold;
int getDispatcherId();
};
///btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatcher.
///It is persistent over frames
class btCollisionAlgorithm
{
protected:
btDispatcher* m_dispatcher;
protected:
int getDispatcherId();
public:
btCollisionAlgorithm() {};
btCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
virtual ~btCollisionAlgorithm() {};
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
};
#endif //COLLISION_ALGORITHM_H

44
src/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.cpp
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@@ -1,22 +1,22 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btDispatcher.h"
btDispatcher::~btDispatcher()
{
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btDispatcher.h"
btDispatcher::~btDispatcher()
{
}

198
src/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@@ -1,99 +1,99 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef _DISPATCHER_H
#define _DISPATCHER_H
#include "LinearMath/btScalar.h"
class btCollisionAlgorithm;
struct btBroadphaseProxy;
class btRigidBody;
class btCollisionObject;
class btOverlappingPairCache;
class btPersistentManifold;
class btStackAlloc;
struct btDispatcherInfo
{
enum DispatchFunc
{
DISPATCH_DISCRETE = 1,
DISPATCH_CONTINUOUS
};
btDispatcherInfo()
:m_timeStep(btScalar(0.)),
m_stepCount(0),
m_dispatchFunc(DISPATCH_DISCRETE),
m_timeOfImpact(btScalar(1.)),
m_useContinuous(false),
m_debugDraw(0),
m_enableSatConvex(false),
m_enableSPU(true),
m_stackAllocator(0)
{
}
btScalar m_timeStep;
int m_stepCount;
int m_dispatchFunc;
btScalar m_timeOfImpact;
bool m_useContinuous;
class btIDebugDraw* m_debugDraw;
bool m_enableSatConvex;
bool m_enableSPU;
btStackAlloc* m_stackAllocator;
};
/// btDispatcher can be used in combination with broadphase to dispatch overlapping pairs.
/// For example for pairwise collision detection or user callbacks (game logic).
class btDispatcher
{
public:
virtual ~btDispatcher() ;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0;
virtual void releaseManifold(btPersistentManifold* manifold)=0;
virtual void clearManifold(btPersistentManifold* manifold)=0;
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)=0;
virtual int getNumManifolds() const = 0;
virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
virtual btPersistentManifold** getInternalManifoldPointer() = 0;
virtual void* allocateCollisionAlgorithm(int size) = 0;
virtual void freeCollisionAlgorithm(void* ptr) = 0;
};
#endif //_DISPATCHER_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef _DISPATCHER_H
#define _DISPATCHER_H
#include "LinearMath/btScalar.h"
class btCollisionAlgorithm;
struct btBroadphaseProxy;
class btRigidBody;
class btCollisionObject;
class btOverlappingPairCache;
class btPersistentManifold;
class btStackAlloc;
struct btDispatcherInfo
{
enum DispatchFunc
{
DISPATCH_DISCRETE = 1,
DISPATCH_CONTINUOUS
};
btDispatcherInfo()
:m_timeStep(btScalar(0.)),
m_stepCount(0),
m_dispatchFunc(DISPATCH_DISCRETE),
m_timeOfImpact(btScalar(1.)),
m_useContinuous(false),
m_debugDraw(0),
m_enableSatConvex(false),
m_enableSPU(true),
m_stackAllocator(0)
{
}
btScalar m_timeStep;
int m_stepCount;
int m_dispatchFunc;
btScalar m_timeOfImpact;
bool m_useContinuous;
class btIDebugDraw* m_debugDraw;
bool m_enableSatConvex;
bool m_enableSPU;
btStackAlloc* m_stackAllocator;
};
/// btDispatcher can be used in combination with broadphase to dispatch overlapping pairs.
/// For example for pairwise collision detection or user callbacks (game logic).
class btDispatcher
{
public:
virtual ~btDispatcher() ;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0;
virtual void releaseManifold(btPersistentManifold* manifold)=0;
virtual void clearManifold(btPersistentManifold* manifold)=0;
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)=0;
virtual int getNumManifolds() const = 0;
virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
virtual btPersistentManifold** getInternalManifoldPointer() = 0;
virtual void* allocateCollisionAlgorithm(int size) = 0;
virtual void freeCollisionAlgorithm(void* ptr) = 0;
};
#endif //_DISPATCHER_H

928
src/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
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@@ -1,464 +1,464 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMultiSapBroadphase.h"
#include "btSimpleBroadphase.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
/// btSapBroadphaseArray m_sapBroadphases;
/// btOverlappingPairCache* m_overlappingPairs;
extern int gOverlappingPairs;
/*
class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
{
public:
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
}
};
*/
btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache)
:m_overlappingPairs(pairCache),
m_ownsPairCache(false),
m_invalidPair(0),
m_optimizedAabbTree(0)
{
if (!m_overlappingPairs)
{
m_ownsPairCache = true;
void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
}
struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
{
virtual ~btMultiSapOverlapFilterCallback()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
{
btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
return collides;
}
};
void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
}
btMultiSapBroadphase::~btMultiSapBroadphase()
{
if (m_ownsPairCache)
{
m_overlappingPairs->~btOverlappingPairCache();
btAlignedFree(m_overlappingPairs);
}
}
void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
{
m_optimizedAabbTree = new btOptimizedBvh();
m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray();
for (int i=0;i<m_sapBroadphases.size();i++)
{
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
int partId = 0;
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
nodes.push_back(node);
}
m_optimizedAabbTree->buildInternal();
}
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* ignoreMe)
{
//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
m_multiSapProxies.push_back(proxy);
///this should deal with inserting/removal into child broadphases
setAabb(proxy,aabbMin,aabbMax,dispatcher);
return proxy;
}
void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
///not yet
btAssert(0);
}
void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase)
{
void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy();
bridgeProxyRef->m_childProxy = childProxy;
bridgeProxyRef->m_childBroadphase = childBroadphase;
parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
}
bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
{
return
amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
}
//#include <stdio.h>
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
multiProxy->m_aabbMin = aabbMin;
multiProxy->m_aabbMax = aabbMax;
bool fullyContained = false;
bool alreadyInSimple = false;
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btMultiSapBroadphase* m_multiSap;
btMultiSapProxy* m_multiProxy;
btDispatcher* m_dispatcher;
MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
:m_multiSap(multiSap),
m_multiProxy(multiProxy),
m_dispatcher(dispatcher)
{
}
virtual void processNode(int nodeSubPart, int broadphaseIndex)
{
btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
int containingBroadphaseIndex = -1;
//already found?
for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
{
if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
{
containingBroadphaseIndex = i;
break;
}
}
if (containingBroadphaseIndex<0)
{
//add it
btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
}
}
};
MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher);
m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
btVector3 worldAabbMin,worldAabbMax;
multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
if (!overlapsBroadphase)
{
//remove it now
btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
multiProxy->m_bridgeProxies.pop_back();
}
}
/*
if (1)
{
//find broadphase that contain this multiProxy
int numChildBroadphases = getBroadphaseArray().size();
for (int i=0;i<numChildBroadphases;i++)
{
btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
btVector3 worldAabbMin,worldAabbMax;
childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
// fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
int containingBroadphaseIndex = -1;
//if already contains this
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
{
containingBroadphaseIndex = i;
}
alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
}
if (overlapsBroadphase)
{
if (containingBroadphaseIndex<0)
{
btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,childBroadphase);
}
} else
{
if (containingBroadphaseIndex>=0)
{
//remove
btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
multiProxy->m_bridgeProxies.pop_back();
}
}
}
///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
if (0)//!multiProxy->m_bridgeProxies.size())
{
///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
///this is needed to be able to calculate the aabb overlap
btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
}
}
if (!multiProxy->m_bridgeProxies.size())
{
///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
///this is needed to be able to calculate the aabb overlap
btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
}
*/
//update
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
}
}
bool stopUpdating=false;
class btMultiSapBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
{
btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
return aProxy0 > bProxy0 ||
(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm);
}
};
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
// m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
// quicksort(overlappingPairArray,0,overlappingPairArray.size());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
// overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
int i;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
}
bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
{
btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
}
void btMultiSapBroadphase::printStats()
{
/* printf("---------------------------------\n");
printf("btMultiSapBroadphase.h\n");
printf("numHandles = %d\n",m_multiSapProxies.size());
//find broadphase that contain this multiProxy
int numChildBroadphases = getBroadphaseArray().size();
for (int i=0;i<numChildBroadphases;i++)
{
btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
childBroadphase->printStats();
}
*/
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMultiSapBroadphase.h"
#include "btSimpleBroadphase.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
/// btSapBroadphaseArray m_sapBroadphases;
/// btOverlappingPairCache* m_overlappingPairs;
extern int gOverlappingPairs;
/*
class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
{
public:
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
}
};
*/
btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies,btOverlappingPairCache* pairCache)
:m_overlappingPairs(pairCache),
m_ownsPairCache(false),
m_invalidPair(0),
m_optimizedAabbTree(0)
{
if (!m_overlappingPairs)
{
m_ownsPairCache = true;
void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
}
struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
{
virtual ~btMultiSapOverlapFilterCallback()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
{
btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
return collides;
}
};
void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
}
btMultiSapBroadphase::~btMultiSapBroadphase()
{
if (m_ownsPairCache)
{
m_overlappingPairs->~btOverlappingPairCache();
btAlignedFree(m_overlappingPairs);
}
}
void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
{
m_optimizedAabbTree = new btOptimizedBvh();
m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray();
for (int i=0;i<m_sapBroadphases.size();i++)
{
btQuantizedBvhNode node;
btVector3 aabbMin,aabbMax;
m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
int partId = 0;
node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
nodes.push_back(node);
}
m_optimizedAabbTree->buildInternal();
}
btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* ignoreMe)
{
//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
m_multiSapProxies.push_back(proxy);
///this should deal with inserting/removal into child broadphases
setAabb(proxy,aabbMin,aabbMax,dispatcher);
return proxy;
}
void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
///not yet
btAssert(0);
}
void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase)
{
void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy();
bridgeProxyRef->m_childProxy = childProxy;
bridgeProxyRef->m_childBroadphase = childBroadphase;
parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
}
bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
{
return
amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
}
//#include <stdio.h>
void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
multiProxy->m_aabbMin = aabbMin;
multiProxy->m_aabbMax = aabbMax;
bool fullyContained = false;
bool alreadyInSimple = false;
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btMultiSapBroadphase* m_multiSap;
btMultiSapProxy* m_multiProxy;
btDispatcher* m_dispatcher;
MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
:m_multiSap(multiSap),
m_multiProxy(multiProxy),
m_dispatcher(dispatcher)
{
}
virtual void processNode(int nodeSubPart, int broadphaseIndex)
{
btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
int containingBroadphaseIndex = -1;
//already found?
for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
{
if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
{
containingBroadphaseIndex = i;
break;
}
}
if (containingBroadphaseIndex<0)
{
//add it
btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
}
}
};
MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher);
m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
btVector3 worldAabbMin,worldAabbMax;
multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
if (!overlapsBroadphase)
{
//remove it now
btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
multiProxy->m_bridgeProxies.pop_back();
}
}
/*
if (1)
{
//find broadphase that contain this multiProxy
int numChildBroadphases = getBroadphaseArray().size();
for (int i=0;i<numChildBroadphases;i++)
{
btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
btVector3 worldAabbMin,worldAabbMax;
childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
// fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
int containingBroadphaseIndex = -1;
//if already contains this
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
{
containingBroadphaseIndex = i;
}
alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
}
if (overlapsBroadphase)
{
if (containingBroadphaseIndex<0)
{
btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,childBroadphase);
}
} else
{
if (containingBroadphaseIndex>=0)
{
//remove
btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
multiProxy->m_bridgeProxies.pop_back();
}
}
}
///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
if (0)//!multiProxy->m_bridgeProxies.size())
{
///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
///this is needed to be able to calculate the aabb overlap
btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
}
}
if (!multiProxy->m_bridgeProxies.size())
{
///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
///this is needed to be able to calculate the aabb overlap
btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
childProxy->m_multiSapParentProxy = multiProxy;
addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
}
*/
//update
for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
{
btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
}
}
bool stopUpdating=false;
class btMultiSapBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
{
btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
return aProxy0 > bProxy0 ||
(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm);
}
};
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
// m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
// quicksort(overlappingPairArray,0,overlappingPairArray.size());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
// overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
int i;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
}
}
bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
{
btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
}
void btMultiSapBroadphase::printStats()
{
/* printf("---------------------------------\n");
printf("btMultiSapBroadphase.h\n");
printf("numHandles = %d\n",m_multiSapProxies.size());
//find broadphase that contain this multiProxy
int numChildBroadphases = getBroadphaseArray().size();
for (int i=0;i<numChildBroadphases;i++)
{
btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
childBroadphase->printStats();
}
*/
}

282
src/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
View File

@@ -1,141 +1,141 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTI_SAP_BROADPHASE
#define BT_MULTI_SAP_BROADPHASE
#include "btBroadphaseInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btOverlappingPairCache.h"
class btBroadphaseInterface;
class btSimpleBroadphase;
typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
///multi SAP broadphase
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
class btMultiSapBroadphase :public btBroadphaseInterface
{
btSapBroadphaseArray m_sapBroadphases;
btSimpleBroadphase* m_simpleBroadphase;
btOverlappingPairCache* m_overlappingPairs;
class btOptimizedBvh* m_optimizedAabbTree;
bool m_ownsPairCache;
btOverlapFilterCallback* m_filterCallback;
int m_invalidPair;
struct btBridgeProxy
{
btBroadphaseProxy* m_childProxy;
btBroadphaseInterface* m_childBroadphase;
};
public:
struct btMultiSapProxy : public btBroadphaseProxy
{
///array with all the entries that this proxy belongs to
btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
btVector3 m_aabbMin;
btVector3 m_aabbMax;
int m_shapeType;
/* void* m_userPtr;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
*/
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_shapeType(shapeType)
{
m_multiSapParentProxy =this;
}
};
protected:
void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);
btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
public:
btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
btSapBroadphaseArray& getBroadphaseArray()
{
return m_sapBroadphases;
}
const btSapBroadphaseArray& getBroadphaseArray() const
{
return m_sapBroadphases;
}
virtual ~btMultiSapBroadphase();
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
virtual btOverlappingPairCache* getOverlappingPairCache()
{
return m_overlappingPairs;
}
virtual const btOverlappingPairCache* getOverlappingPairCache() const
{
return m_overlappingPairs;
}
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
virtual void printStats();
void quicksort (btBroadphasePairArray& a, int lo, int hi);
};
#endif //BT_MULTI_SAP_BROADPHASE
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTI_SAP_BROADPHASE
#define BT_MULTI_SAP_BROADPHASE
#include "btBroadphaseInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btOverlappingPairCache.h"
class btBroadphaseInterface;
class btSimpleBroadphase;
typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
///multi SAP broadphase
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
class btMultiSapBroadphase :public btBroadphaseInterface
{
btSapBroadphaseArray m_sapBroadphases;
btSimpleBroadphase* m_simpleBroadphase;
btOverlappingPairCache* m_overlappingPairs;
class btOptimizedBvh* m_optimizedAabbTree;
bool m_ownsPairCache;
btOverlapFilterCallback* m_filterCallback;
int m_invalidPair;
struct btBridgeProxy
{
btBroadphaseProxy* m_childProxy;
btBroadphaseInterface* m_childBroadphase;
};
public:
struct btMultiSapProxy : public btBroadphaseProxy
{
///array with all the entries that this proxy belongs to
btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
btVector3 m_aabbMin;
btVector3 m_aabbMax;
int m_shapeType;
/* void* m_userPtr;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
*/
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
m_aabbMin(aabbMin),
m_aabbMax(aabbMax),
m_shapeType(shapeType)
{
m_multiSapParentProxy =this;
}
};
protected:
void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);
btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
public:
btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
btSapBroadphaseArray& getBroadphaseArray()
{
return m_sapBroadphases;
}
const btSapBroadphaseArray& getBroadphaseArray() const
{
return m_sapBroadphases;
}
virtual ~btMultiSapBroadphase();
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
virtual btOverlappingPairCache* getOverlappingPairCache()
{
return m_overlappingPairs;
}
virtual const btOverlappingPairCache* getOverlappingPairCache() const
{
return m_overlappingPairs;
}
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
}
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
virtual void printStats();
void quicksort (btBroadphasePairArray& a, int lo, int hi);
};
#endif //BT_MULTI_SAP_BROADPHASE

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OVERLAPPING_PAIR_CACHE_H
#define OVERLAPPING_PAIR_CACHE_H
#include "btBroadphaseInterface.h"
#include "btBroadphaseProxy.h"
#include "btOverlappingPairCallback.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;
typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
struct btOverlapCallback
{
virtual ~btOverlapCallback()
{}
//return true for deletion of the pair
virtual bool processOverlap(btBroadphasePair& pair) = 0;
};
struct btOverlapFilterCallback
{
virtual ~btOverlapFilterCallback()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
};
extern int gRemovePairs;
extern int gAddedPairs;
extern int gFindPairs;
const int BT_NULL_PAIR=0xffffffff;
///btOverlappingPairCache is an interface that allows different ways of pair management.
///btHashedOverlappingPairCache or btSortedOverlappingPairCache are two implementations.
class btOverlappingPairCache : public btOverlappingPairCallback
{
public:
virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
virtual int getNumOverlappingPairs() const = 0;
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
virtual bool hasDeferredRemoval() = 0;
};
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
class btHashedOverlappingPairCache : public btOverlappingPairCache
{
btBroadphasePairArray m_overlappingPairArray;
btOverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
public:
btHashedOverlappingPairCache();
virtual ~btHashedOverlappingPairCache();
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_overlapFilterCallback)
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
gAddedPairs++;
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
return internalAddPair(proxy0,proxy1);
}
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
virtual btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btBroadphasePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btBroadphasePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
int GetCount() const { return m_overlappingPairArray.size(); }
// btBroadphasePair* GetPairs() { return m_pairs; }
btOverlapFilterCallback* getOverlapFilterCallback()
{
return m_overlapFilterCallback;
}
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
{
m_overlapFilterCallback = callback;
}
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
private:
btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
void growTables();
SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
{
return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
}
/*
// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
// This assumes proxyId1 and proxyId2 are 16-bit.
SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
{
int key = (proxyId2 << 16) | proxyId1;
key = ~key + (key << 15);
key = key ^ (key >> 12);
key = key + (key << 2);
key = key ^ (key >> 4);
key = key * 2057;
key = key ^ (key >> 16);
return key;
}
*/
SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
{
int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16);
// Thomas Wang's hash
key += ~(key << 15);
key ^= (key >> 10);
key += (key << 3);
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return key;
}
SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
{
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
int index = m_hashTable[hash];
while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
{
index = m_next[index];
}
if ( index == BT_NULL_PAIR )
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
virtual bool hasDeferredRemoval()
{
return false;
}
public:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
};
///btSortedOverlappingPairCache maintains the objects with overlapping AABB
///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
class btSortedOverlappingPairCache : public btOverlappingPairCache
{
protected:
//avoid brute-force finding all the time
btBroadphasePairArray m_overlappingPairArray;
//during the dispatch, check that user doesn't destroy/create proxy
bool m_blockedForChanges;
///by default, do the removal during the pair traversal
bool m_hasDeferredRemoval;
//if set, use the callback instead of the built in filter in needBroadphaseCollision
btOverlapFilterCallback* m_overlapFilterCallback;
public:
btSortedOverlappingPairCache();
virtual ~btSortedOverlappingPairCache();
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_overlapFilterCallback)
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btBroadphasePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btBroadphasePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
btOverlapFilterCallback* getOverlapFilterCallback()
{
return m_overlapFilterCallback;
}
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
{
m_overlapFilterCallback = callback;
}
virtual bool hasDeferredRemoval()
{
return m_hasDeferredRemoval;
}
};
///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
class btNullPairCache : public btOverlappingPairCache
{
btBroadphasePairArray m_overlappingPairArray;
public:
virtual btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btBroadphasePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
{
}
virtual int getNumOverlappingPairs() const
{
return 0;
}
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
}
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback)
{
}
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher)
{
}
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
return 0;
}
virtual bool hasDeferredRemoval()
{
return true;
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
return 0;
}
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
{
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
{
}
};
#endif //OVERLAPPING_PAIR_CACHE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OVERLAPPING_PAIR_CACHE_H
#define OVERLAPPING_PAIR_CACHE_H
#include "btBroadphaseInterface.h"
#include "btBroadphaseProxy.h"
#include "btOverlappingPairCallback.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;
typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
struct btOverlapCallback
{
virtual ~btOverlapCallback()
{}
//return true for deletion of the pair
virtual bool processOverlap(btBroadphasePair& pair) = 0;
};
struct btOverlapFilterCallback
{
virtual ~btOverlapFilterCallback()
{}
// return true when pairs need collision
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
};
extern int gRemovePairs;
extern int gAddedPairs;
extern int gFindPairs;
const int BT_NULL_PAIR=0xffffffff;
///btOverlappingPairCache is an interface that allows different ways of pair management.
///btHashedOverlappingPairCache or btSortedOverlappingPairCache are two implementations.
class btOverlappingPairCache : public btOverlappingPairCallback
{
public:
virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
virtual int getNumOverlappingPairs() const = 0;
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
virtual bool hasDeferredRemoval() = 0;
};
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
class btHashedOverlappingPairCache : public btOverlappingPairCache
{
btBroadphasePairArray m_overlappingPairArray;
btOverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
public:
btHashedOverlappingPairCache();
virtual ~btHashedOverlappingPairCache();
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_overlapFilterCallback)
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
gAddedPairs++;
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
return internalAddPair(proxy0,proxy1);
}
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
virtual btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btBroadphasePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btBroadphasePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
int GetCount() const { return m_overlappingPairArray.size(); }
// btBroadphasePair* GetPairs() { return m_pairs; }
btOverlapFilterCallback* getOverlapFilterCallback()
{
return m_overlapFilterCallback;
}
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
{
m_overlapFilterCallback = callback;
}
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
private:
btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
void growTables();
SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
{
return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
}
/*
// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
// This assumes proxyId1 and proxyId2 are 16-bit.
SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
{
int key = (proxyId2 << 16) | proxyId1;
key = ~key + (key << 15);
key = key ^ (key >> 12);
key = key + (key << 2);
key = key ^ (key >> 4);
key = key * 2057;
key = key ^ (key >> 16);
return key;
}
*/
SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
{
int key = ((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16);
// Thomas Wang's hash
key += ~(key << 15);
key ^= (key >> 10);
key += (key << 3);
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return key;
}
SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
{
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);
int index = m_hashTable[hash];
while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
{
index = m_next[index];
}
if ( index == BT_NULL_PAIR )
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
virtual bool hasDeferredRemoval()
{
return false;
}
public:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
};
///btSortedOverlappingPairCache maintains the objects with overlapping AABB
///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
class btSortedOverlappingPairCache : public btOverlappingPairCache
{
protected:
//avoid brute-force finding all the time
btBroadphasePairArray m_overlappingPairArray;
//during the dispatch, check that user doesn't destroy/create proxy
bool m_blockedForChanges;
///by default, do the removal during the pair traversal
bool m_hasDeferredRemoval;
//if set, use the callback instead of the built in filter in needBroadphaseCollision
btOverlapFilterCallback* m_overlapFilterCallback;
public:
btSortedOverlappingPairCache();
virtual ~btSortedOverlappingPairCache();
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
if (m_overlapFilterCallback)
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btBroadphasePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btBroadphasePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
btOverlapFilterCallback* getOverlapFilterCallback()
{
return m_overlapFilterCallback;
}
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
{
m_overlapFilterCallback = callback;
}
virtual bool hasDeferredRemoval()
{
return m_hasDeferredRemoval;
}
};
///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
class btNullPairCache : public btOverlappingPairCache
{
btBroadphasePairArray m_overlappingPairArray;
public:
virtual btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btBroadphasePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btBroadphasePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
{
}
virtual int getNumOverlappingPairs() const
{
return 0;
}
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher)
{
}
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback)
{
}
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher)
{
}
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
return 0;
}
virtual bool hasDeferredRemoval()
{
return true;
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
return 0;
}
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
{
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
{
}
};
#endif //OVERLAPPING_PAIR_CACHE_H

80
src/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
View File

@@ -1,40 +1,40 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OVERLAPPING_PAIR_CALLBACK_H
#define OVERLAPPING_PAIR_CALLBACK_H
class btDispatcher;
struct btBroadphasePair;
///btOverlappingPairCallback provides user callback to keep track of overlap between objects, like a collision sensor
class btOverlappingPairCallback
{
public:
virtual ~btOverlappingPairCallback()
{
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0;
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0;
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0;
};
#endif //OVERLAPPING_PAIR_CALLBACK_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OVERLAPPING_PAIR_CALLBACK_H
#define OVERLAPPING_PAIR_CALLBACK_H
class btDispatcher;
struct btBroadphasePair;
///btOverlappingPairCallback provides user callback to keep track of overlap between objects, like a collision sensor
class btOverlappingPairCallback
{
public:
virtual ~btOverlappingPairCallback()
{
}
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) = 0;
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher) = 0;
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher) = 0;
};
#endif //OVERLAPPING_PAIR_CALLBACK_H

