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Diffstat (limited to 'extern/bullet2/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h')
| -rw-r--r-- | extern/bullet2/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h | 208 |
1 files changed, 0 insertions, 208 deletions
diff --git a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/extern/bullet2/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h deleted file mode 100644 index c075c548095..00000000000 --- a/extern/bullet2/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ /dev/null @@ -1,208 +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. -*/ - -#ifndef PERSISTENT_MANIFOLD_H -#define PERSISTENT_MANIFOLD_H - - -#include "LinearMath/btVector3.h" -#include "LinearMath/btTransform.h" -#include "btManifoldPoint.h" -#include "LinearMath/btAlignedAllocator.h" - -struct btCollisionResult; - -///maximum contact breaking and merging threshold -extern btScalar gContactBreakingThreshold; - -typedef bool (*ContactDestroyedCallback)(void* userPersistentData); -typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1); -extern ContactDestroyedCallback gContactDestroyedCallback; -extern ContactProcessedCallback gContactProcessedCallback; - - -enum btContactManifoldTypes -{ - BT_PERSISTENT_MANIFOLD_TYPE = 1, - MAX_CONTACT_MANIFOLD_TYPE -}; - -#define MANIFOLD_CACHE_SIZE 4 - -///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. -///Those contact points are created by the collision narrow phase. -///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. -///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) -///reduces the cache to 4 points, when more then 4 points are added, using following rules: -///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points -///note that some pairs of objects might have more then one contact manifold. -ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject -{ - - btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]; - - /// this two body pointers can point to the physics rigidbody class. - /// void* will allow any rigidbody class - void* m_body0; - void* m_body1; - int m_cachedPoints; - - btScalar m_contactBreakingThreshold; - btScalar m_contactProcessingThreshold; - - - /// sort cached points so most isolated points come first - int sortCachedPoints(const btManifoldPoint& pt); - - int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt); - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - int m_index1a; - - btPersistentManifold(); - - btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold) - : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE), - m_body0(body0),m_body1(body1),m_cachedPoints(0), - m_contactBreakingThreshold(contactBreakingThreshold), - m_contactProcessingThreshold(contactProcessingThreshold) - { - } - - SIMD_FORCE_INLINE void* getBody0() { return m_body0;} - SIMD_FORCE_INLINE void* getBody1() { return m_body1;} - - SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;} - SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;} - - void setBodies(void* body0,void* body1) - { - m_body0 = body0; - m_body1 = body1; - } - - void clearUserCache(btManifoldPoint& pt); - -#ifdef DEBUG_PERSISTENCY - void DebugPersistency(); -#endif // - - SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;} - - SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const - { - btAssert(index < m_cachedPoints); - return m_pointCache[index]; - } - - SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index) - { - btAssert(index < m_cachedPoints); - return m_pointCache[index]; - } - - ///@todo: get this margin from the current physics / collision environment - btScalar getContactBreakingThreshold() const; - - btScalar getContactProcessingThreshold() const - { - return m_contactProcessingThreshold; - } - - int getCacheEntry(const btManifoldPoint& newPoint) const; - - int addManifoldPoint( const btManifoldPoint& newPoint); - - void removeContactPoint (int index) - { - clearUserCache(m_pointCache[index]); - - int lastUsedIndex = getNumContacts() - 1; -// m_pointCache[index] = m_pointCache[lastUsedIndex]; - if(index != lastUsedIndex) - { - m_pointCache[index] = m_pointCache[lastUsedIndex]; - //get rid of duplicated userPersistentData pointer - m_pointCache[lastUsedIndex].m_userPersistentData = 0; - m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f; - m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false; - m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f; - m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f; - m_pointCache[lastUsedIndex].m_lifeTime = 0; - } - - btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0); - m_cachedPoints--; - } - void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex) - { - btAssert(validContactDistance(newPoint)); - -#define MAINTAIN_PERSISTENCY 1 -#ifdef MAINTAIN_PERSISTENCY - int lifeTime = m_pointCache[insertIndex].getLifeTime(); - btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse; - btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1; - btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2; - - btAssert(lifeTime>=0); - void* cache = m_pointCache[insertIndex].m_userPersistentData; - - m_pointCache[insertIndex] = newPoint; - - m_pointCache[insertIndex].m_userPersistentData = cache; - m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse; - m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1; - m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2; - - m_pointCache[insertIndex].m_lifeTime = lifeTime; -#else - clearUserCache(m_pointCache[insertIndex]); - m_pointCache[insertIndex] = newPoint; - -#endif - } - - bool validContactDistance(const btManifoldPoint& pt) const - { - return pt.m_distance1 <= getContactBreakingThreshold(); - } - /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin - void refreshContactPoints( const btTransform& trA,const btTransform& trB); - - - SIMD_FORCE_INLINE void clearManifold() - { - int i; - for (i=0;i<m_cachedPoints;i++) - { - clearUserCache(m_pointCache[i]); - } - m_cachedPoints = 0; - } - - - -} -; - - - - - -#endif //PERSISTENT_MANIFOLD_H |