Bullet Collision Detection & Physics Library: btSoftBodyRigidBodyCollisionConfiguration.cpp Source File

Bullet Collision Detection & Physics Library

btSoftBodyRigidBodyCollisionConfiguration.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btSoftBodyRigidBodyCollisionConfiguration.h"
17 #include "btSoftRigidCollisionAlgorithm.h"
18 #include "btSoftBodyConcaveCollisionAlgorithm.h"
19 #include "btSoftSoftCollisionAlgorithm.h"
20
21 #include "LinearMath/btPoolAllocator.h"
22
23 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
24
25 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
26 :btDefaultCollisionConfiguration(constructionInfo)
27 {
28 void* mem;
29
30 mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
31 m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
32
33 mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
34 m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
35
36 mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
37 m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
38 m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
39
40 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
41 mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
42 m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
43
44 mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
45 m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
46 m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
47 #endif
48
49 //replace pool by a new one, with potential larger size
50
51 if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
52 {
53 int curElemSize = m_collisionAlgorithmPool->getElementSize();
55
56
57 int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
58 int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
59 int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
60
61 int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
62 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
63
64 if (collisionAlgorithmMaxElementSize > curElemSize)
65 {
66 m_collisionAlgorithmPool->~btPoolAllocator();
67 btAlignedFree(m_collisionAlgorithmPool);
68 void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
69 m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
70 }
71 }
72
73 }
74
75 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
76 {
77 m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
78 btAlignedFree( m_softSoftCreateFunc);
79
80 m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
81 btAlignedFree( m_softRigidConvexCreateFunc);
82
83 m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
84 btAlignedFree( m_swappedSoftRigidConvexCreateFunc);
85
86 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
87 m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
88 btAlignedFree( m_softRigidConcaveCreateFunc);
89
90 m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
91 btAlignedFree( m_swappedSoftRigidConcaveCreateFunc);
92 #endif
93 }
94
96 btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
97 {
98
100
101 if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE))
102 {
103 return m_softSoftCreateFunc;
104 }
105
107 if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
108 {
109 return m_softRigidConvexCreateFunc;
110 }
111
113 if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
114 {
115 return m_swappedSoftRigidConvexCreateFunc;
116 }
117
118 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
119 if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
121 {
122 return m_softRigidConcaveCreateFunc;
123 }
124
126 if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
127 {
128 return m_swappedSoftRigidConcaveCreateFunc;
129 }
130 #endif
131
133 return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
134 }
btDefaultCollisionConfiguration::m_ownsCollisionAlgorithmPool
bool m_ownsCollisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:61
SOFTBODY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:73
btSoftSoftCollisionAlgorithm::CreateFunc
Definition: btSoftSoftCollisionAlgorithm.h:55
btSoftBodyRigidBodyCollisionConfiguration::m_softRigidConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_softRigidConvexCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:31
btSoftBodyRigidBodyCollisionConfiguration::m_swappedSoftRigidConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedSoftRigidConvexCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:32
btDefaultCollisionConfiguration::m_collisionAlgorithmPool
btPoolAllocator * m_collisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:60
btDefaultCollisionConstructionInfo
Definition: btDefaultCollisionConfiguration.h:23
btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:144
btSoftBodyConcaveCollisionAlgorithm.h
btSoftBodyRigidBodyCollisionConfiguration.h
btSoftSoftCollisionAlgorithm.h
btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
Definition: btDefaultCollisionConfiguration.cpp:207
btDefaultCollisionConstructionInfo::m_defaultMaxCollisionAlgorithmPoolSize
int m_defaultMaxCollisionAlgorithmPoolSize
Definition: btDefaultCollisionConfiguration.h:28
btDefaultCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator, pool memory allocators
Definition: btDefaultCollisionConfiguration.h:48
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration
virtual ~btSoftBodyRigidBodyCollisionConfiguration()
Definition: btSoftBodyRigidBodyCollisionConfiguration.cpp:75
btSoftRigidCollisionAlgorithm::CreateFunc
Definition: btSoftRigidCollisionAlgorithm.h:56
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:48
btSoftRigidCollisionAlgorithm
btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody ...
Definition: btSoftRigidCollisionAlgorithm.h:29
btSoftRigidCollisionAlgorithm.h
btSoftBodyConcaveCollisionAlgorithm::CreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:135
btSoftBodyConcaveCollisionAlgorithm
btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) triange...
Definition: btSoftBodyConcaveCollisionAlgorithm.h:111
btPoolAllocator.h
btSoftBodyRigidBodyCollisionConfiguration::m_swappedSoftRigidConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedSoftRigidConcaveCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:34
btSoftBodyRigidBodyCollisionConfiguration::m_softRigidConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_softRigidConcaveCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:33
btPoolAllocator::getElementSize
int getElementSize() const
Definition: btPoolAllocator.h:104
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:23
btSoftBodyRigidBodyCollisionConfiguration::m_softSoftCreateFunc
btCollisionAlgorithmCreateFunc * m_softSoftCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:30
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:149
btMax
const T & btMax(const T &a, const T &b)
Definition: btMinMax.h:29
btSoftSoftCollisionAlgorithm
collision detection between two btSoftBody shapes
Definition: btSoftSoftCollisionAlgorithm.h:28
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:47
btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation ...
Definition: btSoftBodyRigidBodyCollisionConfiguration.cpp:96
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())
Definition: btSoftBodyRigidBodyCollisionConfiguration.cpp:25
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:139
btPoolAllocator::~btPoolAllocator
~btPoolAllocator()
Definition: btPoolAllocator.h:50
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btCollisionAlgorithmCreateFunc::~btCollisionAlgorithmCreateFunc
virtual ~btCollisionAlgorithmCreateFunc()
Definition: btCollisionCreateFunc.h:34