620
src/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

@@ -1,310 +1,310 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSimpleBroadphase.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include <new>
extern int gOverlappingPairs;
void btSimpleBroadphase::validate()
{
for (int i=0;i<m_numHandles;i++)
{
for (int j=i+1;j<m_numHandles;j++)
{
btAssert(&m_pHandles[i] != &m_pHandles[j]);
}
}
}
btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
:m_pairCache(overlappingPairCache),
m_ownsPairCache(false),
m_invalidPair(0)
{
if (!overlappingPairCache)
{
void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
m_pairCache = new (mem)btHashedOverlappingPairCache();
m_ownsPairCache = true;
}
// allocate handles buffer and put all handles on free list
void* ptr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
m_pHandles = new(ptr) btSimpleBroadphaseProxy[maxProxies];
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_firstAllocatedHandle = -1;
{
for (int i = m_firstFreeHandle; i < maxProxies; i++)
{
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
m_pHandles[i].SetNextAllocated(-1);
}
m_pHandles[maxProxies - 1].SetNextFree(0);
m_pHandles[maxProxies - 1].SetNextAllocated(-1);
}
}
btSimpleBroadphase::~btSimpleBroadphase()
{
btAlignedFree(m_pHandles);
if (m_ownsPairCache)
{
m_pairCache->~btOverlappingPairCache();
btAlignedFree(m_pairCache);
}
}
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
{
if (m_numHandles >= m_maxHandles)
{
btAssert(0);
return 0; //should never happen, but don't let the game crash ;-)
}
assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
int newHandleIndex = allocHandle();
btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
return proxy;
}
class RemovingOverlapCallback : public btOverlapCallback
{
protected:
virtual bool processOverlap(btBroadphasePair& pair)
{
(void)pair;
btAssert(0);
return false;
}
};
class RemovePairContainingProxy
{
btBroadphaseProxy* m_targetProxy;
public:
virtual ~RemovePairContainingProxy()
{
}
protected:
virtual bool processOverlap(btBroadphasePair& pair)
{
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
};
};
void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
{
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
freeHandle(proxy0);
m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
//validate();
}
void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
sbp->m_min = aabbMin;
sbp->m_max = aabbMax;
}
bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
{
return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] &&
proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
}
//then remove non-overlapping ones
class CheckOverlapCallback : public btOverlapCallback
{
public:
virtual bool processOverlap(btBroadphasePair& pair)
{
return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
}
};
void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
//first check for new overlapping pairs
int i,j;
if (m_firstAllocatedHandle >= 0)
{
btSimpleBroadphaseProxy* proxy0 = &m_pHandles[m_firstAllocatedHandle];
for (i=0;i<m_numHandles;i++)
{
btSimpleBroadphaseProxy* proxy1 = &m_pHandles[m_firstAllocatedHandle];
for (j=0;j<m_numHandles;j++)
{
if (proxy0 != proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
if (aabbOverlap(p0,p1))
{
if ( !m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->addOverlappingPair(proxy0,proxy1);
}
} else
{
if (!m_pairCache->hasDeferredRemoval())
{
if ( m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
}
}
}
}
proxy1 = &m_pHandles[proxy1->GetNextAllocated()];
}
proxy0 = &m_pHandles[proxy0->GetNextAllocated()];
}
if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}
}
}
bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
return aabbOverlap(p0,p1);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSimpleBroadphase.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include <new>
extern int gOverlappingPairs;
void btSimpleBroadphase::validate()
{
for (int i=0;i<m_numHandles;i++)
{
for (int j=i+1;j<m_numHandles;j++)
{
btAssert(&m_pHandles[i] != &m_pHandles[j]);
}
}
}
btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
:m_pairCache(overlappingPairCache),
m_ownsPairCache(false),
m_invalidPair(0)
{
if (!overlappingPairCache)
{
void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
m_pairCache = new (mem)btHashedOverlappingPairCache();
m_ownsPairCache = true;
}
// allocate handles buffer and put all handles on free list
void* ptr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
m_pHandles = new(ptr) btSimpleBroadphaseProxy[maxProxies];
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_firstAllocatedHandle = -1;
{
for (int i = m_firstFreeHandle; i < maxProxies; i++)
{
m_pHandles[i].SetNextFree(i + 1);
m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
m_pHandles[i].SetNextAllocated(-1);
}
m_pHandles[maxProxies - 1].SetNextFree(0);
m_pHandles[maxProxies - 1].SetNextAllocated(-1);
}
}
btSimpleBroadphase::~btSimpleBroadphase()
{
btAlignedFree(m_pHandles);
if (m_ownsPairCache)
{
m_pairCache->~btOverlappingPairCache();
btAlignedFree(m_pairCache);
}
}
btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy)
{
if (m_numHandles >= m_maxHandles)
{
btAssert(0);
return 0; //should never happen, but don't let the game crash ;-)
}
assert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
int newHandleIndex = allocHandle();
btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
return proxy;
}
class RemovingOverlapCallback : public btOverlapCallback
{
protected:
virtual bool processOverlap(btBroadphasePair& pair)
{
(void)pair;
btAssert(0);
return false;
}
};
class RemovePairContainingProxy
{
btBroadphaseProxy* m_targetProxy;
public:
virtual ~RemovePairContainingProxy()
{
}
protected:
virtual bool processOverlap(btBroadphasePair& pair)
{
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
};
};
void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
{
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
freeHandle(proxy0);
m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
//validate();
}
void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
sbp->m_min = aabbMin;
sbp->m_max = aabbMax;
}
bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
{
return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] &&
proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];
}
//then remove non-overlapping ones
class CheckOverlapCallback : public btOverlapCallback
{
public:
virtual bool processOverlap(btBroadphasePair& pair)
{
return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
}
};
void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
//first check for new overlapping pairs
int i,j;
if (m_firstAllocatedHandle >= 0)
{
btSimpleBroadphaseProxy* proxy0 = &m_pHandles[m_firstAllocatedHandle];
for (i=0;i<m_numHandles;i++)
{
btSimpleBroadphaseProxy* proxy1 = &m_pHandles[m_firstAllocatedHandle];
for (j=0;j<m_numHandles;j++)
{
if (proxy0 != proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
if (aabbOverlap(p0,p1))
{
if ( !m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->addOverlappingPair(proxy0,proxy1);
}
} else
{
if (!m_pairCache->hasDeferredRemoval())
{
if ( m_pairCache->findPair(proxy0,proxy1))
{
m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
}
}
}
}
proxy1 = &m_pHandles[proxy1->GetNextAllocated()];
}
proxy0 = &m_pHandles[proxy0->GetNextAllocated()];
}
if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
{
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
for (i=0;i<overlappingPairArray.size();i++)
{
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
previousPair = pair;
bool needsRemoval = false;
if (!isDuplicate)
{
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
if (hasOverlap)
{
needsRemoval = false;//callback->processOverlap(pair);
} else
{
needsRemoval = true;
}
} else
{
//remove duplicate
needsRemoval = true;
//should have no algorithm
btAssert(!pair.m_algorithm);
}
if (needsRemoval)
{
m_pairCache->cleanOverlappingPair(pair,dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
gOverlappingPairs--;
}
}
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
#ifdef CLEAN_INVALID_PAIRS
//perform a sort, to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
#endif//CLEAN_INVALID_PAIRS
}
}
}
bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
return aabbOverlap(p0,p1);
}

320
src/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
View File

@@ -1,160 +1,160 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMPLE_BROADPHASE_H
#define SIMPLE_BROADPHASE_H
#include "btOverlappingPairCache.h"
struct btSimpleBroadphaseProxy : public btBroadphaseProxy
{
btVector3 m_min;
btVector3 m_max;
int m_nextFree;
int m_nextAllocated;
// int m_handleId;
btSimpleBroadphaseProxy() {};
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
m_min(minpt),m_max(maxpt)
{
(void)shapeType;
}
SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
SIMD_FORCE_INLINE void SetNextAllocated(int next) {m_nextAllocated = next;}
SIMD_FORCE_INLINE int GetNextAllocated() const {return m_nextAllocated;}
};
///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
///btSimpleBroadphase is just a unit-test implementation to verify and test other broadphases.
///So please don't use this class, but use bt32BitAxisSweep3 or btAxisSweep3 instead!
class btSimpleBroadphase : public btBroadphaseInterface
{
protected:
int m_numHandles; // number of active handles
int m_maxHandles; // max number of handles
btSimpleBroadphaseProxy* m_pHandles; // handles pool
int m_firstFreeHandle; // free handles list
int m_firstAllocatedHandle;
int allocHandle()
{
int freeHandle = m_firstFreeHandle;
m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
m_pHandles[freeHandle].SetNextAllocated(m_firstAllocatedHandle);
m_firstAllocatedHandle = freeHandle;
m_numHandles++;
return freeHandle;
}
void freeHandle(btSimpleBroadphaseProxy* proxy)
{
int handle = int(proxy-m_pHandles);
btAssert(handle >= 0 && handle < m_maxHandles);
proxy->SetNextFree(m_firstFreeHandle);
m_firstFreeHandle = handle;
m_firstAllocatedHandle = proxy->GetNextAllocated();
proxy->SetNextAllocated(-1);
m_numHandles--;
}
btOverlappingPairCache* m_pairCache;
bool m_ownsPairCache;
int m_invalidPair;
inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
{
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
return proxy0;
}
void validate();
protected:
public:
btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
virtual ~btSimpleBroadphase();
static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
btOverlappingPairCache* getOverlappingPairCache()
{
return m_pairCache;
}
const btOverlappingPairCache* getOverlappingPairCache() const
{
return m_pairCache;
}
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
}
virtual void printStats()
{
// printf("btSimpleBroadphase.h\n");
// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
}
};
#endif //SIMPLE_BROADPHASE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMPLE_BROADPHASE_H
#define SIMPLE_BROADPHASE_H
#include "btOverlappingPairCache.h"
struct btSimpleBroadphaseProxy : public btBroadphaseProxy
{
btVector3 m_min;
btVector3 m_max;
int m_nextFree;
int m_nextAllocated;
// int m_handleId;
btSimpleBroadphaseProxy() {};
btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
m_min(minpt),m_max(maxpt)
{
(void)shapeType;
}
SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
SIMD_FORCE_INLINE void SetNextAllocated(int next) {m_nextAllocated = next;}
SIMD_FORCE_INLINE int GetNextAllocated() const {return m_nextAllocated;}
};
///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
///btSimpleBroadphase is just a unit-test implementation to verify and test other broadphases.
///So please don't use this class, but use bt32BitAxisSweep3 or btAxisSweep3 instead!
class btSimpleBroadphase : public btBroadphaseInterface
{
protected:
int m_numHandles; // number of active handles
int m_maxHandles; // max number of handles
btSimpleBroadphaseProxy* m_pHandles; // handles pool
int m_firstFreeHandle; // free handles list
int m_firstAllocatedHandle;
int allocHandle()
{
int freeHandle = m_firstFreeHandle;
m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
m_pHandles[freeHandle].SetNextAllocated(m_firstAllocatedHandle);
m_firstAllocatedHandle = freeHandle;
m_numHandles++;
return freeHandle;
}
void freeHandle(btSimpleBroadphaseProxy* proxy)
{
int handle = int(proxy-m_pHandles);
btAssert(handle >= 0 && handle < m_maxHandles);
proxy->SetNextFree(m_firstFreeHandle);
m_firstFreeHandle = handle;
m_firstAllocatedHandle = proxy->GetNextAllocated();
proxy->SetNextAllocated(-1);
m_numHandles--;
}
btOverlappingPairCache* m_pairCache;
bool m_ownsPairCache;
int m_invalidPair;
inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
{
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
return proxy0;
}
void validate();
protected:
public:
btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
virtual ~btSimpleBroadphase();
static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
btOverlappingPairCache* getOverlappingPairCache()
{
return m_pairCache;
}
const btOverlappingPairCache* getOverlappingPairCache() const
{
return m_pairCache;
}
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
///will add some transform later
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
{
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
}
virtual void printStats()
{
// printf("btSimpleBroadphase.h\n");
// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
}
};
#endif //SIMPLE_BROADPHASE_H

400
src/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
View File

@@ -1,200 +1,200 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "LinearMath/btScalar.h"
#include "SphereTriangleDetector.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
:m_sphere(sphere),
m_triangle(triangle)
{
}
void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
{
(void)debugDraw;
const btTransform& transformA = input.m_transformA;
const btTransform& transformB = input.m_transformB;
btVector3 point,normal;
btScalar timeOfImpact = btScalar(1.);
btScalar depth = btScalar(0.);
// output.m_distance = btScalar(1e30);
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);
if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
{
output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
}
}
#define MAX_OVERLAP btScalar(0.)
// See also geometrictools.com
// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
btVector3 diff = p - from;
btVector3 v = to - from;
btScalar t = v.dot(diff);
if (t > 0) {
btScalar dotVV = v.dot(v);
if (t < dotVV) {
t /= dotVV;
diff -= t*v;
} else {
t = 1;
diff -= v;
}
} else
t = 0;
nearest = from + t*v;
return diff.dot(diff);
}
bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal) {
btVector3 lp(p);
btVector3 lnormal(normal);
return pointInTriangle(vertices, lnormal, &lp);
}
///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
const btVector3& c = sphereCenter;
btScalar r = m_sphere->getRadius();
btVector3 delta (0,0,0);
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
btVector3 p1ToCentre = c - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);
if (distanceFromPlane < btScalar(0.))
{
//triangle facing the other way
distanceFromPlane *= btScalar(-1.);
normal *= btScalar(-1.);
}
///todo: move this gContactBreakingThreshold into a proper structure
extern btScalar gContactBreakingThreshold;
btScalar contactMargin = gContactBreakingThreshold;
bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
bool isInsideShellPlane = distanceFromPlane < r;
btScalar deltaDotNormal = delta.dot(normal);
if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
return false;
// Check for contact / intersection
bool hasContact = false;
btVector3 contactPoint;
if (isInsideContactPlane) {
if (facecontains(c,vertices,normal)) {
// Inside the contact wedge - touches a point on the shell plane
hasContact = true;
contactPoint = c - normal*distanceFromPlane;
} else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
btPoint3 pa;
btPoint3 pb;
m_triangle->getEdge(i,pa,pb);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
hasContact = true;
contactPoint = nearestOnEdge;
}
}
}
}
if (hasContact) {
btVector3 contactToCentre = c - contactPoint;
btScalar distanceSqr = contactToCentre.length2();
if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(r-distance);
return true;
}
if (delta.dot(contactToCentre) >= btScalar(0.0))
return false;
// Moving towards the contact point -> collision
point = contactPoint;
timeOfImpact = btScalar(0.0);
return true;
}
return false;
}
bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
{
const btVector3* p1 = &vertices[0];
const btVector3* p2 = &vertices[1];
const btVector3* p3 = &vertices[2];
btVector3 edge1( *p2 - *p1 );
btVector3 edge2( *p3 - *p2 );
btVector3 edge3( *p1 - *p3 );
btVector3 p1_to_p( *p - *p1 );
btVector3 p2_to_p( *p - *p2 );
btVector3 p3_to_p( *p - *p3 );
btVector3 edge1_normal( edge1.cross(normal));
btVector3 edge2_normal( edge2.cross(normal));
btVector3 edge3_normal( edge3.cross(normal));
btScalar r1, r2, r3;
r1 = edge1_normal.dot( p1_to_p );
r2 = edge2_normal.dot( p2_to_p );
r3 = edge3_normal.dot( p3_to_p );
if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
return true;
return false;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "LinearMath/btScalar.h"
#include "SphereTriangleDetector.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
SphereTriangleDetector::SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle)
:m_sphere(sphere),
m_triangle(triangle)
{
}
void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
{
(void)debugDraw;
const btTransform& transformA = input.m_transformA;
const btTransform& transformB = input.m_transformB;
btVector3 point,normal;
btScalar timeOfImpact = btScalar(1.);
btScalar depth = btScalar(0.);
// output.m_distance = btScalar(1e30);
//move sphere into triangle space
btTransform sphereInTr = transformB.inverseTimes(transformA);
if (collide(sphereInTr.getOrigin(),point,normal,depth,timeOfImpact))
{
output.addContactPoint(transformB.getBasis()*normal,transformB*point,depth);
}
}
#define MAX_OVERLAP btScalar(0.)
// See also geometrictools.com
// Basic idea: D = |p - (lo + t0*lv)| where t0 = lv . (p - lo) / lv . lv
btScalar SegmentSqrDistance(const btVector3& from, const btVector3& to,const btVector3 &p, btVector3 &nearest) {
btVector3 diff = p - from;
btVector3 v = to - from;
btScalar t = v.dot(diff);
if (t > 0) {
btScalar dotVV = v.dot(v);
if (t < dotVV) {
t /= dotVV;
diff -= t*v;
} else {
t = 1;
diff -= v;
}
} else
t = 0;
nearest = from + t*v;
return diff.dot(diff);
}
bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal) {
btVector3 lp(p);
btVector3 lnormal(normal);
return pointInTriangle(vertices, lnormal, &lp);
}
///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
const btVector3& c = sphereCenter;
btScalar r = m_sphere->getRadius();
btVector3 delta (0,0,0);
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
btVector3 p1ToCentre = c - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);
if (distanceFromPlane < btScalar(0.))
{
//triangle facing the other way
distanceFromPlane *= btScalar(-1.);
normal *= btScalar(-1.);
}
///todo: move this gContactBreakingThreshold into a proper structure
extern btScalar gContactBreakingThreshold;
btScalar contactMargin = gContactBreakingThreshold;
bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
bool isInsideShellPlane = distanceFromPlane < r;
btScalar deltaDotNormal = delta.dot(normal);
if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
return false;
// Check for contact / intersection
bool hasContact = false;
btVector3 contactPoint;
if (isInsideContactPlane) {
if (facecontains(c,vertices,normal)) {
// Inside the contact wedge - touches a point on the shell plane
hasContact = true;
contactPoint = c - normal*distanceFromPlane;
} else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
btPoint3 pa;
btPoint3 pb;
m_triangle->getEdge(i,pa,pb);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
hasContact = true;
contactPoint = nearestOnEdge;
}
}
}
}
if (hasContact) {
btVector3 contactToCentre = c - contactPoint;
btScalar distanceSqr = contactToCentre.length2();
if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(r-distance);
return true;
}
if (delta.dot(contactToCentre) >= btScalar(0.0))
return false;
// Moving towards the contact point -> collision
point = contactPoint;
timeOfImpact = btScalar(0.0);
return true;
}
return false;
}
bool SphereTriangleDetector::pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p )
{
const btVector3* p1 = &vertices[0];
const btVector3* p2 = &vertices[1];
const btVector3* p3 = &vertices[2];
btVector3 edge1( *p2 - *p1 );
btVector3 edge2( *p3 - *p2 );
btVector3 edge3( *p1 - *p3 );
btVector3 p1_to_p( *p - *p1 );
btVector3 p2_to_p( *p - *p2 );
btVector3 p3_to_p( *p - *p3 );
btVector3 edge1_normal( edge1.cross(normal));
btVector3 edge2_normal( edge2.cross(normal));
btVector3 edge3_normal( edge3.cross(normal));
btScalar r1, r2, r3;
r1 = edge1_normal.dot( p1_to_p );
r2 = edge2_normal.dot( p2_to_p );
r3 = edge3_normal.dot( p3_to_p );
if ( ( r1 > 0 && r2 > 0 && r3 > 0 ) ||
( r1 <= 0 && r2 <= 0 && r3 <= 0 ) )
return true;
return false;
}

170
src/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
View File

@@ -1,85 +1,85 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btBoxBoxDetector.h"
#define USE_PERSISTENT_CONTACTS 1
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_ownManifold = true;
}
}
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
#ifndef USE_PERSISTENT_CONTACTS
m_manifoldPtr->clearManifold();
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
btBoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#ifdef USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
}
btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btBoxBoxDetector.h"
#define USE_PERSISTENT_CONTACTS 1
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_ownManifold = true;
}
}
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
#ifndef USE_PERSISTENT_CONTACTS
m_manifoldPtr->clearManifold();
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
btBoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#ifdef USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
}
btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;
}

114
src/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
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@@ -1,57 +1,57 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_BOX__COLLISION_ALGORITHM_H
#define BOX_BOX__COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
///box-box collision detection
class btBoxBoxCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
public:
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
virtual ~btBoxBoxCollisionAlgorithm();
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
}
};
};
#endif //BOX_BOX__COLLISION_ALGORITHM_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_BOX__COLLISION_ALGORITHM_H
#define BOX_BOX__COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
///box-box collision detection
class btBoxBoxCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
public:
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
virtual ~btBoxBoxCollisionAlgorithm();
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
}
};
};
#endif //BOX_BOX__COLLISION_ALGORITHM_H

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src/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
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88
src/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
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@@ -1,44 +1,44 @@
/*
* Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
* Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
* All rights reserved. Email: russ@q12.org Web: www.q12.org
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_BOX_DETECTOR_H
#define BOX_BOX_DETECTOR_H
class btBoxShape;
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
/// btBoxBoxDetector wraps the ODE box-box collision detector
/// re-distributed under the Zlib license with permission from Russell L. Smith
struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
{
btBoxShape* m_box1;
btBoxShape* m_box2;
public:
btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
virtual ~btBoxBoxDetector() {};
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
};
#endif //BT_BOX_BOX_DETECTOR_H
/*
* Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
* Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
* All rights reserved. Email: russ@q12.org Web: www.q12.org
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_BOX_DETECTOR_H
#define BOX_BOX_DETECTOR_H
class btBoxShape;
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
/// btBoxBoxDetector wraps the ODE box-box collision detector
/// re-distributed under the Zlib license with permission from Russell L. Smith
struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
{
btBoxShape* m_box1;
btBoxShape* m_box2;
public:
btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
virtual ~btBoxBoxDetector() {};
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
};
#endif //BT_BOX_BOX_DETECTOR_H

94
src/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
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@@ -1,47 +1,47 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COLLISION_CONFIGURATION
#define BT_COLLISION_CONFIGURATION
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator size, default collision algorithms and persistent manifold pool size
///todo: describe the meaning
class btCollisionConfiguration
{
public:
virtual ~btCollisionConfiguration()
{
}
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool() = 0;
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
};
#endif //BT_COLLISION_CONFIGURATION
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COLLISION_CONFIGURATION
#define BT_COLLISION_CONFIGURATION
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator size, default collision algorithms and persistent manifold pool size
///todo: describe the meaning
class btCollisionConfiguration
{
public:
virtual ~btCollisionConfiguration()
{
}
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool() = 0;
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
};
#endif //BT_COLLISION_CONFIGURATION

590
src/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
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@@ -1,295 +1,295 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btPoolAllocator.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
int gNumManifold = 0;
#ifdef BT_DEBUG
#include <stdio.h>
#endif
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
m_count(0),
m_useIslands(true),
m_staticWarningReported(false),
m_collisionConfiguration(collisionConfiguration)
{
int i;
setNearCallback(defaultNearCallback);
m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
{
for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
{
m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
assert(m_doubleDispatch[i][j]);
}
}
};
void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
{
m_doubleDispatch[proxyType0][proxyType1] = createFunc;
}
btCollisionDispatcher::~btCollisionDispatcher()
{
}
btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
{
gNumManifold++;
//btAssert(gNumManifold < 65535);
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
void* mem = 0;
if (m_persistentManifoldPoolAllocator->getFreeCount())
{
mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
} else
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);
return manifold;
}
void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
{
manifold->clearManifold();
}
void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
{
gNumManifold--;
//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
clearManifold(manifold);
int findIndex = manifold->m_index1a;
btAssert(findIndex < m_manifoldsPtr.size());
m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
m_manifoldsPtr[findIndex]->m_index1a = findIndex;
m_manifoldsPtr.pop_back();
manifold->~btPersistentManifold();
if (m_persistentManifoldPoolAllocator->validPtr(manifold))
{
m_persistentManifoldPoolAllocator->freeMemory(manifold);
} else
{
btAlignedFree(manifold);
}
}
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
{
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = this;
ci.m_manifold = sharedManifold;
btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
return algo;
}
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
{
//here you can do filtering
bool hasResponse =
(body0->hasContactResponse() && body1->hasContactResponse());
//no response between two static/kinematic bodies:
hasResponse = hasResponse &&
((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject()));
return hasResponse;
}
bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
{
assert(body0);
assert(body1);
bool needsCollision = true;
#ifdef BT_DEBUG
if (!m_staticWarningReported)
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
{
m_staticWarningReported = true;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}
#endif //BT_DEBUG
if ((!body0->isActive()) && (!body1->isActive()))
needsCollision = false;
else if (!body0->checkCollideWith(body1))
needsCollision = false;
return needsCollision ;
}
///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
///this is useful for the collision dispatcher.
class btCollisionPairCallback : public btOverlapCallback
{
btDispatcherInfo& m_dispatchInfo;
btCollisionDispatcher* m_dispatcher;
public:
btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher)
:m_dispatchInfo(dispatchInfo),
m_dispatcher(dispatcher)
{
}
btCollisionPairCallback& operator=(btCollisionPairCallback& other)
{
m_dispatchInfo = other.m_dispatchInfo;
m_dispatcher = other.m_dispatcher;
return *this;
}
virtual ~btCollisionPairCallback() {}
virtual bool processOverlap(btBroadphasePair& pair)
{
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
return false;
}
};
void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)
{
//m_blockedForChanges = true;
btCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
//m_blockedForChanges = false;
}
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher.needsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
{
if (m_collisionAlgorithmPoolAllocator->getFreeCount())
{
return m_collisionAlgorithmPoolAllocator->allocate(size);
}
//warn user for overflow?
return btAlignedAlloc(size,16);
}
void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
{
if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
{
m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
} else
{
btAlignedFree(ptr);
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCollisionDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btPoolAllocator.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
int gNumManifold = 0;
#ifdef BT_DEBUG
#include <stdio.h>
#endif
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
m_count(0),
m_useIslands(true),
m_staticWarningReported(false),
m_collisionConfiguration(collisionConfiguration)
{
int i;
setNearCallback(defaultNearCallback);
m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
{
for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
{
m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
assert(m_doubleDispatch[i][j]);
}
}
};
void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
{
m_doubleDispatch[proxyType0][proxyType1] = createFunc;
}
btCollisionDispatcher::~btCollisionDispatcher()
{
}
btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
{
gNumManifold++;
//btAssert(gNumManifold < 65535);
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
void* mem = 0;
if (m_persistentManifoldPoolAllocator->getFreeCount())
{
mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
} else
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0);
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);
return manifold;
}
void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
{
manifold->clearManifold();
}
void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
{
gNumManifold--;
//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
clearManifold(manifold);
int findIndex = manifold->m_index1a;
btAssert(findIndex < m_manifoldsPtr.size());
m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
m_manifoldsPtr[findIndex]->m_index1a = findIndex;
m_manifoldsPtr.pop_back();
manifold->~btPersistentManifold();
if (m_persistentManifoldPoolAllocator->validPtr(manifold))
{
m_persistentManifoldPoolAllocator->freeMemory(manifold);
} else
{
btAlignedFree(manifold);
}
}
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
{
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = this;
ci.m_manifold = sharedManifold;
btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
return algo;
}
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
{
//here you can do filtering
bool hasResponse =
(body0->hasContactResponse() && body1->hasContactResponse());
//no response between two static/kinematic bodies:
hasResponse = hasResponse &&
((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject()));
return hasResponse;
}
bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
{
assert(body0);
assert(body1);
bool needsCollision = true;
#ifdef BT_DEBUG
if (!m_staticWarningReported)
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
{
m_staticWarningReported = true;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}
#endif //BT_DEBUG
if ((!body0->isActive()) && (!body1->isActive()))
needsCollision = false;
else if (!body0->checkCollideWith(body1))
needsCollision = false;
return needsCollision ;
}
///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
///this is useful for the collision dispatcher.
class btCollisionPairCallback : public btOverlapCallback
{
btDispatcherInfo& m_dispatchInfo;
btCollisionDispatcher* m_dispatcher;
public:
btCollisionPairCallback(btDispatcherInfo& dispatchInfo,btCollisionDispatcher* dispatcher)
:m_dispatchInfo(dispatchInfo),
m_dispatcher(dispatcher)
{
}
btCollisionPairCallback& operator=(btCollisionPairCallback& other)
{
m_dispatchInfo = other.m_dispatchInfo;
m_dispatcher = other.m_dispatcher;
return *this;
}
virtual ~btCollisionPairCallback() {}
virtual bool processOverlap(btBroadphasePair& pair)
{
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
return false;
}
};
void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)
{
//m_blockedForChanges = true;
btCollisionPairCallback collisionCallback(dispatchInfo,this);
pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
//m_blockedForChanges = false;
}
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo)
{
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (dispatcher.needsCollision(colObj0,colObj1))
{
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
if (dispatchInfo.m_timeOfImpact > toi)
dispatchInfo.m_timeOfImpact = toi;
}
}
}
}
void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
{
if (m_collisionAlgorithmPoolAllocator->getFreeCount())
{
return m_collisionAlgorithmPoolAllocator->allocate(size);
}
//warn user for overflow?
return btAlignedAlloc(size,16);
}
void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
{
if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
{
m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
} else
{
btAlignedFree(ptr);
}
}

