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

Bullet Collision Detection & Physics Library

btSoftBodyRigidBodyCollisionConfiguration.cpp
Go to the documentation of this file.
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 int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
57 int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
58 int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
59
60 int collisionAlgorithmMaxElementSize = btMax(maxSize0, maxSize1);
61 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
62
63 if (collisionAlgorithmMaxElementSize > curElemSize)
64 {
65 m_collisionAlgorithmPool->~btPoolAllocator();
66 btAlignedFree(m_collisionAlgorithmPool);
67 void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
68 m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
69 }
70 }
71 }
72
73 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
74 {
75 m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
76 btAlignedFree(m_softSoftCreateFunc);
77
78 m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
79 btAlignedFree(m_softRigidConvexCreateFunc);
80
81 m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
82 btAlignedFree(m_swappedSoftRigidConvexCreateFunc);
83
84 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
85 m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
86 btAlignedFree(m_softRigidConcaveCreateFunc);
87
88 m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
89 btAlignedFree(m_swappedSoftRigidConcaveCreateFunc);
90 #endif
91 }
92
94 btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
95 {
97
98 if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE) && (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE))
99 {
100 return m_softSoftCreateFunc;
101 }
102
104 if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
105 {
106 return m_softRigidConvexCreateFunc;
107 }
108
110 if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
111 {
112 return m_swappedSoftRigidConvexCreateFunc;
113 }
114
115 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
116 if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
118 {
119 return m_softRigidConcaveCreateFunc;
120 }
121
123 if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
124 {
125 return m_swappedSoftRigidConcaveCreateFunc;
126 }
127 #endif
128
130 return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
131 }
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btCollisionAlgorithmCreateFunc::~btCollisionAlgorithmCreateFunc
virtual ~btCollisionAlgorithmCreateFunc()
Definition: btCollisionCreateFunc.h:34
SOFTBODY_SHAPE_PROXYTYPE
@ SOFTBODY_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:73
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btDefaultCollisionConfiguration
btCollisionConfiguration allows to configure Bullet collision detection stack allocator,...
Definition: btDefaultCollisionConfiguration.h:47
btSoftRigidCollisionAlgorithm
btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
Definition: btSoftRigidCollisionAlgorithm.h:30
btSoftBodyConcaveCollisionAlgorithm::CreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:129
btSoftSoftCollisionAlgorithm.h
btSoftBodyRigidBodyCollisionConfiguration.h
btDefaultCollisionConstructionInfo::m_defaultMaxCollisionAlgorithmPoolSize
int m_defaultMaxCollisionAlgorithmPoolSize
Definition: btDefaultCollisionConfiguration.h:28
btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
Definition: btDefaultCollisionConfiguration.cpp:267
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btSoftBodyConcaveCollisionAlgorithm.h
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration
virtual ~btSoftBodyRigidBodyCollisionConfiguration()
Definition: btSoftBodyRigidBodyCollisionConfiguration.cpp:73
btSoftSoftCollisionAlgorithm::CreateFunc
Definition: btSoftSoftCollisionAlgorithm.h:55
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:135
btSoftRigidCollisionAlgorithm.h
btSoftSoftCollisionAlgorithm
collision detection between two btSoftBody shapes
Definition: btSoftSoftCollisionAlgorithm.h:29
btMax
const T & btMax(const T &a, const T &b)
Definition: btMinMax.h:27
btPoolAllocator::~btPoolAllocator
~btPoolAllocator()
Definition: btPoolAllocator.h:51
btSoftBodyRigidBodyCollisionConfiguration::m_softRigidConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_softRigidConvexCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:29
btSoftBodyRigidBodyCollisionConfiguration::m_swappedSoftRigidConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedSoftRigidConvexCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:30
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:145
btPoolAllocator::getElementSize
int getElementSize() const
Definition: btPoolAllocator.h:114
btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:138
btDefaultCollisionConfiguration::m_ownsCollisionAlgorithmPool
bool m_ownsCollisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:55
btSoftBodyRigidBodyCollisionConfiguration::m_swappedSoftRigidConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedSoftRigidConcaveCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:32
btDefaultCollisionConfiguration::m_collisionAlgorithmPool
btPoolAllocator * m_collisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:54
btSoftBodyRigidBodyCollisionConfiguration::m_softRigidConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_softRigidConcaveCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:31
btSoftBodyRigidBodyCollisionConfiguration::m_softSoftCreateFunc
btCollisionAlgorithmCreateFunc * m_softSoftCreateFunc
Definition: btSoftBodyRigidBodyCollisionConfiguration.h:28
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:24
btSoftRigidCollisionAlgorithm::CreateFunc
Definition: btSoftRigidCollisionAlgorithm.h:55
btSoftBodyConcaveCollisionAlgorithm
btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) triange...
Definition: btSoftBodyConcaveCollisionAlgorithm.h:107
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration
btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())
Definition: btSoftBodyRigidBodyCollisionConfiguration.cpp:25
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:94
btPoolAllocator.h
btDefaultCollisionConstructionInfo
Definition: btDefaultCollisionConfiguration.h:24