diff options
author | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
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committer | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
commit | ed59822857de7e7b41b33b79c306f5e9b8755c62 (patch) | |
tree | aa15011ba1df16a98d023acf2a276b265bd3ceda /extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h | |
parent | 22bca493b23904c4dee7130f5737005f8558a26d (diff) |
== SoC Bullet - Bullet Upgrade to 2.76 ==
Updated Blender's Bullet to 2.76 in this branch only.
This update was done by:
1) deleting the contents of the existing extern/bullet2/src directory (leaving the .svn folder in place),
2) copy/pasting the contents of the bullet/src directory (from unzipped Bullet archive) into this newly cleared folder.
Hopefully there aren't any patches that are still needed from the Bullet we had in source.
---
Note: I didn't use Moguri's patch, since that was giving me compile errors with headers not being able to be found.
[[Split portion of a mixed commit.]]
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h')
-rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h | 109 |
1 files changed, 109 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h new file mode 100644 index 00000000000..d38aff6862c --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -0,0 +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 CONVEX_CONVEX_ALGORITHM_H +#define CONVEX_CONVEX_ALGORITHM_H + +#include "btActivatingCollisionAlgorithm.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" +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil + +class btConvexPenetrationDepthSolver; + +///Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise +///so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. +///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util +///for certain pairs that have a small size ratio + +//#define USE_SEPDISTANCE_UTIL2 1 + +///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. +///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. +///This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888 +class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm +{ +#ifdef USE_SEPDISTANCE_UTIL2 + btConvexSeparatingDistanceUtil m_sepDistance; +#endif + btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + + + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; + + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + + ///cache separating vector to speedup collision detection + + +public: + + btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + + + 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); + + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + { + ///should we use m_ownManifold to avoid adding duplicates? + if (m_manifoldPtr && m_ownManifold) + manifoldArray.push_back(m_manifoldPtr); + } + + + void setLowLevelOfDetail(bool useLowLevel); + + + const btPersistentManifold* getManifold() + { + return m_manifoldPtr; + } + + struct CreateFunc :public btCollisionAlgorithmCreateFunc + { + + btConvexPenetrationDepthSolver* m_pdSolver; + btSimplexSolverInterface* m_simplexSolver; + int m_numPerturbationIterations; + int m_minimumPointsPerturbationThreshold; + + 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,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + } + }; + + +}; + +#endif //CONVEX_CONVEX_ALGORITHM_H |