294
src/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
View File

@@ -1,147 +1,147 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION__DISPATCHER_H
#define COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btAlignedObjectArray.h"
class btIDebugDraw;
class btOverlappingPairCache;
class btPoolAllocator;
class btCollisionConfiguration;
#include "btCollisionCreateFunc.h"
#define USE_DISPATCH_REGISTRY_ARRAY 1
class btCollisionDispatcher;
///user can override this nearcallback for collision filtering and more finegrained control over collision detection
typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
int m_count;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
bool m_useIslands;
bool m_staticWarningReported;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
btPoolAllocator* m_collisionAlgorithmPoolAllocator;
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionConfiguration* m_collisionConfiguration;
public:
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
int getNumManifolds() const
{
return int( m_manifoldsPtr.size());
}
btPersistentManifold** getInternalManifoldPointer()
{
return &m_manifoldsPtr[0];
}
btPersistentManifold* getManifoldByIndexInternal(int index)
{
return m_manifoldsPtr[index];
}
const btPersistentManifold* getManifoldByIndexInternal(int index) const
{
return m_manifoldsPtr[index];
}
btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
virtual ~btCollisionDispatcher();
virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
virtual void releaseManifold(btPersistentManifold* manifold);
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher);
void setNearCallback(btNearCallback nearCallback)
{
m_nearCallback = nearCallback;
}
btNearCallback getNearCallback() const
{
return m_nearCallback;
}
//by default, Bullet will use this near callback
static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
virtual void* allocateCollisionAlgorithm(int size);
virtual void freeCollisionAlgorithm(void* ptr);
btCollisionConfiguration* getCollisionConfiguration()
{
return m_collisionConfiguration;
}
const btCollisionConfiguration* getCollisionConfiguration() const
{
return m_collisionConfiguration;
}
void setCollisionConfiguration(btCollisionConfiguration* config)
{
m_collisionConfiguration = config;
}
};
#endif //COLLISION__DISPATCHER_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION__DISPATCHER_H
#define COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btAlignedObjectArray.h"
class btIDebugDraw;
class btOverlappingPairCache;
class btPoolAllocator;
class btCollisionConfiguration;
#include "btCollisionCreateFunc.h"
#define USE_DISPATCH_REGISTRY_ARRAY 1
class btCollisionDispatcher;
///user can override this nearcallback for collision filtering and more finegrained control over collision detection
typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
int m_count;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
bool m_useIslands;
bool m_staticWarningReported;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
btPoolAllocator* m_collisionAlgorithmPoolAllocator;
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionConfiguration* m_collisionConfiguration;
public:
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
int getNumManifolds() const
{
return int( m_manifoldsPtr.size());
}
btPersistentManifold** getInternalManifoldPointer()
{
return &m_manifoldsPtr[0];
}
btPersistentManifold* getManifoldByIndexInternal(int index)
{
return m_manifoldsPtr[index];
}
const btPersistentManifold* getManifoldByIndexInternal(int index) const
{
return m_manifoldsPtr[index];
}
btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
virtual ~btCollisionDispatcher();
virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
virtual void releaseManifold(btPersistentManifold* manifold);
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher);
void setNearCallback(btNearCallback nearCallback)
{
m_nearCallback = nearCallback;
}
btNearCallback getNearCallback() const
{
return m_nearCallback;
}
//by default, Bullet will use this near callback
static void defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, btDispatcherInfo& dispatchInfo);
virtual void* allocateCollisionAlgorithm(int size);
virtual void freeCollisionAlgorithm(void* ptr);
btCollisionConfiguration* getCollisionConfiguration()
{
return m_collisionConfiguration;
}
const btCollisionConfiguration* getCollisionConfiguration() const
{
return m_collisionConfiguration;
}
void setCollisionConfiguration(btCollisionConfiguration* config)
{
m_collisionConfiguration = config;
}
};
#endif //COLLISION__DISPATCHER_H

128
src/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -1,64 +1,64 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCollisionObject.h"
btCollisionObject::btCollisionObject()
: m_broadphaseHandle(0),
m_collisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
m_companionId(-1),
m_activationState1(1),
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
m_userObjectPointer(0),
m_internalType(CO_COLLISION_OBJECT),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{
}
btCollisionObject::~btCollisionObject()
{
}
void btCollisionObject::setActivationState(int newState)
{
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
m_activationState1 = newState;
}
void btCollisionObject::forceActivationState(int newState)
{
m_activationState1 = newState;
}
void btCollisionObject::activate(bool forceActivation)
{
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
setActivationState(ACTIVE_TAG);
m_deactivationTime = btScalar(0.);
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCollisionObject.h"
btCollisionObject::btCollisionObject()
: m_broadphaseHandle(0),
m_collisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
m_companionId(-1),
m_activationState1(1),
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
m_userObjectPointer(0),
m_internalType(CO_COLLISION_OBJECT),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdSquareMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
{
}
btCollisionObject::~btCollisionObject()
{
}
void btCollisionObject::setActivationState(int newState)
{
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
m_activationState1 = newState;
}
void btCollisionObject::forceActivationState(int newState)
{
m_activationState1 = newState;
}
void btCollisionObject::activate(bool forceActivation)
{
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
setActivationState(ACTIVE_TAG);
m_deactivationTime = btScalar(0.);
}
}

698
src/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -1,349 +1,349 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_OBJECT_H
#define COLLISION_OBJECT_H
#include "LinearMath/btTransform.h"
//island management, m_activationState1
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
#define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5
struct btBroadphaseProxy;
class btCollisionShape;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
/// They can be added to the btCollisionWorld.
ATTRIBUTE_ALIGNED16(class) btCollisionObject
{
protected:
btTransform m_worldTransform;
///m_interpolationWorldTransform is used for CCD and interpolation
///it can be either previous or future (predicted) transform
btTransform m_interpolationWorldTransform;
//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities)
//without destroying the continuous interpolated motion (which uses this interpolation velocities)
btVector3 m_interpolationLinearVelocity;
btVector3 m_interpolationAngularVelocity;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
btScalar m_deactivationTime;
btScalar m_friction;
btScalar m_restitution;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody etc.
///do not assign your own m_internalType unless you write a new dynamics object class.
int m_internalType;
///time of impact calculation
btScalar m_hitFraction;
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar m_ccdSweptSphereRadius;
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
btScalar m_ccdSquareMotionThreshold;
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
char m_pad[7];
virtual bool checkCollideWithOverride(btCollisionObject* co)
{
return true;
}
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
enum CollisionFlags
{
CF_STATIC_OBJECT= 1,
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
};
enum CollisionObjectTypes
{
CO_COLLISION_OBJECT =1,
CO_RIGID_BODY,
CO_SOFT_BODY
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
}
SIMD_FORCE_INLINE bool isStaticObject() const {
return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
}
SIMD_FORCE_INLINE bool isKinematicObject() const
{
return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
}
SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const
{
return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
}
SIMD_FORCE_INLINE bool hasContactResponse() const {
return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
}
btCollisionObject();
virtual ~btCollisionObject();
void setCollisionShape(btCollisionShape* collisionShape)
{
m_collisionShape = collisionShape;
}
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
{
return m_collisionShape;
}
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
{
return m_collisionShape;
}
int getActivationState() const { return m_activationState1;}
void setActivationState(int newState);
void setDeactivationTime(btScalar time)
{
m_deactivationTime = time;
}
btScalar getDeactivationTime() const
{
return m_deactivationTime;
}
void forceActivationState(int newState);
void activate(bool forceActivation = false);
inline bool isActive() const
{
return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
}
void setRestitution(btScalar rest)
{
m_restitution = rest;
}
btScalar getRestitution() const
{
return m_restitution;
}
void setFriction(btScalar frict)
{
m_friction = frict;
}
btScalar getFriction() const
{
return m_friction;
}
///reserved for Bullet internal usage
int getInternalType() const
{
return m_internalType;
}
btTransform& getWorldTransform()
{
return m_worldTransform;
}
const btTransform& getWorldTransform() const
{
return m_worldTransform;
}
void setWorldTransform(const btTransform& worldTrans)
{
m_worldTransform = worldTrans;
}
btBroadphaseProxy* getBroadphaseHandle()
{
return m_broadphaseHandle;
}
const btBroadphaseProxy* getBroadphaseHandle() const
{
return m_broadphaseHandle;
}
void setBroadphaseHandle(btBroadphaseProxy* handle)
{
m_broadphaseHandle = handle;
}
const btTransform& getInterpolationWorldTransform() const
{
return m_interpolationWorldTransform;
}
btTransform& getInterpolationWorldTransform()
{
return m_interpolationWorldTransform;
}
void setInterpolationWorldTransform(const btTransform& trans)
{
m_interpolationWorldTransform = trans;
}
const btVector3& getInterpolationLinearVelocity() const
{
return m_interpolationLinearVelocity;
}
const btVector3& getInterpolationAngularVelocity() const
{
return m_interpolationAngularVelocity;
}
const int getIslandTag() const
{
return m_islandTag1;
}
void setIslandTag(int tag)
{
m_islandTag1 = tag;
}
const int getCompanionId() const
{
return m_companionId;
}
void setCompanionId(int id)
{
m_companionId = id;
}
const btScalar getHitFraction() const
{
return m_hitFraction;
}
void setHitFraction(btScalar hitFraction)
{
m_hitFraction = hitFraction;
}
const int getCollisionFlags() const
{
return m_collisionFlags;
}
void setCollisionFlags(int flags)
{
m_collisionFlags = flags;
}
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar getCcdSweptSphereRadius() const
{
return m_ccdSweptSphereRadius;
}
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
void setCcdSweptSphereRadius(btScalar radius)
{
m_ccdSweptSphereRadius = radius;
}
btScalar getCcdSquareMotionThreshold() const
{
return m_ccdSquareMotionThreshold;
}
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
void setCcdSquareMotionThreshold(btScalar ccdSquareMotionThreshold)
{
m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
}
///users can point to their objects, userPointer is not used by Bullet
void* getUserPointer() const
{
return m_userObjectPointer;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserPointer(void* userPointer)
{
m_userObjectPointer = userPointer;
}
inline bool checkCollideWith(btCollisionObject* co)
{
if (m_checkCollideWith)
return checkCollideWithOverride(co);
return true;
}
};
#endif //COLLISION_OBJECT_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_OBJECT_H
#define COLLISION_OBJECT_H
#include "LinearMath/btTransform.h"
//island management, m_activationState1
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
#define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5
struct btBroadphaseProxy;
class btCollisionShape;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
/// They can be added to the btCollisionWorld.
ATTRIBUTE_ALIGNED16(class) btCollisionObject
{
protected:
btTransform m_worldTransform;
///m_interpolationWorldTransform is used for CCD and interpolation
///it can be either previous or future (predicted) transform
btTransform m_interpolationWorldTransform;
//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities)
//without destroying the continuous interpolated motion (which uses this interpolation velocities)
btVector3 m_interpolationLinearVelocity;
btVector3 m_interpolationAngularVelocity;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
btScalar m_deactivationTime;
btScalar m_friction;
btScalar m_restitution;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody etc.
///do not assign your own m_internalType unless you write a new dynamics object class.
int m_internalType;
///time of impact calculation
btScalar m_hitFraction;
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar m_ccdSweptSphereRadius;
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
btScalar m_ccdSquareMotionThreshold;
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
char m_pad[7];
virtual bool checkCollideWithOverride(btCollisionObject* co)
{
return true;
}
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
enum CollisionFlags
{
CF_STATIC_OBJECT= 1,
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8//this allows per-triangle material (friction/restitution)
};
enum CollisionObjectTypes
{
CO_COLLISION_OBJECT =1,
CO_RIGID_BODY,
CO_SOFT_BODY
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
}
SIMD_FORCE_INLINE bool isStaticObject() const {
return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
}
SIMD_FORCE_INLINE bool isKinematicObject() const
{
return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
}
SIMD_FORCE_INLINE bool isStaticOrKinematicObject() const
{
return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
}
SIMD_FORCE_INLINE bool hasContactResponse() const {
return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
}
btCollisionObject();
virtual ~btCollisionObject();
void setCollisionShape(btCollisionShape* collisionShape)
{
m_collisionShape = collisionShape;
}
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
{
return m_collisionShape;
}
SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
{
return m_collisionShape;
}
int getActivationState() const { return m_activationState1;}
void setActivationState(int newState);
void setDeactivationTime(btScalar time)
{
m_deactivationTime = time;
}
btScalar getDeactivationTime() const
{
return m_deactivationTime;
}
void forceActivationState(int newState);
void activate(bool forceActivation = false);
inline bool isActive() const
{
return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
}
void setRestitution(btScalar rest)
{
m_restitution = rest;
}
btScalar getRestitution() const
{
return m_restitution;
}
void setFriction(btScalar frict)
{
m_friction = frict;
}
btScalar getFriction() const
{
return m_friction;
}
///reserved for Bullet internal usage
int getInternalType() const
{
return m_internalType;
}
btTransform& getWorldTransform()
{
return m_worldTransform;
}
const btTransform& getWorldTransform() const
{
return m_worldTransform;
}
void setWorldTransform(const btTransform& worldTrans)
{
m_worldTransform = worldTrans;
}
btBroadphaseProxy* getBroadphaseHandle()
{
return m_broadphaseHandle;
}
const btBroadphaseProxy* getBroadphaseHandle() const
{
return m_broadphaseHandle;
}
void setBroadphaseHandle(btBroadphaseProxy* handle)
{
m_broadphaseHandle = handle;
}
const btTransform& getInterpolationWorldTransform() const
{
return m_interpolationWorldTransform;
}
btTransform& getInterpolationWorldTransform()
{
return m_interpolationWorldTransform;
}
void setInterpolationWorldTransform(const btTransform& trans)
{
m_interpolationWorldTransform = trans;
}
const btVector3& getInterpolationLinearVelocity() const
{
return m_interpolationLinearVelocity;
}
const btVector3& getInterpolationAngularVelocity() const
{
return m_interpolationAngularVelocity;
}
const int getIslandTag() const
{
return m_islandTag1;
}
void setIslandTag(int tag)
{
m_islandTag1 = tag;
}
const int getCompanionId() const
{
return m_companionId;
}
void setCompanionId(int id)
{
m_companionId = id;
}
const btScalar getHitFraction() const
{
return m_hitFraction;
}
void setHitFraction(btScalar hitFraction)
{
m_hitFraction = hitFraction;
}
const int getCollisionFlags() const
{
return m_collisionFlags;
}
void setCollisionFlags(int flags)
{
m_collisionFlags = flags;
}
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar getCcdSweptSphereRadius() const
{
return m_ccdSweptSphereRadius;
}
///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
void setCcdSweptSphereRadius(btScalar radius)
{
m_ccdSweptSphereRadius = radius;
}
btScalar getCcdSquareMotionThreshold() const
{
return m_ccdSquareMotionThreshold;
}
/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
void setCcdSquareMotionThreshold(btScalar ccdSquareMotionThreshold)
{
m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
}
///users can point to their objects, userPointer is not used by Bullet
void* getUserPointer() const
{
return m_userObjectPointer;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserPointer(void* userPointer)
{
m_userObjectPointer = userPointer;
}
inline bool checkCollideWith(btCollisionObject* co)
{
if (m_checkCollideWith)
return checkCollideWithOverride(co);
return true;
}
};
#endif //COLLISION_OBJECT_H

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@@ -1,356 +1,356 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/**
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
* Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
*
* @section install_sec Installation
*
* @subsection step1 Step 1: Download
* You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
* @subsection step2 Step 2: Building
* Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
* The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
*
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
* Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
* So if you are not using MSVC, you can run configure and jam .
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
*
* @subsection step3 Step 3: Testing demos
* Try to run and experiment with CcdPhysicsDemo executable as a starting point.
* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
* The Dependencies can be seen in this documentation under Directories
*
* @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
* Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
* PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody
* @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
* Bullet Collision Detection can also be used without the Dynamics/Extras.
* Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
* @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
* Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
*
*/
#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btAlignedObjectArray.h"
///CollisionWorld is interface and container for the collision detection
class btCollisionWorld
{
protected:
btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
btDispatcher* m_dispatcher1;
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
virtual ~btCollisionWorld();
btBroadphaseInterface* getBroadphase()
{
return m_broadphasePairCache;
}
btOverlappingPairCache* getPairCache()
{
return m_broadphasePairCache->getOverlappingPairCache();
}
btDispatcher* getDispatcher()
{
return m_dispatcher1;
}
virtual void updateAabbs();
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
///LocalShapeInfo gives extra information for complex shapes
///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
struct LocalShapeInfo
{
int m_shapePart;
int m_triangleIndex;
//const btCollisionShape* m_shapeTemp;
//const btTransform* m_shapeLocalTransform;
};
struct LocalRayResult
{
LocalRayResult(btCollisionObject* collisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
btScalar hitFraction)
:m_collisionObject(collisionObject),
m_localShapeInfo(localShapeInfo),
m_hitNormalLocal(hitNormalLocal),
m_hitFraction(hitFraction)
{
}
btCollisionObject* m_collisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btScalar m_hitFraction;
};
///RayResultCallback is used to report new raycast results
struct RayResultCallback
{
btScalar m_closestHitFraction;
btCollisionObject* m_collisionObject;
virtual ~RayResultCallback()
{
}
bool HasHit()
{
return (m_collisionObject != 0);
}
RayResultCallback()
:m_closestHitFraction(btScalar(1.)),
m_collisionObject(0)
{
}
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
};
struct ClosestRayResultCallback : public RayResultCallback
{
ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld)
{
}
btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_rayToWorld;
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
return rayResult.m_hitFraction;
}
};
struct LocalConvexResult
{
LocalConvexResult(btCollisionObject* hitCollisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
const btVector3& hitPointLocal,
btScalar hitFraction
)
:m_hitCollisionObject(hitCollisionObject),
m_localShapeInfo(localShapeInfo),
m_hitNormalLocal(hitNormalLocal),
m_hitPointLocal(hitPointLocal),
m_hitFraction(hitFraction)
{
}
btCollisionObject* m_hitCollisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btVector3 m_hitPointLocal;
btScalar m_hitFraction;
};
///RayResultCallback is used to report new raycast results
struct ConvexResultCallback
{
virtual ~ConvexResultCallback()
{
}
btScalar m_closestHitFraction;
bool HasHit()
{
return (m_closestHitFraction < btScalar(1.));
}
ConvexResultCallback()
:m_closestHitFraction(btScalar(1.))
{
}
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
};
struct ClosestConvexResultCallback : public ConvexResultCallback
{
ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld)
:m_convexFromWorld(convexFromWorld),
m_convexToWorld(convexToWorld),
m_hitCollisionObject(0)
{
}
btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_convexToWorld;
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = convexResult.m_hitFraction;
m_hitCollisionObject = convexResult.m_hitCollisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = convexResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
}
m_hitPointWorld = convexResult.m_hitPointLocal;
return convexResult.m_hitFraction;
}
};
int getNumCollisionObjects() const
{
return int(m_collisionObjects.size());
}
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
/// This allows more customization.
static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
btCollisionObjectArray& getCollisionObjectArray()
{
return m_collisionObjects;
}
const btCollisionObjectArray& getCollisionObjectArray() const
{
return m_collisionObjects;
}
void removeCollisionObject(btCollisionObject* collisionObject);
virtual void performDiscreteCollisionDetection();
btDispatcherInfo& getDispatchInfo()
{
return m_dispatchInfo;
}
};
#endif //COLLISION_WORLD_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
/**
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* There is the Physics Forum for Feedback and bteral Collision Detection and Physics discussions.
* Please visit http://www.continuousphysics.com/Bullet/phpBB2/index.php
*
* @section install_sec Installation
*
* @subsection step1 Step 1: Download
* You can download the Bullet Physics Library from our website: http://www.continuousphysics.com/Bullet/
* @subsection step2 Step 2: Building
* Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
* The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
*
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using cmake, http://www.cmake.org, or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
* Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
* So if you are not using MSVC, you can run configure and jam .
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/pub/jam/
*
* @subsection step3 Step 3: Testing demos
* Try to run and experiment with CcdPhysicsDemo executable as a starting point.
* Bullet can be used in several ways, as Full Rigid Body simulation, as Collision Detector Library or Low Level / Snippets like the GJK Closest Point calculation.
* The Dependencies can be seen in this documentation under Directories
*
* @subsection step4 Step 4: Integrating in your application, Full Rigid Body Simulation
* Check out CcdPhysicsDemo how to create a btDynamicsWorld, btRigidBody and btCollisionShape, Stepping the simulation and synchronizing your graphics object transform.
* PLEASE NOTE THE CcdPhysicsEnvironment and CcdPhysicsController is obsolete and will be removed. It has been replaced by classes derived frmo btDynamicsWorld and btRididBody
* @subsection step5 Step 5 : Integrate the Collision Detection Library (without Dynamics and other Extras)
* Bullet Collision Detection can also be used without the Dynamics/Extras.
* Check out btCollisionWorld and btCollisionObject, and the CollisionInterfaceDemo. Also in Extras/test_BulletOde.cpp there is a sample Collision Detection integration with Open Dynamics Engine, ODE, http://www.ode.org
* @subsection step6 Step 6 : Use Snippets like the GJK Closest Point calculation.
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
* Copyright (C) 2005-2007 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
*
*/
#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
#include "btCollisionDispatcher.h" //for definition of btCollisionObjectArray
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btAlignedObjectArray.h"
///CollisionWorld is interface and container for the collision detection
class btCollisionWorld
{
protected:
btAlignedObjectArray<btCollisionObject*> m_collisionObjects;
btDispatcher* m_dispatcher1;
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
btCollisionWorld(btDispatcher* dispatcher,btBroadphaseInterface* broadphasePairCache, btCollisionConfiguration* collisionConfiguration);
virtual ~btCollisionWorld();
btBroadphaseInterface* getBroadphase()
{
return m_broadphasePairCache;
}
btOverlappingPairCache* getPairCache()
{
return m_broadphasePairCache->getOverlappingPairCache();
}
btDispatcher* getDispatcher()
{
return m_dispatcher1;
}
virtual void updateAabbs();
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
m_debugDrawer = debugDrawer;
}
virtual btIDebugDraw* getDebugDrawer()
{
return m_debugDrawer;
}
///LocalShapeInfo gives extra information for complex shapes
///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
struct LocalShapeInfo
{
int m_shapePart;
int m_triangleIndex;
//const btCollisionShape* m_shapeTemp;
//const btTransform* m_shapeLocalTransform;
};
struct LocalRayResult
{
LocalRayResult(btCollisionObject* collisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
btScalar hitFraction)
:m_collisionObject(collisionObject),
m_localShapeInfo(localShapeInfo),
m_hitNormalLocal(hitNormalLocal),
m_hitFraction(hitFraction)
{
}
btCollisionObject* m_collisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btScalar m_hitFraction;
};
///RayResultCallback is used to report new raycast results
struct RayResultCallback
{
btScalar m_closestHitFraction;
btCollisionObject* m_collisionObject;
virtual ~RayResultCallback()
{
}
bool HasHit()
{
return (m_collisionObject != 0);
}
RayResultCallback()
:m_closestHitFraction(btScalar(1.)),
m_collisionObject(0)
{
}
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace) = 0;
};
struct ClosestRayResultCallback : public RayResultCallback
{
ClosestRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld)
{
}
btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_rayToWorld;
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
virtual btScalar AddSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_collisionObject = rayResult.m_collisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
return rayResult.m_hitFraction;
}
};
struct LocalConvexResult
{
LocalConvexResult(btCollisionObject* hitCollisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
const btVector3& hitPointLocal,
btScalar hitFraction
)
:m_hitCollisionObject(hitCollisionObject),
m_localShapeInfo(localShapeInfo),
m_hitNormalLocal(hitNormalLocal),
m_hitPointLocal(hitPointLocal),
m_hitFraction(hitFraction)
{
}
btCollisionObject* m_hitCollisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btVector3 m_hitPointLocal;
btScalar m_hitFraction;
};
///RayResultCallback is used to report new raycast results
struct ConvexResultCallback
{
virtual ~ConvexResultCallback()
{
}
btScalar m_closestHitFraction;
bool HasHit()
{
return (m_closestHitFraction < btScalar(1.));
}
ConvexResultCallback()
:m_closestHitFraction(btScalar(1.))
{
}
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) = 0;
};
struct ClosestConvexResultCallback : public ConvexResultCallback
{
ClosestConvexResultCallback(const btVector3& convexFromWorld,const btVector3& convexToWorld)
:m_convexFromWorld(convexFromWorld),
m_convexToWorld(convexToWorld),
m_hitCollisionObject(0)
{
}
btVector3 m_convexFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_convexToWorld;
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = convexResult.m_hitFraction;
m_hitCollisionObject = convexResult.m_hitCollisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = convexResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
}
m_hitPointWorld = convexResult.m_hitPointLocal;
return convexResult.m_hitFraction;
}
};
int getNumCollisionObjects() const
{
return int(m_collisionObjects.size());
}
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback, short int collisionFilterMask=-1);
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
/// This allows more customization.
static void rayTestSingle(const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback, short int collisionFilterMask=-1);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
const btCollisionShape* collisionShape,
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, short int collisionFilterMask=-1);
void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=1,short int collisionFilterMask=1);
btCollisionObjectArray& getCollisionObjectArray()
{
return m_collisionObjects;
}
const btCollisionObjectArray& getCollisionObjectArray() const
{
return m_collisionObjects;
}
void removeCollisionObject(btCollisionObject* collisionObject);
virtual void performDiscreteCollisionDetection();
btDispatcherInfo& getDispatchInfo()
{
return m_dispatchInfo;
}
};
#endif //COLLISION_WORLD_H

284
src/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View File

@@ -1,142 +1,142 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:btCollisionAlgorithm(ci),
m_isSwapped(isSwapped)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
int numChildren = compoundShape->getNumChildShapes();
int i;
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionShape* orgShape = colObj->getCollisionShape();
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj);
colObj->setCollisionShape( orgShape );
}
}
btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
{
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
}
}
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
//the contactpoint is still projected back using the original inverted worldtrans
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
//revert back
colObj->setCollisionShape( orgShape);
colObj->setWorldTransform( orgTrans );
}
}
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
btScalar hitFraction = btScalar(1.);
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
colObj->setCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->setCollisionShape( orgShape);
colObj->setWorldTransform( orgTrans);
}
return hitFraction;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:btCollisionAlgorithm(ci),
m_isSwapped(isSwapped)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
int numChildren = compoundShape->getNumChildShapes();
int i;
m_childCollisionAlgorithms.resize(numChildren);
for (i=0;i<numChildren;i++)
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionShape* orgShape = colObj->getCollisionShape();
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i] = ci.m_dispatcher1->findAlgorithm(colObj,otherObj);
colObj->setCollisionShape( orgShape );
}
}
btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
{
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
}
}
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
//the contactpoint is still projected back using the original inverted worldtrans
colObj->setCollisionShape( childShape );
m_childCollisionAlgorithms[i]->processCollision(colObj,otherObj,dispatchInfo,resultOut);
//revert back
colObj->setCollisionShape( orgShape);
colObj->setWorldTransform( orgTrans );
}
}
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
assert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
//We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
//If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
//given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
//determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
//then use each overlapping node AABB against Tree0
//and vise versa.
btScalar hitFraction = btScalar(1.);
int numChildren = m_childCollisionAlgorithms.size();
int i;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
btCollisionShape* orgShape = colObj->getCollisionShape();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
colObj->setCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->setCollisionShape( orgShape);
colObj->setWorldTransform( orgTrans);
}
return hitFraction;
}

134
src/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View File

@@ -1,67 +1,67 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COMPOUND_COLLISION_ALGORITHM_H
#define COMPOUND_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
/// Place holder, not fully implemented yet
class btCompoundCollisionAlgorithm : public btCollisionAlgorithm
{
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
bool m_isSwapped;
public:
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
virtual ~btCompoundCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
}
};
};
#endif //COMPOUND_COLLISION_ALGORITHM_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COMPOUND_COLLISION_ALGORITHM_H
#define COMPOUND_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
/// Place holder, not fully implemented yet
class btCompoundCollisionAlgorithm : public btCollisionAlgorithm
{
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
bool m_isSwapped;
public:
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
virtual ~btCompoundCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
}
};
};
#endif //COMPOUND_COLLISION_ALGORITHM_H

632
src/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View File

@@ -1,316 +1,316 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
: btCollisionAlgorithm(ci),
m_isSwapped(isSwapped),
m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
{
}
btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
{
}
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
m_convexBody = isSwapped? body1:body0;
m_triBody = isSwapped? body0:body1;
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
clearCache();
}
btConvexTriangleCallback::~btConvexTriangleCallback()
{
clearCache();
m_dispatcher->releaseManifold( m_manifoldPtr );
}
void btConvexTriangleCallback::clearCache()
{
m_dispatcher->clearManifold(m_manifoldPtr);
};
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
//aabb filter is already applied!
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
btVector3 color(255,255,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
if (m_convexBody->getCollisionShape()->isConvex())
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm.setUserPointer(tmpShape->getUserPointer());
ob->setCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
}
}
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
m_resultOut = resultOut;
//recalc aabbs
btTransform convexInTriangleSpace;
convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
btScalar extraMargin = collisionMarginTriangle;
btVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;
m_aabbMin -= extra;
}
void btConvexConcaveCollisionAlgorithm::clearCache()
{
m_btConvexTriangleCallback.clearCache();
}
void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
if (triBody->getCollisionShape()->isConcave())
{
btCollisionObject* triOb = triBody;
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
if (convexBody->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
}
}
}
btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
//only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
{
return btScalar(1.);
}
//const btVector3& from = convexbody->m_worldTransform.getOrigin();
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius'
btTransform triInv = triBody->getWorldTransform().inverse();
btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
struct LocalTriangleSphereCastCallback : public btTriangleCallback
{
btTransform m_ccdSphereFromTrans;
btTransform m_ccdSphereToTrans;
btTransform m_meshTransform;
btScalar m_ccdSphereRadius;
btScalar m_hitFraction;
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
:m_ccdSphereFromTrans(from),
m_ccdSphereToTrans(to),
m_ccdSphereRadius(ccdSphereRadius),
m_hitFraction(hitFraction)
{
}
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
(void)partId;
(void)triangleIndex;
//do a swept sphere for now
btTransform ident;
ident.setIdentity();
btConvexCast::CastResult castResult;
castResult.m_fraction = m_hitFraction;
btSphereShape pointShape(m_ccdSphereRadius);
btTriangleShape triShape(triangle[0],triangle[1],triangle[2]);
btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space?
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
ident,ident,castResult))
{
if (m_hitFraction > castResult.m_fraction)
m_hitFraction = castResult.m_fraction;
}
}
};
if (triBody->getCollisionShape()->isConcave())
{
btVector3 rayAabbMin = convexFromLocal.getOrigin();
rayAabbMin.setMin(convexToLocal.getOrigin());
btVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin());
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
btScalar curHitFraction = btScalar(1.); //is this available?
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
convexbody->getCcdSweptSphereRadius(),curHitFraction);
raycastCallback.m_hitFraction = convexbody->getHitFraction();
btCollisionObject* concavebody = triBody;
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
if (triangleMesh)
{
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
}
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
{
convexbody->setHitFraction( raycastCallback.m_hitFraction);
return raycastCallback.m_hitFraction;
}
}
return btScalar(1.);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionShapes/btConcaveShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
: btCollisionAlgorithm(ci),
m_isSwapped(isSwapped),
m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
{
}
btConvexConcaveCollisionAlgorithm::~btConvexConcaveCollisionAlgorithm()
{
}
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
m_convexBody = isSwapped? body1:body0;
m_triBody = isSwapped? body0:body1;
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
clearCache();
}
btConvexTriangleCallback::~btConvexTriangleCallback()
{
clearCache();
m_dispatcher->releaseManifold( m_manifoldPtr );
}
void btConvexTriangleCallback::clearCache()
{
m_dispatcher->clearManifold(m_manifoldPtr);
};
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
//aabb filter is already applied!
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
{
btVector3 color(255,255,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
if (m_convexBody->getCollisionShape()->isConvex())
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
//copy over user pointers to temporary shape
tm.setUserPointer(tmpShape->getUserPointer());
ob->setCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->setCollisionShape( tmpShape );
}
}
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
m_resultOut = resultOut;
//recalc aabbs
btTransform convexInTriangleSpace;
convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
btScalar extraMargin = collisionMarginTriangle;
btVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;
m_aabbMin -= extra;
}
void btConvexConcaveCollisionAlgorithm::clearCache()
{
m_btConvexTriangleCallback.clearCache();
}
void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
if (triBody->getCollisionShape()->isConcave())
{
btCollisionObject* triOb = triBody;
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
if (convexBody->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
}
}
}
btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
btCollisionObject* convexbody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
//quick approximation using raycast, todo: hook up to the continuous collision detection (one of the btConvexCast)
//only perform CCD above a certain threshold, this prevents blocking on the long run
//because object in a blocked ccd state (hitfraction<1) get their linear velocity halved each frame...
btScalar squareMot0 = (convexbody->getInterpolationWorldTransform().getOrigin() - convexbody->getWorldTransform().getOrigin()).length2();
if (squareMot0 < convexbody->getCcdSquareMotionThreshold())
{
return btScalar(1.);
}
//const btVector3& from = convexbody->m_worldTransform.getOrigin();
//btVector3 to = convexbody->m_interpolationWorldTransform.getOrigin();
//todo: only do if the motion exceeds the 'radius'
btTransform triInv = triBody->getWorldTransform().inverse();
btTransform convexFromLocal = triInv * convexbody->getWorldTransform();
btTransform convexToLocal = triInv * convexbody->getInterpolationWorldTransform();
struct LocalTriangleSphereCastCallback : public btTriangleCallback
{
btTransform m_ccdSphereFromTrans;
btTransform m_ccdSphereToTrans;
btTransform m_meshTransform;
btScalar m_ccdSphereRadius;
btScalar m_hitFraction;
LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
:m_ccdSphereFromTrans(from),
m_ccdSphereToTrans(to),
m_ccdSphereRadius(ccdSphereRadius),
m_hitFraction(hitFraction)
{
}
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
(void)partId;
(void)triangleIndex;
//do a swept sphere for now
btTransform ident;
ident.setIdentity();
btConvexCast::CastResult castResult;
castResult.m_fraction = m_hitFraction;
btSphereShape pointShape(m_ccdSphereRadius);
btTriangleShape triShape(triangle[0],triangle[1],triangle[2]);
btVoronoiSimplexSolver simplexSolver;
btSubsimplexConvexCast convexCaster(&pointShape,&triShape,&simplexSolver);
//GjkConvexCast convexCaster(&pointShape,convexShape,&simplexSolver);
//ContinuousConvexCollision convexCaster(&pointShape,convexShape,&simplexSolver,0);
//local space?
if (convexCaster.calcTimeOfImpact(m_ccdSphereFromTrans,m_ccdSphereToTrans,
ident,ident,castResult))
{
if (m_hitFraction > castResult.m_fraction)
m_hitFraction = castResult.m_fraction;
}
}
};
if (triBody->getCollisionShape()->isConcave())
{
btVector3 rayAabbMin = convexFromLocal.getOrigin();
rayAabbMin.setMin(convexToLocal.getOrigin());
btVector3 rayAabbMax = convexFromLocal.getOrigin();
rayAabbMax.setMax(convexToLocal.getOrigin());
btScalar ccdRadius0 = convexbody->getCcdSweptSphereRadius();
rayAabbMin -= btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
rayAabbMax += btVector3(ccdRadius0,ccdRadius0,ccdRadius0);
btScalar curHitFraction = btScalar(1.); //is this available?
LocalTriangleSphereCastCallback raycastCallback(convexFromLocal,convexToLocal,
convexbody->getCcdSweptSphereRadius(),curHitFraction);
raycastCallback.m_hitFraction = convexbody->getHitFraction();
btCollisionObject* concavebody = triBody;
btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
if (triangleMesh)
{
triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
}
if (raycastCallback.m_hitFraction < convexbody->getHitFraction())
{
convexbody->setHitFraction( raycastCallback.m_hitFraction);
return raycastCallback.m_hitFraction;
}
}
return btScalar(1.);
}

226
src/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
View File

@@ -1,113 +1,113 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btCollisionCreateFunc.h"
///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
class btConvexTriangleCallback : public btTriangleCallback
{
btCollisionObject* m_convexBody;
btCollisionObject* m_triBody;
btVector3 m_aabbMin;
btVector3 m_aabbMax ;
btManifoldResult* m_resultOut;
btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr;
btScalar m_collisionMarginTriangle;
public:
int m_triangleCount;
btPersistentManifold* m_manifoldPtr;
btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual ~btConvexTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
void clearCache();
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
{
return m_aabbMin;
}
SIMD_FORCE_INLINE const btVector3& getAabbMax() const
{
return m_aabbMax;
}
};
/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
class btConvexConcaveCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_isSwapped;
btConvexTriangleCallback m_btConvexTriangleCallback;
public:
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
virtual ~btConvexConcaveCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void clearCache();
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
}
};
};
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btCollisionCreateFunc.h"
///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
class btConvexTriangleCallback : public btTriangleCallback
{
btCollisionObject* m_convexBody;
btCollisionObject* m_triBody;
btVector3 m_aabbMin;
btVector3 m_aabbMax ;
btManifoldResult* m_resultOut;
btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr;
btScalar m_collisionMarginTriangle;
public:
int m_triangleCount;
btPersistentManifold* m_manifoldPtr;
btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual ~btConvexTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
void clearCache();
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
{
return m_aabbMin;
}
SIMD_FORCE_INLINE const btVector3& getAabbMax() const
{
return m_aabbMax;
}
};
/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
class btConvexConcaveCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_isSwapped;
btConvexTriangleCallback m_btConvexTriangleCallback;
public:
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
virtual ~btConvexConcaveCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void clearCache();
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
}
};
};
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H

496
src/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View File

@@ -1,248 +1,248 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexConvexAlgorithm.h"
//#include <stdio.h>
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
: btCollisionAlgorithm(ci),
m_gjkPairDetector(0,0,simplexSolver,pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
{
(void)body0;
(void)body1;
}
btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
{
m_lowLevelOfDetail = useLowLevel;
}
//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
#ifdef USE_BT_GJKEPA
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
const btScalar radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
btGjkEpaSolver::sResults results;
if(btGjkEpaSolver::Collide( shape0,body0->getWorldTransform(),
shape1,body1->getWorldTransform(),
radialmargin,results))
{
dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btGjkPairDetector::ClosestPointInput input;
//TODO: if (dispatchInfo.m_useContinuous)
m_gjkPairDetector.setMinkowskiA(min0);
m_gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
// input.m_maximumDistanceSquared = btScalar(1e30);
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
bool disableCcd = false;
btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
///col0->m_worldTransform,
btScalar resultFraction = btScalar(1.);
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
squareMot1 < col1->getCcdSquareMotionThreshold())
return resultFraction;
if (disableCcd)
return btScalar(1.);
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
/// Convex0 against sphere for Convex1
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction()> result.m_fraction)
col0->setHitFraction( result.m_fraction );
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
/// Sphere (for convex0) against Convex1
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction( result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
return resultFraction;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexConvexAlgorithm.h"
//#include <stdio.h>
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
: btCollisionAlgorithm(ci),
m_gjkPairDetector(0,0,simplexSolver,pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false)
{
(void)body0;
(void)body1;
}
btConvexConvexAlgorithm::~btConvexConvexAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btConvexConvexAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
{
m_lowLevelOfDetail = useLowLevel;
}
//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
#ifdef USE_BT_GJKEPA
btConvexShape* shape0(static_cast<btConvexShape*>(body0->getCollisionShape()));
btConvexShape* shape1(static_cast<btConvexShape*>(body1->getCollisionShape()));
const btScalar radialmargin(0/*shape0->getMargin()+shape1->getMargin()*/);
btGjkEpaSolver::sResults results;
if(btGjkEpaSolver::Collide( shape0,body0->getWorldTransform(),
shape1,body1->getWorldTransform(),
radialmargin,results))
{
dispatchInfo.m_debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
}
#else
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
btGjkPairDetector::ClosestPointInput input;
//TODO: if (dispatchInfo.m_useContinuous)
m_gjkPairDetector.setMinkowskiA(min0);
m_gjkPairDetector.setMinkowskiB(min1);
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
// input.m_maximumDistanceSquared = btScalar(1e30);
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
m_gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#endif
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
}
bool disableCcd = false;
btScalar btConvexConvexAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
///col0->m_worldTransform,
btScalar resultFraction = btScalar(1.);
btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
squareMot1 < col1->getCcdSquareMotionThreshold())
return resultFraction;
if (disableCcd)
return btScalar(1.);
//An adhoc way of testing the Continuous Collision Detection algorithms
//One object is approximated as a sphere, to simplify things
//Starting in penetration should report no time of impact
//For proper CCD, better accuracy and handling of 'allowed' penetration should be added
//also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
/// Convex0 against sphere for Convex1
{
btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction()> result.m_fraction)
col0->setHitFraction( result.m_fraction );
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
/// Sphere (for convex0) against Convex1
{
btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
btConvexCast::CastResult result;
btVoronoiSimplexSolver voronoiSimplex;
//SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
///Simplification, one object is simplified as a sphere
btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
//ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
{
//store result.m_fraction in both bodies
if (col0->getHitFraction() > result.m_fraction)
col0->setHitFraction( result.m_fraction);
if (col1->getHitFraction() > result.m_fraction)
col1->setHitFraction( result.m_fraction);
if (resultFraction > result.m_fraction)
resultFraction = result.m_fraction;
}
}
return resultFraction;
}

154
src/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
View File

@@ -1,77 +1,77 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONVEX_ALGORITHM_H
#define CONVEX_CONVEX_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
class btConvexPenetrationDepthSolver;
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
class btConvexConvexAlgorithm : public btCollisionAlgorithm
{
btGjkPairDetector m_gjkPairDetector;
public:
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
public:
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~btConvexConvexAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void setLowLevelOfDetail(bool useLowLevel);
const btPersistentManifold* getManifold()
{
return m_manifoldPtr;
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
}
};
};
#endif //CONVEX_CONVEX_ALGORITHM_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONVEX_ALGORITHM_H
#define CONVEX_CONVEX_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
class btConvexPenetrationDepthSolver;
///ConvexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations.
class btConvexConvexAlgorithm : public btCollisionAlgorithm
{
btGjkPairDetector m_gjkPairDetector;
public:
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
public:
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~btConvexConvexAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void setLowLevelOfDetail(bool useLowLevel);
const btPersistentManifold* getManifold()
{
return m_manifoldPtr;
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver);
}
};
};
#endif //CONVEX_CONVEX_ALGORITHM_H

216
src/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
View File

@@ -1,108 +1,108 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* convexObj = m_isSwapped? col1 : col0;
btCollisionObject* planeObj = m_isSwapped? col0 : col1;
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
{
m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
m_ownManifold = true;
}
}
btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
if (m_ownManifold)
{
if (m_manifoldPtr->getNumContacts())
{
resultOut->refreshContactPoints();
}
}
}
btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* convexObj = m_isSwapped? col1 : col0;
btCollisionObject* planeObj = m_isSwapped? col0 : col1;
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
{
m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
m_ownManifold = true;
}
}
btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
if (m_ownManifold)
{
if (m_manifoldPtr->getNumContacts())
{
resultOut->refreshContactPoints();
}
}
}
btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}

126
src/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
View File

@@ -1,63 +1,63 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
#define CONVEX_PLANE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
#include "btCollisionDispatcher.h"
#include "LinearMath/btVector3.h"
/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
/// Other features are frame-coherency (persistent data) and collision response.
class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_isSwapped;
public:
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
virtual ~btConvexPlaneCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
} else
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
}
}
};
};
#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
#define CONVEX_PLANE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
#include "btCollisionDispatcher.h"
#include "LinearMath/btVector3.h"
/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
/// Other features are frame-coherency (persistent data) and collision response.
class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
{
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
bool m_isSwapped;
public:
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
virtual ~btConvexPlaneCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false);
} else
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true);
}
}
};
};
#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H

540
src/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
View File

@@ -1,270 +1,270 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btDefaultCollisionConfiguration.h"
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
#define DEFAULT_MAX_OVERLAPPING_PAIRS 65535
#define DEFAULT_STACK_ALLOCATOR_SIZE (5*1024*1024)
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
m_simplexSolver = new (mem)btVoronoiSimplexSolver();
mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
//default CreationFunctions, filling the m_doubleDispatch table
mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
m_triangleSphereCF->m_swapped = true;
mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16);
m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc;
//convex versus plane
mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
m_planeConvexCF->m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int maxSize4 = sizeof(btEmptyAlgorithm);
int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
if (stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(DEFAULT_STACK_ALLOCATOR_SIZE);
}
if (persistentManifoldPool)
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = persistentManifoldPool;
} else
{
m_ownsPersistentManifoldPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),DEFAULT_MAX_OVERLAPPING_PAIRS);
}
if (collisionAlgorithmPool)
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = collisionAlgorithmPool;
} else
{
m_ownsCollisionAlgorithmPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,DEFAULT_MAX_OVERLAPPING_PAIRS);
}
}
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
m_stackAlloc->~btStackAlloc();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
m_collisionAlgorithmPool->~btPoolAllocator();
btAlignedFree(m_collisionAlgorithmPool);
}
if (m_ownsPersistentManifoldPool)
{
m_persistentManifoldPool->~btPoolAllocator();
btAlignedFree(m_persistentManifoldPool);
}
m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexConvexCreateFunc);
m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexConcaveCreateFunc);
m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedConvexConcaveCreateFunc);
m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_compoundCreateFunc);
m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedCompoundCreateFunc);
m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_emptyCreateFunc);
m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereSphereCF);
m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereBoxCF);
m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxSphereCF);
m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereTriangleCF);
m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_triangleSphereCF);
m_boxBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxBoxCF);
m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexPlaneCF);
m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_planeConvexCF);
m_simplexSolver->~btVoronoiSimplexSolver();
btAlignedFree(m_simplexSolver);
m_pdSolver->~btGjkEpaPenetrationDepthSolver();
btAlignedFree(m_pdSolver);
}
btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
return m_sphereSphereCF;
}
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
{
return m_sphereBoxCF;
}
if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
return m_boxSphereCF;
}
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
{
return m_sphereTriangleCF;
}
if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
return m_triangleSphereCF;
}
if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
{
return m_boxBoxCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
{
return m_convexPlaneCF;
}
if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
{
return m_planeConvexCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
{
return m_convexConvexCreateFunc;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
{
return m_convexConcaveCreateFunc;
}
if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
{
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;
} else
{
if (btBroadphaseProxy::isCompound(proxyType1))
{
return m_swappedCompoundCreateFunc;
}
}
//failed to find an algorithm
return m_emptyCreateFunc;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btDefaultCollisionConfiguration.h"
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
#define DEFAULT_MAX_OVERLAPPING_PAIRS 65535
#define DEFAULT_STACK_ALLOCATOR_SIZE (5*1024*1024)
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
m_simplexSolver = new (mem)btVoronoiSimplexSolver();
mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
//default CreationFunctions, filling the m_doubleDispatch table
mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
m_boxSphereCF->m_swapped = true;
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
m_triangleSphereCF->m_swapped = true;
mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16);
m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc;
//convex versus plane
mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
m_planeConvexCF->m_swapped = true;
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int maxSize4 = sizeof(btEmptyAlgorithm);
int collisionAlgorithmMaxElementSize = btMax(maxSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
if (stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(DEFAULT_STACK_ALLOCATOR_SIZE);
}
if (persistentManifoldPool)
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = persistentManifoldPool;
} else
{
m_ownsPersistentManifoldPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),DEFAULT_MAX_OVERLAPPING_PAIRS);
}
if (collisionAlgorithmPool)
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = collisionAlgorithmPool;
} else
{
m_ownsCollisionAlgorithmPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,DEFAULT_MAX_OVERLAPPING_PAIRS);
}
}
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
m_stackAlloc->~btStackAlloc();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
m_collisionAlgorithmPool->~btPoolAllocator();
btAlignedFree(m_collisionAlgorithmPool);
}
if (m_ownsPersistentManifoldPool)
{
m_persistentManifoldPool->~btPoolAllocator();
btAlignedFree(m_persistentManifoldPool);
}
m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexConvexCreateFunc);
m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexConcaveCreateFunc);
m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedConvexConcaveCreateFunc);
m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_compoundCreateFunc);
m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedCompoundCreateFunc);
m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_emptyCreateFunc);
m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereSphereCF);
m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereBoxCF);
m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxSphereCF);
m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_sphereTriangleCF);
m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_triangleSphereCF);
m_boxBoxCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_boxBoxCF);
m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_convexPlaneCF);
m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_planeConvexCF);
m_simplexSolver->~btVoronoiSimplexSolver();
btAlignedFree(m_simplexSolver);
m_pdSolver->~btGjkEpaPenetrationDepthSolver();
btAlignedFree(m_pdSolver);
}
btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
return m_sphereSphereCF;
}
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
{
return m_sphereBoxCF;
}
if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
return m_boxSphereCF;
}
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
{
return m_sphereTriangleCF;
}
if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
{
return m_triangleSphereCF;
}
if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
{
return m_boxBoxCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
{
return m_convexPlaneCF;
}
if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
{
return m_planeConvexCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
{
return m_convexConvexCreateFunc;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
{
return m_convexConcaveCreateFunc;
}
if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
{
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;
} else
{
if (btBroadphaseProxy::isCompound(proxyType1))
{
return m_swappedCompoundCreateFunc;
}
}
//failed to find an algorithm
return m_emptyCreateFunc;
}

180
src/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
View File

@@ -1,90 +1,90 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DEFAULT_COLLISION_CONFIGURATION
#define BT_DEFAULT_COLLISION_CONFIGURATION
#include "btCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btGjkEpaPenetrationDepthSolver;
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator, pool memory allocators
///todo: describe the meaning
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
bool m_ownsCollisionAlgorithmPool;
//default simplex/penetration depth solvers
btVoronoiSimplexSolver* m_simplexSolver;
btGjkEpaPenetrationDepthSolver* m_pdSolver;
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
btCollisionAlgorithmCreateFunc* m_planeConvexCF;
btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
public:
btDefaultCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0);
virtual ~btDefaultCollisionConfiguration();
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool()
{
return m_persistentManifoldPool;
}
virtual btPoolAllocator* getCollisionAlgorithmPool()
{
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_DEFAULT_COLLISION_CONFIGURATION
#define BT_DEFAULT_COLLISION_CONFIGURATION
#include "btCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btGjkEpaPenetrationDepthSolver;
///btCollisionConfiguration allows to configure Bullet collision detection
///stack allocator, pool memory allocators
///todo: describe the meaning
class btDefaultCollisionConfiguration : public btCollisionConfiguration
{
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
bool m_ownsCollisionAlgorithmPool;
//default simplex/penetration depth solvers
btVoronoiSimplexSolver* m_simplexSolver;
btGjkEpaPenetrationDepthSolver* m_pdSolver;
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
btCollisionAlgorithmCreateFunc* m_triangleSphereCF;
btCollisionAlgorithmCreateFunc* m_planeConvexCF;
btCollisionAlgorithmCreateFunc* m_convexPlaneCF;
public:
btDefaultCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0);
virtual ~btDefaultCollisionConfiguration();
///memory pools
virtual btPoolAllocator* getPersistentManifoldPool()
{
return m_persistentManifoldPool;
}
virtual btPoolAllocator* getCollisionAlgorithmPool()
{
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION

68
src/bullet/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
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@@ -1,34 +1,34 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btEmptyCollisionAlgorithm.h"
btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btCollisionAlgorithm(ci)
{
}
void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
{
}
btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
{
return btScalar(1.);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btEmptyCollisionAlgorithm.h"
btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btCollisionAlgorithm(ci)
{
}
void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
{
}
btScalar btEmptyAlgorithm::calculateTimeOfImpact(btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
{
return btScalar(1.);
}

100
src/bullet/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
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@@ -1,50 +1,50 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_ALGORITH
#define EMPTY_ALGORITH
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
#define ATTRIBUTE_ALIGNED(a)
///EmptyAlgorithm is a stub for unsupported collision pairs.
///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame.
class btEmptyAlgorithm : public btCollisionAlgorithm
{
public:
btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
(void)body0;
(void)body1;
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
return new(mem) btEmptyAlgorithm(ci);
}
};
} ATTRIBUTE_ALIGNED(16);
#endif //EMPTY_ALGORITH
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_ALGORITH
#define EMPTY_ALGORITH
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
#define ATTRIBUTE_ALIGNED(a)
///EmptyAlgorithm is a stub for unsupported collision pairs.
///The dispatcher can dispatch a persistent btEmptyAlgorithm to avoid a search every frame.
class btEmptyAlgorithm : public btCollisionAlgorithm
{
public:
btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
(void)body0;
(void)body1;
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
return new(mem) btEmptyAlgorithm(ci);
}
};
} ATTRIBUTE_ALIGNED(16);
#endif //EMPTY_ALGORITH

238
src/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -1,119 +1,119 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getFriction() * body1->getFriction();
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
{
return body0->getRestitution() * body1->getRestitution();
}
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
}
void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
assert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA;
btVector3 localB;
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
newPt.m_positionWorldOnA = pointA;
newPt.m_positionWorldOnB = pointInWorld;
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//BP mod, store contact triangles.
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
///todo, check this for any side effects
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
} else
{
m_manifoldPtr->AddManifoldPoint(newPt);
}
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
{
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getFriction() * body1->getFriction();
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
{
return body0->getRestitution() * body1->getRestitution();
}
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
}
void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
assert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA;
btVector3 localB;
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
newPt.m_positionWorldOnA = pointA;
newPt.m_positionWorldOnB = pointInWorld;
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
//BP mod, store contact triangles.
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
newPt.m_index0 = m_index0;
newPt.m_index1 = m_index1;
///todo, check this for any side effects
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
} else
{
m_manifoldPtr->AddManifoldPoint(newPt);
}
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
{
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(newPt,obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
}
}

204
src/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h
View File

@@ -1,102 +1,102 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MANIFOLD_RESULT_H
#define MANIFOLD_RESULT_H
class btCollisionObject;
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btManifoldPoint;
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "LinearMath/btTransform.h"
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
///btManifoldResult is a helper class to manage contact results.
class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
{
btPersistentManifold* m_manifoldPtr;
//we need this for compounds
btTransform m_rootTransA;
btTransform m_rootTransB;
btCollisionObject* m_body0;
btCollisionObject* m_body1;
int m_partId0;
int m_partId1;
int m_index0;
int m_index1;
public:
btManifoldResult()
{
}
btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
virtual ~btManifoldResult() {};
void setPersistentManifold(btPersistentManifold* manifoldPtr)
{
m_manifoldPtr = manifoldPtr;
}
const btPersistentManifold* getPersistentManifold() const
{
return m_manifoldPtr;
}
btPersistentManifold* getPersistentManifold()
{
return m_manifoldPtr;
}
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
m_partId0=partId0;
m_partId1=partId1;
m_index0=index0;
m_index1=index1;
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
SIMD_FORCE_INLINE void refreshContactPoints()
{
btAssert(m_manifoldPtr);
if (!m_manifoldPtr->getNumContacts())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
if (isSwapped)
{
m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
} else
{
m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
}
}
};
#endif //MANIFOLD_RESULT_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef MANIFOLD_RESULT_H
#define MANIFOLD_RESULT_H
class btCollisionObject;
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btManifoldPoint;
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "LinearMath/btTransform.h"
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
///btManifoldResult is a helper class to manage contact results.
class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
{
btPersistentManifold* m_manifoldPtr;
//we need this for compounds
btTransform m_rootTransA;
btTransform m_rootTransB;
btCollisionObject* m_body0;
btCollisionObject* m_body1;
int m_partId0;
int m_partId1;
int m_index0;
int m_index1;
public:
btManifoldResult()
{
}
btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
virtual ~btManifoldResult() {};
void setPersistentManifold(btPersistentManifold* manifoldPtr)
{
m_manifoldPtr = manifoldPtr;
}
const btPersistentManifold* getPersistentManifold() const
{
return m_manifoldPtr;
}
btPersistentManifold* getPersistentManifold()
{
return m_manifoldPtr;
}
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1)
{
m_partId0=partId0;
m_partId1=partId1;
m_index0=index0;
m_index1=index1;
}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
SIMD_FORCE_INLINE void refreshContactPoints()
{
btAssert(m_manifoldPtr);
if (!m_manifoldPtr->getNumContacts())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
if (isSwapped)
{
m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
} else
{
m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
}
}
};
#endif //MANIFOLD_RESULT_H

714
src/bullet/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -1,357 +1,357 @@
#include "LinearMath/btScalar.h"
#include "btSimulationIslandManager.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
btSimulationIslandManager::btSimulationIslandManager()
{
}
btSimulationIslandManager::~btSimulationIslandManager()
{
}
void btSimulationIslandManager::initUnionFind(int n)
{
m_unionFind.reset(n);
}
void btSimulationIslandManager::findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld)
{
{
btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
{
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
}
}
}
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
// put the index into m_controllers into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
collisionObject->setIslandTag(index);
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
index++;
}
}
// do the union find
findUnions(dispatcher,colWorld);
}
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
if (collisionObject->mergesSimulationIslands())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
collisionObject->setCompanionId(-1);
} else
{
collisionObject->setIslandTag(-1);
collisionObject->setCompanionId(-2);
}
index++;
}
}
}
inline int getIslandId(const btPersistentManifold* lhs)
{
int islandId;
const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
return islandId;
}
/// function object that routes calls to operator<
class btPersistentManifoldSortPredicate
{
public:
SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
{
return getIslandId(lhs) < getIslandId(rhs);
}
};
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
BT_PROFILE("islandUnionFindAndQuickSort");
//we are going to sort the unionfind array, and store the element id in the size
//afterwards, we clean unionfind, to make sure no-one uses it anymore
getUnionFind().sortIslands();
int numElem = getUnionFind().getNumElements();
int endIslandIndex=1;
int startIslandIndex;
//update the sleeping state for bodies, if all are sleeping
for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
}
//int numSleeping = 0;
bool allSleeping = true;
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = getUnionFind().getElement(idx).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if (colObj0->getActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = getUnionFind().getElement(idx).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
colObj0->setActivationState( ISLAND_SLEEPING );
}
}
} else
{
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = getUnionFind().getElement(idx).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if ( colObj0->getActivationState() == ISLAND_SLEEPING)
{
colObj0->setActivationState( WANTS_DEACTIVATION);
}
}
}
}
}
int i;
int maxNumManifolds = dispatcher->getNumManifolds();
#define SPLIT_ISLANDS 1
#ifdef SPLIT_ISLANDS
#endif //SPLIT_ISLANDS
for (i=0;i<maxNumManifolds ;i++)
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
//todo: check sleeping conditions!
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->activate();
}
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->activate();
}
#ifdef SPLIT_ISLANDS
// //filtering for response
if (dispatcher->needsResponse(colObj0,colObj1))
m_islandmanifold.push_back(manifold);
#endif //SPLIT_ISLANDS
}
}
#ifndef SPLIT_ISLANDS
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
#else
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
int numManifolds = int (m_islandmanifold.size());
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
//int islandId;
// printf("Start Islands\n");
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
bool islandSleeping = false;
for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
m_islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
btPersistentManifold** startManifold = 0;
if (startManifoldIndex<numManifolds)
{
int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
if (curIslandId == islandId)
{
startManifold = &m_islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex-startManifoldIndex;
}
}
if (!islandSleeping)
{
callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
if (numIslandManifolds)
{
startManifoldIndex = endManifoldIndex;
}
m_islandBodies.resize(0);
}
#endif //SPLIT_ISLANDS
m_islandmanifold.resize(0);
}
#include "LinearMath/btScalar.h"
#include "btSimulationIslandManager.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
btSimulationIslandManager::btSimulationIslandManager()
{
}
btSimulationIslandManager::~btSimulationIslandManager()
{
}
void btSimulationIslandManager::initUnionFind(int n)
{
m_unionFind.reset(n);
}
void btSimulationIslandManager::findUnions(btDispatcher* dispatcher,btCollisionWorld* colWorld)
{
{
btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
{
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
m_unionFind.unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
}
}
}
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
// put the index into m_controllers into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
collisionObject->setIslandTag(index);
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
index++;
}
}
// do the union find
findUnions(dispatcher,colWorld);
}
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
if (collisionObject->mergesSimulationIslands())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
collisionObject->setCompanionId(-1);
} else
{
collisionObject->setIslandTag(-1);
collisionObject->setCompanionId(-2);
}
index++;
}
}
}
inline int getIslandId(const btPersistentManifold* lhs)
{
int islandId;
const btCollisionObject* rcolObj0 = static_cast<const btCollisionObject*>(lhs->getBody0());
const btCollisionObject* rcolObj1 = static_cast<const btCollisionObject*>(lhs->getBody1());
islandId= rcolObj0->getIslandTag()>=0?rcolObj0->getIslandTag():rcolObj1->getIslandTag();
return islandId;
}
/// function object that routes calls to operator<
class btPersistentManifoldSortPredicate
{
public:
SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
{
return getIslandId(lhs) < getIslandId(rhs);
}
};
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,btCollisionObjectArray& collisionObjects, IslandCallback* callback)
{
BT_PROFILE("islandUnionFindAndQuickSort");
//we are going to sort the unionfind array, and store the element id in the size
//afterwards, we clean unionfind, to make sure no-one uses it anymore
getUnionFind().sortIslands();
int numElem = getUnionFind().getNumElements();
int endIslandIndex=1;
int startIslandIndex;
//update the sleeping state for bodies, if all are sleeping
for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
for (endIslandIndex = startIslandIndex+1;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
}
//int numSleeping = 0;
bool allSleeping = true;
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = getUnionFind().getElement(idx).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if (colObj0->getActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
if (allSleeping)
{
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = getUnionFind().getElement(idx).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
colObj0->setActivationState( ISLAND_SLEEPING );
}
}
} else
{
int idx;
for (idx=startIslandIndex;idx<endIslandIndex;idx++)
{
int i = getUnionFind().getElement(idx).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
if ((colObj0->getIslandTag() != islandId) && (colObj0->getIslandTag() != -1))
{
// printf("error in island management\n");
}
assert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
if ( colObj0->getActivationState() == ISLAND_SLEEPING)
{
colObj0->setActivationState( WANTS_DEACTIVATION);
}
}
}
}
}
int i;
int maxNumManifolds = dispatcher->getNumManifolds();
#define SPLIT_ISLANDS 1
#ifdef SPLIT_ISLANDS
#endif //SPLIT_ISLANDS
for (i=0;i<maxNumManifolds ;i++)
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
//todo: check sleeping conditions!
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
((colObj1) && colObj1->getActivationState() != ISLAND_SLEEPING))
{
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->activate();
}
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->activate();
}
#ifdef SPLIT_ISLANDS
// //filtering for response
if (dispatcher->needsResponse(colObj0,colObj1))
m_islandmanifold.push_back(manifold);
#endif //SPLIT_ISLANDS
}
}
#ifndef SPLIT_ISLANDS
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
#else
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort
//std::sort(islandmanifold.begin(), islandmanifold.end(), btPersistentManifoldSortPredicate);
int numManifolds = int (m_islandmanifold.size());
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
int startManifoldIndex = 0;
int endManifoldIndex = 1;
//int islandId;
// printf("Start Islands\n");
//traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated
for ( startIslandIndex=0;startIslandIndex<numElem;startIslandIndex = endIslandIndex)
{
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
bool islandSleeping = false;
for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
m_islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
}
//find the accompanying contact manifold for this islandId
int numIslandManifolds = 0;
btPersistentManifold** startManifold = 0;
if (startManifoldIndex<numManifolds)
{
int curIslandId = getIslandId(m_islandmanifold[startManifoldIndex]);
if (curIslandId == islandId)
{
startManifold = &m_islandmanifold[startManifoldIndex];
for (endManifoldIndex = startManifoldIndex+1;(endManifoldIndex<numManifolds) && (islandId == getIslandId(m_islandmanifold[endManifoldIndex]));endManifoldIndex++)
{
}
/// Process the actual simulation, only if not sleeping/deactivated
numIslandManifolds = endManifoldIndex-startManifoldIndex;
}
}
if (!islandSleeping)
{
callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}
if (numIslandManifolds)
{
startManifoldIndex = endManifoldIndex;
}
m_islandBodies.resize(0);
}
#endif //SPLIT_ISLANDS
m_islandmanifold.resize(0);
}

6
src/bullet/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
View File

@@ -32,9 +32,9 @@ class btSimulationIslandManager
{
btUnionFind m_unionFind;
btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
btAlignedObjectArray<btCollisionObject* > m_islandBodies;
btAlignedObjectArray<btPersistentManifold*> m_islandmanifold;
btAlignedObjectArray<btCollisionObject* > m_islandBodies;
public:
btSimulationIslandManager();

520
src/bullet/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
View File

@@ -1,260 +1,260 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
//#include <stdio.h>
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
btCollisionObject* boxObj = m_isSwapped? col0 : col1;
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
{
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
m_ownManifold = true;
}
}
btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
resultOut->setPersistentManifold(m_manifoldPtr);
if (dist < SIMD_EPSILON)
{
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
}
if (m_ownManifold)
{
if (m_manifoldPtr->getNumContacts())
{
resultOut->refreshContactPoints();
}
}
}
btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
{
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObj->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
boundsVec[0] = bounds[0];
boundsVec[1] = bounds[1];
btVector3 marginsVec( margins, margins, margins );
// add margins
bounds[0] += marginsVec;
bounds[1] -= marginsVec;
/////////////////////////////////////////////////
btVector3 tmp, prel, n[6], normal, v3P;
btScalar fSep = btScalar(10000000.0), fSepThis;
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
// convert point in local space
prel = m44T.invXform( sphereCenter);
bool bFound = false;
v3P = prel;
for (int i=0;i<6;i++)
{
int j = i<3? 0:1;
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
{
v3P = v3P - n[i]*fSepThis;
bFound = true;
}
}
//
if ( bFound )
{
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
normal = (prel - v3P).normalize();
pointOnBox = v3P + normal*margins;
v3PointOnSphere = prel - normal*fRadius;
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
{
return btScalar(1.0);
}
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere);
v3PointOnSphere = tmp;
btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
//if this fails, fallback into deeper penetration case, below
if (fSeps2 > SIMD_EPSILON)
{
fSep = - btSqrt(fSeps2);
normal = (pointOnBox-v3PointOnSphere);
normal *= btScalar(1.)/fSep;
}
return fSep;
}
//////////////////////////////////////////////////
// Deep penetration case
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
if ( fPenetration <= btScalar(0.0) )
return (fPenetration-margins);
else
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
bounds[0] = aabbMin;
bounds[1] = aabbMax;
btVector3 p0, tmp, prel, n[6], normal;
btScalar fSep = btScalar(-10000000.0), fSepThis;
// set p0 and normal to a default value to shup up GCC
p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObj->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);
///////////
for (int i=0;i<6;i++)
{
int j = i<3 ? 0:1;
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0);
if ( fSepThis > fSep )
{
p0 = bounds[j]; normal = (btVector3&)n[i];
fSep = fSepThis;
}
}
pointOnBox = prel - normal*(normal.dot((prel-p0)));
v3PointOnSphere = pointOnBox + normal*fSep;
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere); v3PointOnSphere = tmp;
normal = (pointOnBox-v3PointOnSphere).normalize();
return fSep;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
//#include <stdio.h>
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
btCollisionObject* boxObj = m_isSwapped? col0 : col1;
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
{
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
m_ownManifold = true;
}
}
btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
resultOut->setPersistentManifold(m_manifoldPtr);
if (dist < SIMD_EPSILON)
{
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
}
if (m_ownManifold)
{
if (m_manifoldPtr->getNumContacts())
{
resultOut->refreshContactPoints();
}
}
}
btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
{
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObj->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
boundsVec[0] = bounds[0];
boundsVec[1] = bounds[1];
btVector3 marginsVec( margins, margins, margins );
// add margins
bounds[0] += marginsVec;
bounds[1] -= marginsVec;
/////////////////////////////////////////////////
btVector3 tmp, prel, n[6], normal, v3P;
btScalar fSep = btScalar(10000000.0), fSepThis;
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
// convert point in local space
prel = m44T.invXform( sphereCenter);
bool bFound = false;
v3P = prel;
for (int i=0;i<6;i++)
{
int j = i<3? 0:1;
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
{
v3P = v3P - n[i]*fSepThis;
bFound = true;
}
}
//
if ( bFound )
{
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
normal = (prel - v3P).normalize();
pointOnBox = v3P + normal*margins;
v3PointOnSphere = prel - normal*fRadius;
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
{
return btScalar(1.0);
}
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere);
v3PointOnSphere = tmp;
btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
//if this fails, fallback into deeper penetration case, below
if (fSeps2 > SIMD_EPSILON)
{
fSep = - btSqrt(fSeps2);
normal = (pointOnBox-v3PointOnSphere);
normal *= btScalar(1.)/fSep;
}
return fSep;
}
//////////////////////////////////////////////////
// Deep penetration case
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
if ( fPenetration <= btScalar(0.0) )
return (fPenetration-margins);
else
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
bounds[0] = aabbMin;
bounds[1] = aabbMax;
btVector3 p0, tmp, prel, n[6], normal;
btScalar fSep = btScalar(-10000000.0), fSepThis;
// set p0 and normal to a default value to shup up GCC
p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObj->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);
///////////
for (int i=0;i<6;i++)
{
int j = i<3 ? 0:1;
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0);
if ( fSepThis > fSep )
{
p0 = bounds[j]; normal = (btVector3&)n[i];
fSep = fSepThis;
}
}
pointOnBox = prel - normal*(normal.dot((prel-p0)));
v3PointOnSphere = pointOnBox + normal*fSep;
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere); v3PointOnSphere = tmp;
normal = (pointOnBox-v3PointOnSphere).normalize();
return fSep;
}

196
src/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
View File

@@ -1,98 +1,98 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_ownManifold = true;
}
}
btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
if (!m_manifoldPtr)
return;
resultOut->setPersistentManifold(m_manifoldPtr);
btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin();
btScalar len = diff.length();
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
m_manifoldPtr->clearManifold();
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
{
return;
}
///distance (negative means penetration)
btScalar dist = len - (radius0+radius1);
btVector3 normalOnSurfaceB(1,0,0);
if (len > SIMD_EPSILON)
{
normalOnSurfaceB = diff / len;
}
///point on A (worldspace)
btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
//no resultOut->refreshContactPoints(); needed, because of clearManifold (all points are new)
}
btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)col0;
(void)col1;
(void)dispatchInfo;
(void)resultOut;
//not yet
return btScalar(1.);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_ownManifold = true;
}
}
btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
if (!m_manifoldPtr)
return;
resultOut->setPersistentManifold(m_manifoldPtr);
btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin();
btScalar len = diff.length();
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
m_manifoldPtr->clearManifold();
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
{
return;
}
///distance (negative means penetration)
btScalar dist = len - (radius0+radius1);
btVector3 normalOnSurfaceB(1,0,0);
if (len > SIMD_EPSILON)
{
normalOnSurfaceB = diff / len;
}
///point on A (worldspace)
btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
//no resultOut->refreshContactPoints(); needed, because of clearManifold (all points are new)
}
btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)col0;
(void)col1;
(void)dispatchInfo;
(void)resultOut;
//not yet
return btScalar(1.);
}

164
src/bullet/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
View File

@@ -1,82 +1,82 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "SphereTriangleDetector.h"
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_swapped(swapped)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_ownManifold = true;
}
}
btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_swapped? col1 : col0;
btCollisionObject* triObj = m_swapped? col0 : col1;
btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape();
btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector(sphere,triangle);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
input.m_transformA = col0->getWorldTransform();
input.m_transformB = col1->getWorldTransform();
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
if (m_ownManifold)
resultOut->refreshContactPoints();
}
btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "SphereTriangleDetector.h"
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
m_swapped(swapped)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_ownManifold = true;
}
}
btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
}
void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_swapped? col1 : col0;
btCollisionObject* triObj = m_swapped? col0 : col1;
btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape();
btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
SphereTriangleDetector detector(sphere,triangle);
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = btScalar(1e30);//todo: tighter bounds
input.m_transformA = col0->getWorldTransform();
input.m_transformB = col1->getWorldTransform();
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
if (m_ownManifold)
resultOut->refreshContactPoints();
}
btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)resultOut;
(void)dispatchInfo;
(void)col0;
(void)col1;
//not yet
return btScalar(1.);
}

166
src/bullet/src/BulletCollision/CollisionDispatch/btUnionFind.cpp
View File

@@ -1,83 +1,83 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btUnionFind.h"
#include <assert.h>
btUnionFind::~btUnionFind()
{
Free();
}
btUnionFind::btUnionFind()
{
}
void btUnionFind::allocate(int N)
{
m_elements.resize(N);
}
void btUnionFind::Free()
{
m_elements.clear();
}
void btUnionFind::reset(int N)
{
allocate(N);
for (int i = 0; i < N; i++)
{
m_elements[i].m_id = i; m_elements[i].m_sz = 1;
}
}
class btUnionFindElementSortPredicate
{
public:
bool operator() ( const btElement& lhs, const btElement& rhs )
{
return lhs.m_id < rhs.m_id;
}
};
///this is a special operation, destroying the content of btUnionFind.
///it sorts the elements, based on island id, in order to make it easy to iterate over islands
void btUnionFind::sortIslands()
{
//first store the original body index, and islandId
int numElements = m_elements.size();
for (int i=0;i<numElements;i++)
{
m_elements[i].m_id = find(i);
m_elements[i].m_sz = i;
}
// Sort the vector using predicate and std::sort
//std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
m_elements.quickSort(btUnionFindElementSortPredicate());
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btUnionFind.h"
#include <assert.h>
btUnionFind::~btUnionFind()
{
Free();
}
btUnionFind::btUnionFind()
{
}
void btUnionFind::allocate(int N)
{
m_elements.resize(N);
}
void btUnionFind::Free()
{
m_elements.clear();
}
void btUnionFind::reset(int N)
{
allocate(N);
for (int i = 0; i < N; i++)
{
m_elements[i].m_id = i; m_elements[i].m_sz = 1;
}
}
class btUnionFindElementSortPredicate
{
public:
bool operator() ( const btElement& lhs, const btElement& rhs )
{
return lhs.m_id < rhs.m_id;
}
};
///this is a special operation, destroying the content of btUnionFind.
///it sorts the elements, based on island id, in order to make it easy to iterate over islands
void btUnionFind::sortIslands()
{
//first store the original body index, and islandId
int numElements = m_elements.size();
for (int i=0;i<numElements;i++)
{
m_elements[i].m_id = find(i);
m_elements[i].m_sz = i;
}
// Sort the vector using predicate and std::sort
//std::sort(m_elements.begin(), m_elements.end(), btUnionFindElementSortPredicate);
m_elements.quickSort(btUnionFindElementSortPredicate());
}

248
src/bullet/src/BulletCollision/CollisionDispatch/btUnionFind.h
View File

@@ -1,124 +1,124 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef UNION_FIND_H
#define UNION_FIND_H
#include "LinearMath/btAlignedObjectArray.h"
#define USE_PATH_COMPRESSION 1
struct btElement
{
int m_id;
int m_sz;
};
///UnionFind calculates connected subsets
// Implements weighted Quick Union with path compression
// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
class btUnionFind
{
private:
btAlignedObjectArray<btElement> m_elements;
public:
btUnionFind();
~btUnionFind();
//this is a special operation, destroying the content of btUnionFind.
//it sorts the elements, based on island id, in order to make it easy to iterate over islands
void sortIslands();
void reset(int N);
SIMD_FORCE_INLINE int getNumElements() const
{
return int(m_elements.size());
}
SIMD_FORCE_INLINE bool isRoot(int x) const
{
return (x == m_elements[x].m_id);
}
btElement& getElement(int index)
{
return m_elements[index];
}
const btElement& getElement(int index) const
{
return m_elements[index];
}
void allocate(int N);
void Free();
int find(int p, int q)
{
return (find(p) == find(q));
}
void unite(int p, int q)
{
int i = find(p), j = find(q);
if (i == j)
return;
#ifndef USE_PATH_COMPRESSION
//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
if (m_elements[i].m_sz < m_elements[j].m_sz)
{
m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz;
}
else
{
m_elements[j].m_id = i; m_elements[i].m_sz += m_elements[j].m_sz;
}
#else
m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz;
#endif //USE_PATH_COMPRESSION
}
int find(int x)
{
//assert(x < m_N);
//assert(x >= 0);
while (x != m_elements[x].m_id)
{
//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
#ifdef USE_PATH_COMPRESSION
//
m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
#endif //
x = m_elements[x].m_id;
//assert(x < m_N);
//assert(x >= 0);
}
return x;
}
};
#endif //UNION_FIND_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef UNION_FIND_H
#define UNION_FIND_H
#include "LinearMath/btAlignedObjectArray.h"
#define USE_PATH_COMPRESSION 1
struct btElement
{
int m_id;
int m_sz;
};
///UnionFind calculates connected subsets
// Implements weighted Quick Union with path compression
// optimization: could use short ints instead of ints (halving memory, would limit the number of rigid bodies to 64k, sounds reasonable)
class btUnionFind
{
private:
btAlignedObjectArray<btElement> m_elements;
public:
btUnionFind();
~btUnionFind();
//this is a special operation, destroying the content of btUnionFind.
//it sorts the elements, based on island id, in order to make it easy to iterate over islands
void sortIslands();
void reset(int N);
SIMD_FORCE_INLINE int getNumElements() const
{
return int(m_elements.size());
}
SIMD_FORCE_INLINE bool isRoot(int x) const
{
return (x == m_elements[x].m_id);
}
btElement& getElement(int index)
{
return m_elements[index];
}
const btElement& getElement(int index) const
{
return m_elements[index];
}
void allocate(int N);
void Free();
int find(int p, int q)
{
return (find(p) == find(q));
}
void unite(int p, int q)
{
int i = find(p), j = find(q);
if (i == j)
return;
#ifndef USE_PATH_COMPRESSION
//weighted quick union, this keeps the 'trees' balanced, and keeps performance of unite O( log(n) )
if (m_elements[i].m_sz < m_elements[j].m_sz)
{
m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz;
}
else
{
m_elements[j].m_id = i; m_elements[i].m_sz += m_elements[j].m_sz;
}
#else
m_elements[i].m_id = j; m_elements[j].m_sz += m_elements[i].m_sz;
#endif //USE_PATH_COMPRESSION
}
int find(int x)
{
//assert(x < m_N);
//assert(x >= 0);
while (x != m_elements[x].m_id)
{
//not really a reason not to use path compression, and it flattens the trees/improves find performance dramatically
#ifdef USE_PATH_COMPRESSION
//
m_elements[x].m_id = m_elements[m_elements[x].m_id].m_id;
#endif //
x = m_elements[x].m_id;
//assert(x < m_N);
//assert(x >= 0);
}
return x;
}
};
#endif //UNION_FIND_H

108
src/bullet/src/BulletCollision/CollisionShapes/btBoxShape.cpp
View File

@@ -1,54 +1,54 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBoxShape.h"
//{
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBoxShape.h"
//{
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtentsWithMargin();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
}

646
src/bullet/src/BulletCollision/CollisionShapes/btBoxShape.h
View File

@@ -1,323 +1,323 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OBB_BOX_MINKOWSKI_H
#define OBB_BOX_MINKOWSKI_H
#include "btPolyhedralConvexShape.h"
#include "btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btMinMax.h"
///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
class btBoxShape: public btPolyhedralConvexShape
{
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
public:
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return halfExtents;
}
const btVector3& getHalfExtentsWithoutMargin() const
{
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
}
virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
}
btBoxShape( const btVector3& boxHalfExtents)
{
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
}
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
{
//this plane might not be aligned...
btVector4 plane ;
getPlaneEquation(plane,i);
planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
planeSupport = localGetSupportingVertex(-planeNormal);
}
virtual int getNumPlanes() const
{
return 6;
}
virtual int getNumVertices() const
{
return 8;
}
virtual int getNumEdges() const
{
return 12;
}
virtual void getVertex(int i,btVector3& vtx) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
}
virtual void getPlaneEquation(btVector4& plane,int i) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
switch (i)
{
case 0:
plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
plane[3] = -halfExtents.x();
break;
case 1:
plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
plane[3] = -halfExtents.x();
break;
case 2:
plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
plane[3] = -halfExtents.y();
break;
case 3:
plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
plane[3] = -halfExtents.y();
break;
case 4:
plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
plane[3] = -halfExtents.z();
break;
case 5:
plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
plane[3] = -halfExtents.z();
break;
default:
assert(0);
}
}
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
//virtual void getEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
int edgeVert1 = 0;
switch (i)
{
case 0:
edgeVert0 = 0;
edgeVert1 = 1;
break;
case 1:
edgeVert0 = 0;
edgeVert1 = 2;
break;
case 2:
edgeVert0 = 1;
edgeVert1 = 3;
break;
case 3:
edgeVert0 = 2;
edgeVert1 = 3;
break;
case 4:
edgeVert0 = 0;
edgeVert1 = 4;
break;
case 5:
edgeVert0 = 1;
edgeVert1 = 5;
break;
case 6:
edgeVert0 = 2;
edgeVert1 = 6;
break;
case 7:
edgeVert0 = 3;
edgeVert1 = 7;
break;
case 8:
edgeVert0 = 4;
edgeVert1 = 5;
break;
case 9:
edgeVert0 = 4;
edgeVert1 = 6;
break;
case 10:
edgeVert0 = 5;
edgeVert1 = 7;
break;
case 11:
edgeVert0 = 6;
edgeVert1 = 7;
break;
default:
btAssert(0);
}
getVertex(edgeVert0,pa );
getVertex(edgeVert1,pb );
}
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
//btScalar minDist = 2*tolerance;
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
(pt.x() >= (-halfExtents.x()-tolerance)) &&
(pt.y() <= (halfExtents.y()+tolerance)) &&
(pt.y() >= (-halfExtents.y()-tolerance)) &&
(pt.z() <= (halfExtents.z()+tolerance)) &&
(pt.z() >= (-halfExtents.z()-tolerance));
return result;
}
//debugging
virtual const char* getName()const
{
return "Box";
}
virtual int getNumPreferredPenetrationDirections() const
{
return 6;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
switch (index)
{
case 0:
penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
break;
case 1:
penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
break;
case 2:
penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
break;
case 3:
penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
break;
case 4:
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
break;
case 5:
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
break;
default:
assert(0);
}
}
};
#endif //OBB_BOX_MINKOWSKI_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OBB_BOX_MINKOWSKI_H
#define OBB_BOX_MINKOWSKI_H
#include "btPolyhedralConvexShape.h"
#include "btCollisionMargin.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "LinearMath/btPoint3.h"
#include "LinearMath/btMinMax.h"
///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
class btBoxShape: public btPolyhedralConvexShape
{
//btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
public:
btVector3 getHalfExtentsWithMargin() const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return halfExtents;
}
const btVector3& getHalfExtentsWithoutMargin() const
{
return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
}
virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
btVector3 margin(getMargin(),getMargin(),getMargin());
halfExtents += margin;
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
}
}
btBoxShape( const btVector3& boxHalfExtents)
{
btVector3 margin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
};
virtual void setMargin(btScalar collisionMargin)
{
//correct the m_implicitShapeDimensions for the margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
}
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const
{
//this plane might not be aligned...
btVector4 plane ;
getPlaneEquation(plane,i);
planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
planeSupport = localGetSupportingVertex(-planeNormal);
}
virtual int getNumPlanes() const
{
return 6;
}
virtual int getNumVertices() const
{
return 8;
}
virtual int getNumEdges() const
{
return 12;
}
virtual void getVertex(int i,btVector3& vtx) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
vtx = btVector3(
halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
}
virtual void getPlaneEquation(btVector4& plane,int i) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
switch (i)
{
case 0:
plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
plane[3] = -halfExtents.x();
break;
case 1:
plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
plane[3] = -halfExtents.x();
break;
case 2:
plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
plane[3] = -halfExtents.y();
break;
case 3:
plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
plane[3] = -halfExtents.y();
break;
case 4:
plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
plane[3] = -halfExtents.z();
break;
case 5:
plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
plane[3] = -halfExtents.z();
break;
default:
assert(0);
}
}
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const
//virtual void getEdge(int i,Edge& edge) const
{
int edgeVert0 = 0;
int edgeVert1 = 0;
switch (i)
{
case 0:
edgeVert0 = 0;
edgeVert1 = 1;
break;
case 1:
edgeVert0 = 0;
edgeVert1 = 2;
break;
case 2:
edgeVert0 = 1;
edgeVert1 = 3;
break;
case 3:
edgeVert0 = 2;
edgeVert1 = 3;
break;
case 4:
edgeVert0 = 0;
edgeVert1 = 4;
break;
case 5:
edgeVert0 = 1;
edgeVert1 = 5;
break;
case 6:
edgeVert0 = 2;
edgeVert1 = 6;
break;
case 7:
edgeVert0 = 3;
edgeVert1 = 7;
break;
case 8:
edgeVert0 = 4;
edgeVert1 = 5;
break;
case 9:
edgeVert0 = 4;
edgeVert1 = 6;
break;
case 10:
edgeVert0 = 5;
edgeVert1 = 7;
break;
case 11:
edgeVert0 = 6;
edgeVert1 = 7;
break;
default:
btAssert(0);
}
getVertex(edgeVert0,pa );
getVertex(edgeVert1,pb );
}
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const
{
btVector3 halfExtents = getHalfExtentsWithoutMargin();
//btScalar minDist = 2*tolerance;
bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
(pt.x() >= (-halfExtents.x()-tolerance)) &&
(pt.y() <= (halfExtents.y()+tolerance)) &&
(pt.y() >= (-halfExtents.y()-tolerance)) &&
(pt.z() <= (halfExtents.z()+tolerance)) &&
(pt.z() >= (-halfExtents.z()-tolerance));
return result;
}
//debugging
virtual const char* getName()const
{
return "Box";
}
virtual int getNumPreferredPenetrationDirections() const
{
return 6;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
switch (index)
{
case 0:
penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
break;
case 1:
penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
break;
case 2:
penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
break;
case 3:
penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
break;
case 4:
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
break;
case 5:
penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
break;
default:
assert(0);
}
}
};
#endif //OBB_BOX_MINKOWSKI_H

640
src/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
View File

@@ -1,320 +1,320 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//#define DISABLE_BVH
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
//construct bvh from meshInterface
#ifndef DISABLE_BVH
btVector3 bvhAabbMin,bvhAabbMax;
meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax);
if (buildBvh)
{
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new (mem) btOptimizedBvh();
m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
m_ownsBvh = true;
}
#endif //DISABLE_BVH
}
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
//construct bvh from meshInterface
#ifndef DISABLE_BVH
if (buildBvh)
{
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new (mem) btOptimizedBvh();
m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
m_ownsBvh = true;
}
#endif //DISABLE_BVH
}
void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
m_localAabbMin.setMin(aabbMin);
m_localAabbMax.setMax(aabbMax);
}
void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
recalcLocalAabb();
}
btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
{
if (m_ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
}
void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
{
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
/* Perform ray vs. triangle collision here */
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
}
void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
{
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
/* Perform ray vs. triangle collision here */
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
}
//perform bvh tree traversal and report overlapping triangles to 'callback'
void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
#ifdef DISABLE_BVH
//brute force traverse all triangles
btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
#else
//first get all the nodes
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
btVector3 m_triangle[3];
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
#ifdef DEBUG_TRIANGLE_MESH
printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
#ifdef DEBUG_TRIANGLE_MESH
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
#endif //DEBUG_TRIANGLE_MESH
}
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
#endif//DISABLE_BVH
}
void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
if (m_ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new(mem) btOptimizedBvh();
//rebuild the bvh...
m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//#define DISABLE_BVH
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btOptimizedBvh.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
//construct bvh from meshInterface
#ifndef DISABLE_BVH
btVector3 bvhAabbMin,bvhAabbMax;
meshInterface->calculateAabbBruteForce(bvhAabbMin,bvhAabbMax);
if (buildBvh)
{
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new (mem) btOptimizedBvh();
m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
m_ownsBvh = true;
}
#endif //DISABLE_BVH
}
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax,bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
//construct bvh from meshInterface
#ifndef DISABLE_BVH
if (buildBvh)
{
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new (mem) btOptimizedBvh();
m_bvh->build(meshInterface,m_useQuantizedAabbCompression,bvhAabbMin,bvhAabbMax);
m_ownsBvh = true;
}
#endif //DISABLE_BVH
}
void btBvhTriangleMeshShape::partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
m_bvh->refitPartial( m_meshInterface,aabbMin,aabbMax );
m_localAabbMin.setMin(aabbMin);
m_localAabbMax.setMax(aabbMax);
}
void btBvhTriangleMeshShape::refitTree(const btVector3& aabbMin,const btVector3& aabbMax)
{
m_bvh->refit( m_meshInterface, aabbMin,aabbMax );
recalcLocalAabb();
}
btBvhTriangleMeshShape::~btBvhTriangleMeshShape()
{
if (m_ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
}
void btBvhTriangleMeshShape::performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget)
{
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
/* Perform ray vs. triangle collision here */
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportRayOverlappingNodex(&myNodeCallback,raySource,rayTarget);
}
void btBvhTriangleMeshShape::performConvexcast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget, const btVector3& aabbMin, const btVector3& aabbMax)
{
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
btVector3 m_triangle[3];
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
}
/* Perform ray vs. triangle collision here */
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportBoxCastOverlappingNodex (&myNodeCallback, raySource, rayTarget, aabbMin, aabbMax);
}
//perform bvh tree traversal and report overlapping triangles to 'callback'
void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
#ifdef DISABLE_BVH
//brute force traverse all triangles
btTriangleMeshShape::processAllTriangles(callback,aabbMin,aabbMax);
#else
//first get all the nodes
struct MyNodeOverlapCallback : public btNodeOverlapCallback
{
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
btVector3 m_triangle[3];
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
m_callback(callback)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
int stride;
const unsigned char *indexbase;
int indexstride;
int numfaces;
PHY_ScalarType indicestype;
m_meshInterface->getLockedReadOnlyVertexIndexBase(
&vertexbase,
numverts,
type,
stride,
&indexbase,
indexstride,
numfaces,
indicestype,
nodeSubPart);
int* gfxbase = (int*)(indexbase+nodeTriangleIndex*indexstride);
btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
const btVector3& meshScaling = m_meshInterface->getScaling();
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((short*)gfxbase)[j]:gfxbase[j];
#ifdef DEBUG_TRIANGLE_MESH
printf("%d ,",graphicsindex);
#endif //DEBUG_TRIANGLE_MESH
btScalar* graphicsbase = (btScalar*)(vertexbase+graphicsindex*stride);
m_triangle[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
#ifdef DEBUG_TRIANGLE_MESH
printf("triangle vertices:%f,%f,%f\n",triangle[j].x(),triangle[j].y(),triangle[j].z());
#endif //DEBUG_TRIANGLE_MESH
}
m_callback->processTriangle(m_triangle,nodeSubPart,nodeTriangleIndex);
m_meshInterface->unLockReadOnlyVertexBase(nodeSubPart);
}
};
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
#endif//DISABLE_BVH
}
void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
if (m_ownsBvh)
{
m_bvh->~btOptimizedBvh();
btAlignedFree(m_bvh);
}
///m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
void* mem = btAlignedAlloc(sizeof(btOptimizedBvh),16);
m_bvh = new(mem) btOptimizedBvh();
//rebuild the bvh...
m_bvh->build(m_meshInterface,m_useQuantizedAabbCompression,m_localAabbMin,m_localAabbMax);
}
}

178
src/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
View File

@@ -1,89 +1,89 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BVH_TRIANGLE_MESH_SHAPE_H
#define BVH_TRIANGLE_MESH_SHAPE_H
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#include "LinearMath/btAlignedAllocator.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
{
btOptimizedBvh* m_bvh;
bool m_useQuantizedAabbCompression;
bool m_ownsBvh;
bool m_pad[11];////need padding due to alignment
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true);
virtual ~btBvhTriangleMeshShape();
virtual int getShapeType() const
{
return TRIANGLE_MESH_SHAPE_PROXYTYPE;
}
void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void refitTree(const btVector3& aabbMin,const btVector3& aabbMax);
///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);
//debugging
virtual const char* getName()const {return "BVHTRIANGLEMESH";}
virtual void setLocalScaling(const btVector3& scaling);
btOptimizedBvh* getOptimizedBvh()
{
return m_bvh;
}
void setOptimizedBvh(btOptimizedBvh* bvh)
{
btAssert(!m_bvh);
btAssert(!m_ownsBvh);
m_bvh = bvh;
m_ownsBvh = false;
}
bool usesQuantizedAabbCompression() const
{
return m_useQuantizedAabbCompression;
}
}
;
#endif //BVH_TRIANGLE_MESH_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BVH_TRIANGLE_MESH_SHAPE_H
#define BVH_TRIANGLE_MESH_SHAPE_H
#include "btTriangleMeshShape.h"
#include "btOptimizedBvh.h"
#include "LinearMath/btAlignedAllocator.h"
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
ATTRIBUTE_ALIGNED16(class) btBvhTriangleMeshShape : public btTriangleMeshShape
{
btOptimizedBvh* m_bvh;
bool m_useQuantizedAabbCompression;
bool m_ownsBvh;
bool m_pad[11];////need padding due to alignment
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btBvhTriangleMeshShape() :btTriangleMeshShape(0),m_bvh(0),m_ownsBvh(false) {};
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh = true);
///optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression,const btVector3& bvhAabbMin,const btVector3& bvhAabbMax, bool buildBvh = true);
virtual ~btBvhTriangleMeshShape();
virtual int getShapeType() const
{
return TRIANGLE_MESH_SHAPE_PROXYTYPE;
}
void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget);
void performConvexcast (btTriangleCallback* callback, const btVector3& boxSource, const btVector3& boxTarget, const btVector3& boxMin, const btVector3& boxMax);
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
void refitTree(const btVector3& aabbMin,const btVector3& aabbMax);
///for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
void partialRefitTree(const btVector3& aabbMin,const btVector3& aabbMax);
//debugging
virtual const char* getName()const {return "BVHTRIANGLEMESH";}
virtual void setLocalScaling(const btVector3& scaling);
btOptimizedBvh* getOptimizedBvh()
{
return m_bvh;
}
void setOptimizedBvh(btOptimizedBvh* bvh)
{
btAssert(!m_bvh);
btAssert(!m_ownsBvh);
m_bvh = bvh;
m_ownsBvh = false;
}
bool usesQuantizedAabbCompression() const
{
return m_useQuantizedAabbCompression;
}
}
;
#endif //BVH_TRIANGLE_MESH_SHAPE_H

340
src/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
View File

@@ -1,170 +1,170 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
{
m_upAxis = 1;
m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
}
btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
btVector3 vtx;
btScalar newDot;
btScalar radius = getRadius();
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
btScalar radius = getRadius();
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
const btVector3& vec = vectors[j];
btVector3 vtx;
btScalar newDot;
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
}
}
void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//as an approximation, take the inertia of the box that bounds the spheres
btTransform ident;
ident.setIdentity();
btScalar radius = getRadius();
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = CONVEX_DISTANCE_MARGIN;
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(.08333333);
inertia[0] = scaledmass * (y2+z2);
inertia[1] = scaledmass * (x2+z2);
inertia[2] = scaledmass * (x2+y2);
}
btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
{
m_upAxis = 0;
m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
}
btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
{
m_upAxis = 2;
m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
{
m_upAxis = 1;
m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
}
btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
btVector3 vtx;
btScalar newDot;
btScalar radius = getRadius();
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
btScalar radius = getRadius();
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-1e30));
const btVector3& vec = vectors[j];
btVector3 vtx;
btScalar newDot;
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supportVerticesOut[j] = vtx;
}
}
}
}
void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//as an approximation, take the inertia of the box that bounds the spheres
btTransform ident;
ident.setIdentity();
btScalar radius = getRadius();
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = CONVEX_DISTANCE_MARGIN;
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(.08333333);
inertia[0] = scaledmass * (y2+z2);
inertia[1] = scaledmass * (x2+z2);
inertia[2] = scaledmass * (x2+y2);
}
btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
{
m_upAxis = 0;
m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
}
btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
{
m_upAxis = 2;
m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
}

238
src/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.h
View File

@@ -1,119 +1,119 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btCapsuleShape represents a capsule around the Y axis
///A more general solution that can represent capsules is the btMultiSphereShape
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShape : public btConvexInternalShape
{
protected:
int m_upAxis;
protected:
///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
btCapsuleShape() {};
public:
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
virtual const char* getName()const
{
return "CapsuleShape";
}
int getUpAxis() const
{
return m_upAxis;
}
btScalar getRadius() const
{
int radiusAxis = (m_upAxis+2)%3;
return m_implicitShapeDimensions[radiusAxis];
}
btScalar getHalfHeight() const
{
return m_implicitShapeDimensions[m_upAxis];
}
};
///btCapsuleShapeX represents a capsule around the Z axis
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShapeX : public btCapsuleShape
{
public:
btCapsuleShapeX(btScalar radius,btScalar height);
//debugging
virtual const char* getName()const
{
return "CapsuleX";
}
};
///btCapsuleShapeZ represents a capsule around the Z axis
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShapeZ : public btCapsuleShape
{
public:
btCapsuleShapeZ(btScalar radius,btScalar height);
//debugging
virtual const char* getName()const
{
return "CapsuleZ";
}
};
#endif //BT_CAPSULE_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btCapsuleShape represents a capsule around the Y axis
///A more general solution that can represent capsules is the btMultiSphereShape
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShape : public btConvexInternalShape
{
protected:
int m_upAxis;
protected:
///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
btCapsuleShape() {};
public:
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
virtual const char* getName()const
{
return "CapsuleShape";
}
int getUpAxis() const
{
return m_upAxis;
}
btScalar getRadius() const
{
int radiusAxis = (m_upAxis+2)%3;
return m_implicitShapeDimensions[radiusAxis];
}
btScalar getHalfHeight() const
{
return m_implicitShapeDimensions[m_upAxis];
}
};
///btCapsuleShapeX represents a capsule around the Z axis
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShapeX : public btCapsuleShape
{
public:
btCapsuleShapeX(btScalar radius,btScalar height);
//debugging
virtual const char* getName()const
{
return "CapsuleX";
}
};
///btCapsuleShapeZ represents a capsule around the Z axis
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShapeZ : public btCapsuleShape
{
public:
btCapsuleShapeZ(btScalar radius,btScalar height);
//debugging
virtual const char* getName()const
{
return "CapsuleZ";
}
};
#endif //BT_CAPSULE_SHAPE_H

52
src/bullet/src/BulletCollision/CollisionShapes/btCollisionMargin.h
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@@ -1,26 +1,26 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_MARGIN_H
#define COLLISION_MARGIN_H
//used by Gjk and some other algorithms
#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
#endif //COLLISION_MARGIN_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_MARGIN_H
#define COLLISION_MARGIN_H
//used by Gjk and some other algorithms
#define CONVEX_DISTANCE_MARGIN btScalar(0.04)// btScalar(0.1)//;//btScalar(0.01)
#endif //COLLISION_MARGIN_H

170
src/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.cpp
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@@ -1,85 +1,85 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
library is actually installed.
*/
extern "C" void btBulletCollisionProbe () {}
void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
{
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(tr,aabbMin,aabbMax);
radius = (aabbMax-aabbMin).length()*btScalar(0.5);
center = (aabbMin+aabbMax)*btScalar(0.5);
}
btScalar btCollisionShape::getAngularMotionDisc() const
{
btVector3 center;
btScalar disc;
getBoundingSphere(center,disc);
disc += (center).length();
return disc;
}
void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
{
//start with static aabb
getAabb(curTrans,temporalAabbMin,temporalAabbMax);
btScalar temporalAabbMaxx = temporalAabbMax.getX();
btScalar temporalAabbMaxy = temporalAabbMax.getY();
btScalar temporalAabbMaxz = temporalAabbMax.getZ();
btScalar temporalAabbMinx = temporalAabbMin.getX();
btScalar temporalAabbMiny = temporalAabbMin.getY();
btScalar temporalAabbMinz = temporalAabbMin.getZ();
// add linear motion
btVector3 linMotion = linvel*timeStep;
//todo: simd would have a vector max/min operation, instead of per-element access
if (linMotion.x() > btScalar(0.))
temporalAabbMaxx += linMotion.x();
else
temporalAabbMinx += linMotion.x();
if (linMotion.y() > btScalar(0.))
temporalAabbMaxy += linMotion.y();
else
temporalAabbMiny += linMotion.y();
if (linMotion.z() > btScalar(0.))
temporalAabbMaxz += linMotion.z();
else
temporalAabbMinz += linMotion.z();
//add conservative angular motion
btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
temporalAabbMin -= angularMotion3d;
temporalAabbMax += angularMotion3d;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
/*
Make sure this dummy function never changes so that it
can be used by probes that are checking whether the
library is actually installed.
*/
extern "C" void btBulletCollisionProbe () {}
void btCollisionShape::getBoundingSphere(btVector3& center,btScalar& radius) const
{
btTransform tr;
tr.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(tr,aabbMin,aabbMax);
radius = (aabbMax-aabbMin).length()*btScalar(0.5);
center = (aabbMin+aabbMax)*btScalar(0.5);
}
btScalar btCollisionShape::getAngularMotionDisc() const
{
btVector3 center;
btScalar disc;
getBoundingSphere(center,disc);
disc += (center).length();
return disc;
}
void btCollisionShape::calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const
{
//start with static aabb
getAabb(curTrans,temporalAabbMin,temporalAabbMax);
btScalar temporalAabbMaxx = temporalAabbMax.getX();
btScalar temporalAabbMaxy = temporalAabbMax.getY();
btScalar temporalAabbMaxz = temporalAabbMax.getZ();
btScalar temporalAabbMinx = temporalAabbMin.getX();
btScalar temporalAabbMiny = temporalAabbMin.getY();
btScalar temporalAabbMinz = temporalAabbMin.getZ();
// add linear motion
btVector3 linMotion = linvel*timeStep;
//todo: simd would have a vector max/min operation, instead of per-element access
if (linMotion.x() > btScalar(0.))
temporalAabbMaxx += linMotion.x();
else
temporalAabbMinx += linMotion.x();
if (linMotion.y() > btScalar(0.))
temporalAabbMaxy += linMotion.y();
else
temporalAabbMiny += linMotion.y();
if (linMotion.z() > btScalar(0.))
temporalAabbMaxz += linMotion.z();
else
temporalAabbMinz += linMotion.z();
//add conservative angular motion
btScalar angularMotion = angvel.length() * getAngularMotionDisc() * timeStep;
btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion);
temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz);
temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz);
temporalAabbMin -= angularMotion3d;
temporalAabbMax += angularMotion3d;
}

218
src/bullet/src/BulletCollision/CollisionShapes/btCollisionShape.h
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@@ -1,109 +1,109 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_SHAPE_H
#define COLLISION_SHAPE_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btPoint3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
///btCollisionShape provides interface for collision shapes that can be shared among btCollisionObjects.
class btCollisionShape
{
void* m_userPointer;
public:
btCollisionShape() : m_userPointer(0)
{
}
virtual ~btCollisionShape()
{
}
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual btScalar getAngularMotionDisc() const;
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
#ifndef __SPU__
SIMD_FORCE_INLINE bool isPolyhedral() const
{
return btBroadphaseProxy::isPolyhedral(getShapeType());
}
SIMD_FORCE_INLINE bool isConvex() const
{
return btBroadphaseProxy::isConvex(getShapeType());
}
SIMD_FORCE_INLINE bool isConcave() const
{
return btBroadphaseProxy::isConcave(getShapeType());
}
SIMD_FORCE_INLINE bool isCompound() const
{
return btBroadphaseProxy::isCompound(getShapeType());
}
///isInfinite is used to catch simulation error (aabb check)
SIMD_FORCE_INLINE bool isInfinite() const
{
return btBroadphaseProxy::isInfinite(getShapeType());
}
virtual int getShapeType() const=0;
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
//debugging support
virtual const char* getName()const =0 ;
#endif //__SPU__
virtual void setMargin(btScalar margin) = 0;
virtual btScalar getMargin() const = 0;
///optional user data pointer
void setUserPointer(void* userPtr)
{
m_userPointer = userPtr;
}
void* getUserPointer() const
{
return m_userPointer;
}
};
#endif //COLLISION_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_SHAPE_H
#define COLLISION_SHAPE_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btPoint3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
///btCollisionShape provides interface for collision shapes that can be shared among btCollisionObjects.
class btCollisionShape
{
void* m_userPointer;
public:
btCollisionShape() : m_userPointer(0)
{
}
virtual ~btCollisionShape()
{
}
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void getBoundingSphere(btVector3& center,btScalar& radius) const;
///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual btScalar getAngularMotionDisc() const;
///calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
///result is conservative
void calculateTemporalAabb(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep, btVector3& temporalAabbMin,btVector3& temporalAabbMax) const;
#ifndef __SPU__
SIMD_FORCE_INLINE bool isPolyhedral() const
{
return btBroadphaseProxy::isPolyhedral(getShapeType());
}
SIMD_FORCE_INLINE bool isConvex() const
{
return btBroadphaseProxy::isConvex(getShapeType());
}
SIMD_FORCE_INLINE bool isConcave() const
{
return btBroadphaseProxy::isConcave(getShapeType());
}
SIMD_FORCE_INLINE bool isCompound() const
{
return btBroadphaseProxy::isCompound(getShapeType());
}
///isInfinite is used to catch simulation error (aabb check)
SIMD_FORCE_INLINE bool isInfinite() const
{
return btBroadphaseProxy::isInfinite(getShapeType());
}
virtual int getShapeType() const=0;
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const = 0;
//debugging support
virtual const char* getName()const =0 ;
#endif //__SPU__
virtual void setMargin(btScalar margin) = 0;
virtual btScalar getMargin() const = 0;
///optional user data pointer
void setUserPointer(void* userPtr)
{
m_userPointer = userPtr;
}
void* getUserPointer() const
{
return m_userPointer;
}
};
#endif //COLLISION_SHAPE_H

214
src/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -1,107 +1,107 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCompoundShape.h"
#include "btCollisionShape.h"
btCompoundShape::btCompoundShape()
:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_aabbTree(0),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
}
btCompoundShape::~btCompoundShape()
{
}
void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
{
//m_childTransforms.push_back(localTransform);
//m_childShapes.push_back(shape);
btCompoundShapeChild child;
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape->getShapeType();
child.m_childMargin = shape->getMargin();
m_children.push_back(child);
//extend the local aabbMin/aabbMax
btVector3 localAabbMin,localAabbMax;
shape->getAabb(localTransform,localAabbMin,localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
{
m_localAabbMin[i] = localAabbMin[i];
}
if (m_localAabbMax[i] < localAabbMax[i])
{
m_localAabbMax[i] = localAabbMax[i];
}
}
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//approximation: take the inertia from the aabb for now
btTransform ident;
ident.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(ident,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCompoundShape.h"
#include "btCollisionShape.h"
btCompoundShape::btCompoundShape()
:m_localAabbMin(btScalar(1e30),btScalar(1e30),btScalar(1e30)),
m_localAabbMax(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30)),
m_aabbTree(0),
m_collisionMargin(btScalar(0.)),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
}
btCompoundShape::~btCompoundShape()
{
}
void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
{
//m_childTransforms.push_back(localTransform);
//m_childShapes.push_back(shape);
btCompoundShapeChild child;
child.m_transform = localTransform;
child.m_childShape = shape;
child.m_childShapeType = shape->getShapeType();
child.m_childMargin = shape->getMargin();
m_children.push_back(child);
//extend the local aabbMin/aabbMax
btVector3 localAabbMin,localAabbMax;
shape->getAabb(localTransform,localAabbMin,localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
{
m_localAabbMin[i] = localAabbMin[i];
}
if (m_localAabbMax[i] < localAabbMax[i])
{
m_localAabbMax[i] = localAabbMax[i];
}
}
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
btPoint3 center = trans(localCenter);
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//approximation: take the inertia from the aabb for now
btTransform ident;
ident.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(ident,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia[0] = mass/(btScalar(12.0)) * (ly*ly + lz*lz);
inertia[1] = mass/(btScalar(12.0)) * (lx*lx + lz*lz);
inertia[2] = mass/(btScalar(12.0)) * (lx*lx + ly*ly);
}

272
src/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -1,136 +1,136 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COMPOUND_SHAPE_H
#define COMPOUND_SHAPE_H
#include "btCollisionShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedObjectArray.h"
class btOptimizedBvh;
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btTransform m_transform;
btCollisionShape* m_childShape;
int m_childShapeType;
btScalar m_childMargin;
};
/// btCompoundShape allows to store multiple other btCollisionShapes
/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
{
//btAlignedObjectArray<btTransform> m_childTransforms;
//btAlignedObjectArray<btCollisionShape*> m_childShapes;
btAlignedObjectArray<btCompoundShapeChild> m_children;
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
btOptimizedBvh* m_aabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCompoundShape();
virtual ~btCompoundShape();
void addChildShape(const btTransform& localTransform,btCollisionShape* shape);
int getNumChildShapes() const
{
return int (m_children.size());
}
btCollisionShape* getChildShape(int index)
{
return m_children[index].m_childShape;
}
const btCollisionShape* getChildShape(int index) const
{
return m_children[index].m_childShape;
}
btTransform getChildTransform(int index)
{
return m_children[index].m_transform;
}
const btTransform getChildTransform(int index) const
{
return m_children[index].m_transform;
}
btCompoundShapeChild* getChildList()
{
return &m_children[0];
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual btScalar getMargin() const
{
return m_collisionMargin;
}
virtual const char* getName()const
{
return "Compound";
}
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
void createAabbTreeFromChildren();
const btOptimizedBvh* getAabbTree() const
{
return m_aabbTree;
}
private:
btScalar m_collisionMargin;
protected:
btVector3 m_localScaling;
};
#endif //COMPOUND_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COMPOUND_SHAPE_H
#define COMPOUND_SHAPE_H
#include "btCollisionShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedObjectArray.h"
class btOptimizedBvh;
ATTRIBUTE_ALIGNED16(struct) btCompoundShapeChild
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btTransform m_transform;
btCollisionShape* m_childShape;
int m_childShapeType;
btScalar m_childMargin;
};
/// btCompoundShape allows to store multiple other btCollisionShapes
/// This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.
ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
{
//btAlignedObjectArray<btTransform> m_childTransforms;
//btAlignedObjectArray<btCollisionShape*> m_childShapes;
btAlignedObjectArray<btCompoundShapeChild> m_children;
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
btOptimizedBvh* m_aabbTree;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btCompoundShape();
virtual ~btCompoundShape();
void addChildShape(const btTransform& localTransform,btCollisionShape* shape);
int getNumChildShapes() const
{
return int (m_children.size());
}
btCollisionShape* getChildShape(int index)
{
return m_children[index].m_childShape;
}
const btCollisionShape* getChildShape(int index) const
{
return m_children[index].m_childShape;
}
btTransform getChildTransform(int index)
{
return m_children[index].m_transform;
}
const btTransform getChildTransform(int index) const
{
return m_children[index].m_transform;
}
btCompoundShapeChild* getChildList()
{
return &m_children[0];
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return COMPOUND_SHAPE_PROXYTYPE;}
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual btScalar getMargin() const
{
return m_collisionMargin;
}
virtual const char* getName()const
{
return "Compound";
}
//this is optional, but should make collision queries faster, by culling non-overlapping nodes
void createAabbTreeFromChildren();
const btOptimizedBvh* getAabbTree() const
{
return m_aabbTree;
}
private:
btScalar m_collisionMargin;
protected:
btVector3 m_localScaling;
};
#endif //COMPOUND_SHAPE_H

56
src/bullet/src/BulletCollision/CollisionShapes/btConcaveShape.cpp
View File

@@ -1,28 +1,28 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConcaveShape.h"
btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
{
}
btConcaveShape::~btConcaveShape()
{
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConcaveShape.h"
btConcaveShape::btConcaveShape() : m_collisionMargin(btScalar(0.))
{
}
btConcaveShape::~btConcaveShape()
{
}

100
src/bullet/src/BulletCollision/CollisionShapes/btConcaveShape.h
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@@ -1,50 +1,50 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_SHAPE_H
#define CONCAVE_SHAPE_H
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "btTriangleCallback.h"
///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
class btConcaveShape : public btCollisionShape
{
protected:
btScalar m_collisionMargin;
public:
btConcaveShape();
virtual ~btConcaveShape();
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
virtual btScalar getMargin() const {
return m_collisionMargin;
}
virtual void setMargin(btScalar collisionMargin)
{
m_collisionMargin = collisionMargin;
}
};
#endif //CONCAVE_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONCAVE_SHAPE_H
#define CONCAVE_SHAPE_H
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "btTriangleCallback.h"
///Concave shape proves an interface concave shapes that can produce triangles that overlapping a given AABB.
///Static triangle mesh, infinite plane, height field/landscapes are example that implement this interface.
class btConcaveShape : public btCollisionShape
{
protected:
btScalar m_collisionMargin;
public:
btConcaveShape();
virtual ~btConcaveShape();
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const = 0;
virtual btScalar getMargin() const {
return m_collisionMargin;
}
virtual void setMargin(btScalar collisionMargin)
{
m_collisionMargin = collisionMargin;
}
};
#endif //CONCAVE_SHAPE_H

266
src/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp
View File

@@ -1,133 +1,133 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConeShape.h"
#include "LinearMath/btPoint3.h"
btConeShape::btConeShape (btScalar radius,btScalar height):
m_radius (radius),
m_height(height)
{
setConeUpIndex(1);
btVector3 halfExtents;
m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
}
btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
btConeShape(radius,height)
{
setConeUpIndex(2);
}
btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
btConeShape(radius,height)
{
setConeUpIndex(0);
}
///choose upAxis index
void btConeShape::setConeUpIndex(int upIndex)
{
switch (upIndex)
{
case 0:
m_coneIndices[0] = 1;
m_coneIndices[1] = 0;
m_coneIndices[2] = 2;
break;
case 1:
m_coneIndices[0] = 0;
m_coneIndices[1] = 1;
m_coneIndices[2] = 2;
break;
case 2:
m_coneIndices[0] = 0;
m_coneIndices[1] = 2;
m_coneIndices[2] = 1;
break;
default:
assert(0);
};
}
btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
{
btScalar halfHeight = m_height * btScalar(0.5);
if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
{
btVector3 tmp;
tmp[m_coneIndices[0]] = btScalar(0.);
tmp[m_coneIndices[1]] = halfHeight;
tmp[m_coneIndices[2]] = btScalar(0.);
return tmp;
}
else {
btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
if (s > SIMD_EPSILON) {
btScalar d = m_radius / s;
btVector3 tmp;
tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
tmp[m_coneIndices[1]] = -halfHeight;
tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
return tmp;
}
else {
btVector3 tmp;
tmp[m_coneIndices[0]] = btScalar(0.);
tmp[m_coneIndices[1]] = -halfHeight;
tmp[m_coneIndices[2]] = btScalar(0.);
return tmp;
}
}
}
btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
return coneLocalSupport(vec);
}
void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i] = coneLocalSupport(vec);
}
}
btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex = coneLocalSupport(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConeShape.h"
#include "LinearMath/btPoint3.h"
btConeShape::btConeShape (btScalar radius,btScalar height):
m_radius (radius),
m_height(height)
{
setConeUpIndex(1);
btVector3 halfExtents;
m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
}
btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
btConeShape(radius,height)
{
setConeUpIndex(2);
}
btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
btConeShape(radius,height)
{
setConeUpIndex(0);
}
///choose upAxis index
void btConeShape::setConeUpIndex(int upIndex)
{
switch (upIndex)
{
case 0:
m_coneIndices[0] = 1;
m_coneIndices[1] = 0;
m_coneIndices[2] = 2;
break;
case 1:
m_coneIndices[0] = 0;
m_coneIndices[1] = 1;
m_coneIndices[2] = 2;
break;
case 2:
m_coneIndices[0] = 0;
m_coneIndices[1] = 2;
m_coneIndices[2] = 1;
break;
default:
assert(0);
};
}
btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
{
btScalar halfHeight = m_height * btScalar(0.5);
if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
{
btVector3 tmp;
tmp[m_coneIndices[0]] = btScalar(0.);
tmp[m_coneIndices[1]] = halfHeight;
tmp[m_coneIndices[2]] = btScalar(0.);
return tmp;
}
else {
btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
if (s > SIMD_EPSILON) {
btScalar d = m_radius / s;
btVector3 tmp;
tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
tmp[m_coneIndices[1]] = -halfHeight;
tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
return tmp;
}
else {
btVector3 tmp;
tmp[m_coneIndices[0]] = btScalar(0.);
tmp[m_coneIndices[1]] = -halfHeight;
tmp[m_coneIndices[2]] = btScalar(0.);
return tmp;
}
}
}
btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
{
return coneLocalSupport(vec);
}
void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
const btVector3& vec = vectors[i];
supportVerticesOut[i] = coneLocalSupport(vec);
}
}
btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex = coneLocalSupport(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}

206
src/bullet/src/BulletCollision/CollisionShapes/btConeShape.h
View File

@@ -1,103 +1,103 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONE_MINKOWSKI_H
#define CONE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btConeShape implements a Cone shape, around the Y axis
class btConeShape : public btConvexInternalShape
{
btScalar m_sinAngle;
btScalar m_radius;
btScalar m_height;
int m_coneIndices[3];
btVector3 coneLocalSupport(const btVector3& v) const;
public:
btConeShape (btScalar radius,btScalar height);
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
btScalar getRadius() const { return m_radius;}
btScalar getHeight() const { return m_height;}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
btTransform identity;
identity.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(identity,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar margin = getMargin();
btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
// inertia.x() = scaledmass * (y2+z2);
// inertia.y() = scaledmass * (x2+z2);
// inertia.z() = scaledmass * (x2+y2);
}
virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
virtual const char* getName()const
{
return "Cone";
}
///choose upAxis index
void setConeUpIndex(int upIndex);
int getConeUpIndex() const
{
return m_coneIndices[1];
}
};
///btConeShape implements a Cone shape, around the X axis
class btConeShapeX : public btConeShape
{
public:
btConeShapeX(btScalar radius,btScalar height);
};
///btConeShapeZ implements a Cone shape, around the Z axis
class btConeShapeZ : public btConeShape
{
public:
btConeShapeZ(btScalar radius,btScalar height);
};
#endif //CONE_MINKOWSKI_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONE_MINKOWSKI_H
#define CONE_MINKOWSKI_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btConeShape implements a Cone shape, around the Y axis
class btConeShape : public btConvexInternalShape
{
btScalar m_sinAngle;
btScalar m_radius;
btScalar m_height;
int m_coneIndices[3];
btVector3 coneLocalSupport(const btVector3& v) const;
public:
btConeShape (btScalar radius,btScalar height);
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
btScalar getRadius() const { return m_radius;}
btScalar getHeight() const { return m_height;}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
btTransform identity;
identity.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(identity,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar margin = getMargin();
btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
// inertia.x() = scaledmass * (y2+z2);
// inertia.y() = scaledmass * (x2+z2);
// inertia.z() = scaledmass * (x2+y2);
}
virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; }
virtual const char* getName()const
{
return "Cone";
}
///choose upAxis index
void setConeUpIndex(int upIndex);
int getConeUpIndex() const
{
return m_coneIndices[1];
}
};
///btConeShape implements a Cone shape, around the X axis
class btConeShapeX : public btConeShape
{
public:
btConeShapeX(btScalar radius,btScalar height);
};
///btConeShapeZ implements a Cone shape, around the Z axis
class btConeShapeZ : public btConeShape
{
public:
btConeShapeZ(btScalar radius,btScalar height);
};
#endif //CONE_MINKOWSKI_H

358
src/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
View File

@@ -1,179 +1,179 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
{
m_points.resize(numPoints);
unsigned char* pointsBaseAddress = (unsigned char*)points;
for (int i=0;i<numPoints;i++)
{
btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
m_points[i] = point[0];
}
recalcLocalAabb();
}
void btConvexHullShape::addPoint(const btPoint3& point)
{
m_points.push_back(point);
recalcLocalAabb();
}
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
for (int i=0;i<m_points.size();i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
btScalar newDot;
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
for (int i=0;i<m_points.size();i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
supportVerticesOut[j][3] = newDot;
}
}
}
}
btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
int btConvexHullShape::getNumVertices() const
{
return m_points.size();
}
int btConvexHullShape::getNumEdges() const
{
return m_points.size();
}
void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
{
int index0 = i%m_points.size();
int index1 = (i+1)%m_points.size();
pa = m_points[index0]*m_localScaling;
pb = m_points[index1]*m_localScaling;
}
void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
{
vtx = m_points[i]*m_localScaling;
}
int btConvexHullShape::getNumPlanes() const
{
return 0;
}
void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
{
assert(0);
return false;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int stride)
{
m_points.resize(numPoints);
unsigned char* pointsBaseAddress = (unsigned char*)points;
for (int i=0;i<numPoints;i++)
{
btPoint3* point = (btPoint3*)(pointsBaseAddress + i*stride);
m_points[i] = point[0];
}
recalcLocalAabb();
}
void btConvexHullShape::addPoint(const btPoint3& point)
{
m_points.push_back(point);
recalcLocalAabb();
}
btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btScalar newDot,maxDot = btScalar(-1e30);
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
for (int i=0;i<m_points.size();i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
supVec = vtx;
}
}
return supVec;
}
void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
btScalar newDot;
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
for (int i=0;i<m_points.size();i++)
{
btPoint3 vtx = m_points[i] * m_localScaling;
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
newDot = vec.dot(vtx);
if (newDot > supportVerticesOut[j][3])
{
//WARNING: don't swap next lines, the w component would get overwritten!
supportVerticesOut[j] = vtx;
supportVerticesOut[j][3] = newDot;
}
}
}
}
btVector3 btConvexHullShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexHullShape with the Raytracer Demo
int btConvexHullShape::getNumVertices() const
{
return m_points.size();
}
int btConvexHullShape::getNumEdges() const
{
return m_points.size();
}
void btConvexHullShape::getEdge(int i,btPoint3& pa,btPoint3& pb) const
{
int index0 = i%m_points.size();
int index1 = (i+1)%m_points.size();
pa = m_points[index0]*m_localScaling;
pb = m_points[index1]*m_localScaling;
}
void btConvexHullShape::getVertex(int i,btPoint3& vtx) const
{
vtx = m_points[i]*m_localScaling;
}
int btConvexHullShape::getNumPlanes() const
{
return 0;
}
void btConvexHullShape::getPlane(btVector3& ,btPoint3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexHullShape::isInside(const btPoint3& ,btScalar ) const
{
assert(0);
return false;
}

164
src/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h
View File

@@ -1,82 +1,82 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_HULL_SHAPE_H
#define CONVEX_HULL_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btAlignedObjectArray.h"
///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices.
///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
///(memory is much slower then the cpu)
ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
{
btAlignedObjectArray<btPoint3> m_points;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
///btConvexHullShape make an internal copy of the points.
btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
void addPoint(const btPoint3& point);
btPoint3* getPoints()
{
return &m_points[0];
}
const btPoint3* getPoints() const
{
return &m_points[0];
}
int getNumPoints() const
{
return m_points.size();
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
//debugging
virtual const char* getName()const {return "Convex";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
};
#endif //CONVEX_HULL_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_HULL_SHAPE_H
#define CONVEX_HULL_SHAPE_H
#include "btPolyhedralConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btAlignedObjectArray.h"
///ConvexHullShape implements an implicit (getSupportingVertex) Convex Hull of a Point Cloud (vertices)
///No connectivity is needed. localGetSupportingVertex iterates linearly though all vertices.
///on modern hardware, due to cache coherency this isn't that bad. Complex algorithms tend to trash the cash.
///(memory is much slower then the cpu)
ATTRIBUTE_ALIGNED16(class) btConvexHullShape : public btPolyhedralConvexShape
{
btAlignedObjectArray<btPoint3> m_points;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///this constructor optionally takes in a pointer to points. Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory.
///It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint.
///btConvexHullShape make an internal copy of the points.
btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btPoint3));
void addPoint(const btPoint3& point);
btPoint3* getPoints()
{
return &m_points[0];
}
const btPoint3* getPoints() const
{
return &m_points[0];
}
int getNumPoints() const
{
return m_points.size();
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType()const { return CONVEX_HULL_SHAPE_PROXYTYPE; }
//debugging
virtual const char* getName()const {return "Convex";}
virtual int getNumVertices() const;
virtual int getNumEdges() const;
virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const;
virtual void getVertex(int i,btPoint3& vtx) const;
virtual int getNumPlanes() const;
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
};
#endif //CONVEX_HULL_SHAPE_H

156
src/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
View File

@@ -1,78 +1,78 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexInternalShape.h"
btConvexInternalShape::btConvexInternalShape()
: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_collisionMargin(CONVEX_DISTANCE_MARGIN)
{
}
void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
{
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
btVector3 tmp = trans(sv);
maxAabb[i] = tmp[i]+margin;
vec[i] = btScalar(-1.);
tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
};
btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
{
#ifndef __SPU__
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
#else
return btVector3(0,0,0);
#endif //__SPU__
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexInternalShape.h"
btConvexInternalShape::btConvexInternalShape()
: m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
m_collisionMargin(CONVEX_DISTANCE_MARGIN)
{
}
void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
void btConvexInternalShape::getAabbSlow(const btTransform& trans,btVector3&minAabb,btVector3&maxAabb) const
{
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*trans.getBasis());
btVector3 tmp = trans(sv);
maxAabb[i] = tmp[i]+margin;
vec[i] = btScalar(-1.);
tmp = trans(localGetSupportingVertex(vec*trans.getBasis()));
minAabb[i] = tmp[i]-margin;
}
};
btVector3 btConvexInternalShape::localGetSupportingVertex(const btVector3& vec)const
{
#ifndef __SPU__
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
#else
return btVector3(0,0,0);
#endif //__SPU__
}

196
src/bullet/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
View File

@@ -1,98 +1,98 @@
#ifndef BT_CONVEX_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H
#include "btConvexShape.h"
///btConvexInternalShape carries some additional data, shared by most implementations
class btConvexInternalShape : public btConvexShape
{
protected:
//local scaling. collisionMargin is not scaled !
btVector3 m_localScaling;
btVector3 m_implicitShapeDimensions;
btScalar m_collisionMargin;
btScalar m_padding;
public:
btConvexInternalShape();
virtual ~btConvexInternalShape()
{
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
const btVector3& getImplicitShapeDimensions() const
{
return m_implicitShapeDimensions;
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
getAabbSlow(t,aabbMin,aabbMax);
}
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
const btVector3& getLocalScalingNV() const
{
return m_localScaling;
}
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual btScalar getMargin() const
{
return m_collisionMargin;
}
btScalar getMarginNV() const
{
return m_collisionMargin;
}
virtual int getNumPreferredPenetrationDirections() const
{
return 0;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
(void)penetrationVector;
(void)index;
btAssert(0);
}
};
#endif //BT_CONVEX_INTERNAL_SHAPE_H
#ifndef BT_CONVEX_INTERNAL_SHAPE_H
#define BT_CONVEX_INTERNAL_SHAPE_H
#include "btConvexShape.h"
///btConvexInternalShape carries some additional data, shared by most implementations
class btConvexInternalShape : public btConvexShape
{
protected:
//local scaling. collisionMargin is not scaled !
btVector3 m_localScaling;
btVector3 m_implicitShapeDimensions;
btScalar m_collisionMargin;
btScalar m_padding;
public:
btConvexInternalShape();
virtual ~btConvexInternalShape()
{
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
const btVector3& getImplicitShapeDimensions() const
{
return m_implicitShapeDimensions;
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
getAabbSlow(t,aabbMin,aabbMax);
}
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
const btVector3& getLocalScalingNV() const
{
return m_localScaling;
}
virtual void setMargin(btScalar margin)
{
m_collisionMargin = margin;
}
virtual btScalar getMargin() const
{
return m_collisionMargin;
}
btScalar getMarginNV() const
{
return m_collisionMargin;
}
virtual int getNumPreferredPenetrationDirections() const
{
return 0;
}
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
{
(void)penetrationVector;
(void)index;
btAssert(0);
}
};
#endif //BT_CONVEX_INTERNAL_SHAPE_H

36
src/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp
View File

@@ -1,18 +1,18 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexShape.h"
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexShape.h"

154
src/bullet/src/BulletCollision/CollisionShapes/btConvexShape.h
View File

@@ -1,77 +1,77 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_SHAPE_INTERFACE1
#define CONVEX_SHAPE_INTERFACE1
#include "btCollisionShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedAllocator.h"
//todo: get rid of this btConvexCastResult thing!
struct btConvexCastResult;
#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
/// btConvexShape is an abstract shape interface.
/// It describes general convex shapes using the localGetSupportingVertex interface
/// used in combination with GJK or btConvexCast
ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btConvexShape()
{
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const =0;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void setMargin(btScalar margin)=0;
virtual btScalar getMargin() const=0;
virtual int getNumPreferredPenetrationDirections() const=0;
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
};
#endif //CONVEX_SHAPE_INTERFACE1
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_SHAPE_INTERFACE1
#define CONVEX_SHAPE_INTERFACE1
#include "btCollisionShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedAllocator.h"
//todo: get rid of this btConvexCastResult thing!
struct btConvexCastResult;
#define MAX_PREFERRED_PENETRATION_DIRECTIONS 10
/// btConvexShape is an abstract shape interface.
/// It describes general convex shapes using the localGetSupportingVertex interface
/// used in combination with GJK or btConvexCast
ATTRIBUTE_ALIGNED16(class) btConvexShape : public btCollisionShape
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual ~btConvexShape()
{
}
virtual btVector3 localGetSupportingVertex(const btVector3& vec)const =0;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const= 0;
//notice that the vectors should be unit length
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
#endif //#ifndef __SPU__
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const =0;
virtual void setLocalScaling(const btVector3& scaling) =0;
virtual const btVector3& getLocalScaling() const =0;
virtual void setMargin(btScalar margin)=0;
virtual btScalar getMargin() const=0;
virtual int getNumPreferredPenetrationDirections() const=0;
virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const=0;
};
#endif //CONVEX_SHAPE_INTERFACE1

410
src/bullet/src/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
View File

@@ -1,205 +1,205 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface)
:m_stridingMesh(meshInterface)
{
recalcLocalAabb();
}
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
///but then we are duplicating
class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
{
btVector3 m_supportVertexLocal;
public:
btScalar m_maxDot;
btVector3 m_supportVecLocal;
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-1e30)),
m_supportVecLocal(supportVecLocal)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
(void)triangleIndex;
(void)partId;
for (int i=0;i<3;i++)
{
btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
{
m_maxDot = dot;
m_supportVertexLocal = triangle[i];
}
}
}
btVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
};
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
//todo: could do the batch inside the callback!
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
}
btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
int btConvexTriangleMeshShape::getNumVertices() const
{
//cache this?
return 0;
}
int btConvexTriangleMeshShape::getNumEdges() const
{
return 0;
}
void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const
{
btAssert(0);
}
void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const
{
btAssert(0);
}
int btConvexTriangleMeshShape::getNumPlanes() const
{
return 0;
}
void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const
{
btAssert(0);
return false;
}
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
m_stridingMesh->setScaling(scaling);
recalcLocalAabb();
}
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
{
return m_stridingMesh->getScaling();
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
btConvexTriangleMeshShape ::btConvexTriangleMeshShape (btStridingMeshInterface* meshInterface)
:m_stridingMesh(meshInterface)
{
recalcLocalAabb();
}
///It's not nice to have all this virtual function overhead, so perhaps we can also gather the points once
///but then we are duplicating
class LocalSupportVertexCallback: public btInternalTriangleIndexCallback
{
btVector3 m_supportVertexLocal;
public:
btScalar m_maxDot;
btVector3 m_supportVecLocal;
LocalSupportVertexCallback(const btVector3& supportVecLocal)
: m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)),
m_maxDot(btScalar(-1e30)),
m_supportVecLocal(supportVecLocal)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
(void)triangleIndex;
(void)partId;
for (int i=0;i<3;i++)
{
btScalar dot = m_supportVecLocal.dot(triangle[i]);
if (dot > m_maxDot)
{
m_maxDot = dot;
m_supportVertexLocal = triangle[i];
}
}
}
btVector3 GetSupportVertexLocal()
{
return m_supportVertexLocal;
}
};
btVector3 btConvexTriangleMeshShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
btVector3 supVec(btScalar(0.),btScalar(0.),btScalar(0.));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
{
vec.setValue(1,0,0);
} else
{
btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
vec *= rlen;
}
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supVec = supportCallback.GetSupportVertexLocal();
return supVec;
}
void btConvexTriangleMeshShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
//use 'w' component of supportVerticesOut?
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i][3] = btScalar(-1e30);
}
}
//todo: could do the batch inside the callback!
for (int j=0;j<numVectors;j++)
{
const btVector3& vec = vectors[j];
LocalSupportVertexCallback supportCallback(vec);
btVector3 aabbMax(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_stridingMesh->InternalProcessAllTriangles(&supportCallback,-aabbMax,aabbMax);
supportVerticesOut[j] = supportCallback.GetSupportVertexLocal();
}
}
btVector3 btConvexTriangleMeshShape::localGetSupportingVertex(const btVector3& vec)const
{
btVector3 supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
//currently just for debugging (drawing), perhaps future support for algebraic continuous collision detection
//Please note that you can debug-draw btConvexTriangleMeshShape with the Raytracer Demo
int btConvexTriangleMeshShape::getNumVertices() const
{
//cache this?
return 0;
}
int btConvexTriangleMeshShape::getNumEdges() const
{
return 0;
}
void btConvexTriangleMeshShape::getEdge(int ,btPoint3& ,btPoint3& ) const
{
btAssert(0);
}
void btConvexTriangleMeshShape::getVertex(int ,btPoint3& ) const
{
btAssert(0);
}
int btConvexTriangleMeshShape::getNumPlanes() const
{
return 0;
}
void btConvexTriangleMeshShape::getPlane(btVector3& ,btPoint3& ,int ) const
{
btAssert(0);
}
//not yet
bool btConvexTriangleMeshShape::isInside(const btPoint3& ,btScalar ) const
{
btAssert(0);
return false;
}
void btConvexTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
m_stridingMesh->setScaling(scaling);
recalcLocalAabb();
}
const btVector3& btConvexTriangleMeshShape::getLocalScaling() const
{
return m_stridingMesh->getScaling();
}

412
src/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.cpp
View File

@@ -1,206 +1,206 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCylinderShape.h"
#include "LinearMath/btPoint3.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btBoxShape(halfExtents),
m_upAxis(1)
{
recalcLocalAabb();
}
btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
{
m_upAxis = 0;
recalcLocalAabb();
}
btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
{
m_upAxis = 2;
recalcLocalAabb();
}
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
//skip the box 'getAabb'
btPolyhedralConvexShape::getAabb(t,aabbMin,aabbMax);
}
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 0;
const int XX = 1;
const int YY = 0;
const int ZZ = 2;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 1;
const int XX = 0;
const int YY = 1;
const int ZZ = 2;
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 2;
const int XX = 0;
const int YY = 2;
const int ZZ = 1;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
}
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCylinderShape.h"
#include "LinearMath/btPoint3.h"
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
:btBoxShape(halfExtents),
m_upAxis(1)
{
recalcLocalAabb();
}
btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
{
m_upAxis = 0;
recalcLocalAabb();
}
btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
:btCylinderShape(halfExtents)
{
m_upAxis = 2;
recalcLocalAabb();
}
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
//skip the box 'getAabb'
btPolyhedralConvexShape::getAabb(t,aabbMin,aabbMax);
}
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 0;
const int XX = 1;
const int YY = 0;
const int ZZ = 2;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 1;
const int XX = 0;
const int YY = 1;
const int ZZ = 2;
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v)
{
const int cylinderUpAxis = 2;
const int XX = 0;
const int YY = 2;
const int ZZ = 1;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
btScalar radius = halfExtents[XX];
btScalar halfHeight = halfExtents[cylinderUpAxis];
btVector3 tmp;
btScalar d ;
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != btScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = btScalar(0.0);
return tmp;
}
}
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
}
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
}
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
}
}
void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
}
}

276
src/bullet/src/BulletCollision/CollisionShapes/btCylinderShape.h
View File

@@ -1,138 +1,138 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CYLINDER_MINKOWSKI_H
#define CYLINDER_MINKOWSKI_H
#include "btBoxShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btVector3.h"
/// implements cylinder shape interface
class btCylinderShape : public btBoxShape
{
protected:
int m_upAxis;
public:
btCylinderShape (const btVector3& halfExtents);
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex;
supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
//use box inertia
// virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const
{
return CYLINDER_SHAPE_PROXYTYPE;
}
int getUpAxis() const
{
return m_upAxis;
}
virtual btScalar getRadius() const
{
return getHalfExtentsWithMargin().getX();
}
//debugging
virtual const char* getName()const
{
return "CylinderY";
}
};
class btCylinderShapeX : public btCylinderShape
{
public:
btCylinderShapeX (const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
//debugging
virtual const char* getName()const
{
return "CylinderX";
}
virtual btScalar getRadius() const
{
return getHalfExtentsWithMargin().getY();
}
};
class btCylinderShapeZ : public btCylinderShape
{
public:
btCylinderShapeZ (const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getUpAxis() const
{
return 2;
}
//debugging
virtual const char* getName()const
{
return "CylinderZ";
}
virtual btScalar getRadius() const
{
return getHalfExtentsWithMargin().getX();
}
};
#endif //CYLINDER_MINKOWSKI_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CYLINDER_MINKOWSKI_H
#define CYLINDER_MINKOWSKI_H
#include "btBoxShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
#include "LinearMath/btVector3.h"
/// implements cylinder shape interface
class btCylinderShape : public btBoxShape
{
protected:
int m_upAxis;
public:
btCylinderShape (const btVector3& halfExtents);
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
{
btVector3 supVertex;
supVertex = localGetSupportingVertexWithoutMargin(vec);
if ( getMargin()!=btScalar(0.) )
{
btVector3 vecnorm = vec;
if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
{
vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
}
vecnorm.normalize();
supVertex+= getMargin() * vecnorm;
}
return supVertex;
}
//use box inertia
// virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const
{
return CYLINDER_SHAPE_PROXYTYPE;
}
int getUpAxis() const
{
return m_upAxis;
}
virtual btScalar getRadius() const
{
return getHalfExtentsWithMargin().getX();
}
//debugging
virtual const char* getName()const
{
return "CylinderY";
}
};
class btCylinderShapeX : public btCylinderShape
{
public:
btCylinderShapeX (const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
//debugging
virtual const char* getName()const
{
return "CylinderX";
}
virtual btScalar getRadius() const
{
return getHalfExtentsWithMargin().getY();
}
};
class btCylinderShapeZ : public btCylinderShape
{
public:
btCylinderShapeZ (const btVector3& halfExtents);
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getUpAxis() const
{
return 2;
}
//debugging
virtual const char* getName()const
{
return "CylinderZ";
}
virtual btScalar getRadius() const
{
return getHalfExtentsWithMargin().getX();
}
};
#endif //CYLINDER_MINKOWSKI_H

98
src/bullet/src/BulletCollision/CollisionShapes/btEmptyShape.cpp
View File

@@ -1,49 +1,49 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btEmptyShape.h"
#include "btCollisionShape.h"
btEmptyShape::btEmptyShape()
{
}
btEmptyShape::~btEmptyShape()
{
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 margin(getMargin(),getMargin(),getMargin());
aabbMin = t.getOrigin() - margin;
aabbMax = t.getOrigin() + margin;
}
void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const
{
btAssert(0);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btEmptyShape.h"
#include "btCollisionShape.h"
btEmptyShape::btEmptyShape()
{
}
btEmptyShape::~btEmptyShape()
{
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btEmptyShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 margin(getMargin(),getMargin(),getMargin());
aabbMin = t.getOrigin() - margin;
aabbMax = t.getOrigin() + margin;
}
void btEmptyShape::calculateLocalInertia(btScalar ,btVector3& ) const
{
btAssert(0);
}

140
src/bullet/src/BulletCollision/CollisionShapes/btEmptyShape.h
View File

@@ -1,70 +1,70 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_SHAPE_H
#define EMPTY_SHAPE_H
#include "btConcaveShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
/// btEmptyShape is a collision shape without actual collision detection.
///It can be replaced by another shape during runtime
class btEmptyShape : public btConcaveShape
{
public:
btEmptyShape();
virtual ~btEmptyShape();
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
virtual const char* getName()const
{
return "Empty";
}
protected:
btVector3 m_localScaling;
};
#endif //EMPTY_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_SHAPE_H
#define EMPTY_SHAPE_H
#include "btConcaveShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
/// btEmptyShape is a collision shape without actual collision detection.
///It can be replaced by another shape during runtime
class btEmptyShape : public btConcaveShape
{
public:
btEmptyShape();
virtual ~btEmptyShape();
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
virtual const btVector3& getLocalScaling() const
{
return m_localScaling;
}
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual int getShapeType() const { return EMPTY_SHAPE_PROXYTYPE;}
virtual const char* getName()const
{
return "Empty";
}
protected:
btVector3 m_localScaling;
};
#endif //EMPTY_SHAPE_H

680
src/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View File

@@ -1,340 +1,340 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btHeightfieldTerrainShape.h"
#include "LinearMath/btTransformUtil.h"
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
: m_heightStickWidth(heightStickWidth),
m_heightStickLength(heightStickLength),
m_width((btScalar)heightStickWidth-1),
m_length((btScalar)heightStickLength-1),
m_maxHeight(maxHeight),
m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData),
m_flipQuadEdges(flipQuadEdges),
m_useDiamondSubdivision(false),
m_upAxis(upAxis),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
btScalar quantizationMargin = 1.f;
//enlarge the AABB to avoid division by zero when initializing the quantization values
btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
btVector3 halfExtents(0,0,0);
switch (m_upAxis)
{
case 0:
{
halfExtents.setValue(
btScalar(m_maxHeight),
btScalar(m_width), //?? don't know if this should change
btScalar(m_length));
break;
}
case 1:
{
halfExtents.setValue(
btScalar(m_width),
btScalar(m_maxHeight),
btScalar(m_length));
break;
};
case 2:
{
halfExtents.setValue(
btScalar(m_width),
btScalar(m_length),
btScalar(m_maxHeight)
);
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
halfExtents*= btScalar(0.5);
m_localAabbMin = -halfExtents - clampValue;
m_localAabbMax = halfExtents + clampValue;
btVector3 aabbSize = m_localAabbMax - m_localAabbMin;
}
btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
{
}
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
/*
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
*/
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
{
btScalar val = 0.f;
if (m_useFloatData)
{
val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
} else
{
//assume unsigned short int
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
val = heightFieldValue* (m_maxHeight/btScalar(65535));
}
return val;
}
void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
{
btAssert(x>=0);
btAssert(y>=0);
btAssert(x<m_heightStickWidth);
btAssert(y<m_heightStickLength);
btScalar height = getHeightFieldValue(x,y);
switch (m_upAxis)
{
case 0:
{
vertex.setValue(
height,
(-m_width/btScalar(2.0)) + x,
(-m_length/btScalar(2.0) ) + y
);
break;
}
case 1:
{
vertex.setValue(
(-m_width/btScalar(2.0)) + x,
height,
(-m_length/btScalar(2.0)) + y
);
break;
};
case 2:
{
vertex.setValue(
(-m_width/btScalar(2.0)) + x,
(-m_length/btScalar(2.0)) + y,
height
);
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
vertex*=m_localScaling;
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int isMax) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
//TODO: optimization: check out how to removed this btFabs
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
}
void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
(void)callback;
(void)aabbMax;
(void)aabbMin;
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
int quantizedAabbMin[3];
int quantizedAabbMax[3];
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
int startX=0;
int endX=m_heightStickWidth-1;
int startJ=0;
int endJ=m_heightStickLength-1;
switch (m_upAxis)
{
case 0:
{
quantizedAabbMin[1]+=m_heightStickWidth/2-1;
quantizedAabbMax[1]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[1]>startX)
startX = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endX)
endX = quantizedAabbMax[1];
if (quantizedAabbMin[2]>startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2]<endJ)
endJ = quantizedAabbMax[2];
break;
}
case 1:
{
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[2]>startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2]<endJ)
endJ = quantizedAabbMax[2];
break;
};
case 2:
{
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[1]+=m_heightStickLength/2-1;
quantizedAabbMax[1]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[1]>startJ)
startJ = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endJ)
endJ = quantizedAabbMax[1];
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
for(int j=startJ; j<endJ; j++)
{
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
} else
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}
}
}
}
void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
{
//moving concave objects not supported
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
{
return m_localScaling;
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btHeightfieldTerrainShape.h"
#include "LinearMath/btTransformUtil.h"
btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
: m_heightStickWidth(heightStickWidth),
m_heightStickLength(heightStickLength),
m_width((btScalar)heightStickWidth-1),
m_length((btScalar)heightStickLength-1),
m_maxHeight(maxHeight),
m_heightfieldDataUnknown(heightfieldData),
m_useFloatData(useFloatData),
m_flipQuadEdges(flipQuadEdges),
m_useDiamondSubdivision(false),
m_upAxis(upAxis),
m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.))
{
btScalar quantizationMargin = 1.f;
//enlarge the AABB to avoid division by zero when initializing the quantization values
btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
btVector3 halfExtents(0,0,0);
switch (m_upAxis)
{
case 0:
{
halfExtents.setValue(
btScalar(m_maxHeight),
btScalar(m_width), //?? don't know if this should change
btScalar(m_length));
break;
}
case 1:
{
halfExtents.setValue(
btScalar(m_width),
btScalar(m_maxHeight),
btScalar(m_length));
break;
};
case 2:
{
halfExtents.setValue(
btScalar(m_width),
btScalar(m_length),
btScalar(m_maxHeight)
);
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
halfExtents*= btScalar(0.5);
m_localAabbMin = -halfExtents - clampValue;
m_localAabbMax = halfExtents + clampValue;
btVector3 aabbSize = m_localAabbMax - m_localAabbMin;
}
btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
{
}
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
/*
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
*/
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
btScalar btHeightfieldTerrainShape::getHeightFieldValue(int x,int y) const
{
btScalar val = 0.f;
if (m_useFloatData)
{
val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
} else
{
//assume unsigned short int
unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
val = heightFieldValue* (m_maxHeight/btScalar(65535));
}
return val;
}
void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
{
btAssert(x>=0);
btAssert(y>=0);
btAssert(x<m_heightStickWidth);
btAssert(y<m_heightStickLength);
btScalar height = getHeightFieldValue(x,y);
switch (m_upAxis)
{
case 0:
{
vertex.setValue(
height,
(-m_width/btScalar(2.0)) + x,
(-m_length/btScalar(2.0) ) + y
);
break;
}
case 1:
{
vertex.setValue(
(-m_width/btScalar(2.0)) + x,
height,
(-m_length/btScalar(2.0)) + y
);
break;
};
case 2:
{
vertex.setValue(
(-m_width/btScalar(2.0)) + x,
(-m_length/btScalar(2.0)) + y,
height
);
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
vertex*=m_localScaling;
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int isMax) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
//TODO: optimization: check out how to removed this btFabs
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
}
void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
(void)callback;
(void)aabbMax;
(void)aabbMin;
//quantize the aabbMin and aabbMax, and adjust the start/end ranges
int quantizedAabbMin[3];
int quantizedAabbMax[3];
btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
int startX=0;
int endX=m_heightStickWidth-1;
int startJ=0;
int endJ=m_heightStickLength-1;
switch (m_upAxis)
{
case 0:
{
quantizedAabbMin[1]+=m_heightStickWidth/2-1;
quantizedAabbMax[1]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[1]>startX)
startX = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endX)
endX = quantizedAabbMax[1];
if (quantizedAabbMin[2]>startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2]<endJ)
endJ = quantizedAabbMax[2];
break;
}
case 1:
{
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[2]+=m_heightStickLength/2-1;
quantizedAabbMax[2]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[2]>startJ)
startJ = quantizedAabbMin[2];
if (quantizedAabbMax[2]<endJ)
endJ = quantizedAabbMax[2];
break;
};
case 2:
{
quantizedAabbMin[0]+=m_heightStickWidth/2-1;
quantizedAabbMax[0]+=m_heightStickWidth/2+1;
quantizedAabbMin[1]+=m_heightStickLength/2-1;
quantizedAabbMax[1]+=m_heightStickLength/2+1;
if (quantizedAabbMin[0]>startX)
startX = quantizedAabbMin[0];
if (quantizedAabbMax[0]<endX)
endX = quantizedAabbMax[0];
if (quantizedAabbMin[1]>startJ)
startJ = quantizedAabbMin[1];
if (quantizedAabbMax[1]<endJ)
endJ = quantizedAabbMax[1];
break;
}
default:
{
//need to get valid m_upAxis
btAssert(0);
}
}
for(int j=startJ; j<endJ; j++)
{
for(int x=startX; x<endX; x++)
{
btVector3 vertices[3];
if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
} else
{
//first triangle
getVertex(x,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}
}
}
}
void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
{
//moving concave objects not supported
inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
}
void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
}
const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
{
return m_localScaling;
}

180
src/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
View File

@@ -1,90 +1,90 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
#define HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
class btHeightfieldTerrainShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
///terrain data
int m_heightStickWidth;
int m_heightStickLength;
btScalar m_maxHeight;
btScalar m_width;
btScalar m_length;
union
{
unsigned char* m_heightfieldDataUnsignedChar;
btScalar* m_heightfieldDataFloat;
void* m_heightfieldDataUnknown;
};
bool m_useFloatData;
bool m_flipQuadEdges;
bool m_useDiamondSubdivision;
int m_upAxis;
btVector3 m_localScaling;
virtual btScalar getHeightFieldValue(int x,int y) const;
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
return overlap;
}
public:
btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
virtual int getShapeType() const
{
return TERRAIN_SHAPE_PROXYTYPE;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
//debugging
virtual const char* getName()const {return "HEIGHTFIELD";}
};
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef HEIGHTFIELD_TERRAIN_SHAPE_H
#define HEIGHTFIELD_TERRAIN_SHAPE_H
#include "btConcaveShape.h"
///btHeightfieldTerrainShape simulates a 2D heightfield terrain
class btHeightfieldTerrainShape : public btConcaveShape
{
protected:
btVector3 m_localAabbMin;
btVector3 m_localAabbMax;
///terrain data
int m_heightStickWidth;
int m_heightStickLength;
btScalar m_maxHeight;
btScalar m_width;
btScalar m_length;
union
{
unsigned char* m_heightfieldDataUnsignedChar;
btScalar* m_heightfieldDataFloat;
void* m_heightfieldDataUnknown;
};
bool m_useFloatData;
bool m_flipQuadEdges;
bool m_useDiamondSubdivision;
int m_upAxis;
btVector3 m_localScaling;
virtual btScalar getHeightFieldValue(int x,int y) const;
void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
void getVertex(int x,int y,btVector3& vertex) const;
inline bool testQuantizedAabbAgainstQuantizedAabb(int* aabbMin1, int* aabbMax1,const int* aabbMin2,const int* aabbMax2) const
{
bool overlap = true;
overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
return overlap;
}
public:
btHeightfieldTerrainShape(int heightStickWidth,int heightStickHeight,void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
virtual ~btHeightfieldTerrainShape();
void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
virtual int getShapeType() const
{
return TERRAIN_SHAPE_PROXYTYPE;
}
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
virtual void setLocalScaling(const btVector3& scaling);
virtual const btVector3& getLocalScaling() const;
//debugging
virtual const char* getName()const {return "HEIGHTFIELD";}
};
#endif //HEIGHTFIELD_TERRAIN_SHAPE_H

114
src/bullet/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
View File

@@ -1,57 +1,57 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMinkowskiSumShape.h"
btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
:m_shapeA(shapeA),
m_shapeB(shapeB)
{
m_transA.setIdentity();
m_transB.setIdentity();
}
btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
return supVertexA - supVertexB;
}
void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
//todo: could make recursive use of batching. probably this shape is not used frequently.
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
}
}
btScalar btMinkowskiSumShape::getMargin() const
{
return m_shapeA->getMargin() + m_shapeB->getMargin();
}
void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
(void)mass;
btAssert(0);
inertia.setValue(0,0,0);
}
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMinkowskiSumShape.h"
btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
:m_shapeA(shapeA),
m_shapeB(shapeB)
{
m_transA.setIdentity();
m_transB.setIdentity();
}
btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
return supVertexA - supVertexB;
}
void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
//todo: could make recursive use of batching. probably this shape is not used frequently.
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
}
}
btScalar btMinkowskiSumShape::getMargin() const
{
return m_shapeA->getMargin() + m_shapeB->getMargin();
}
void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
(void)mass;
btAssert(0);
inertia.setValue(0,0,0);
}

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