diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h | 246 |
1 files changed, 112 insertions, 134 deletions
diff --git a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h index f85a94cb4c7..a368c8a0c0b 100644 --- a/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +++ b/extern/bullet2/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -42,7 +42,6 @@ class btDispatcher; #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" - //! Collision Algorithm for GImpact Shapes /*! For register this algorithm in Bullet, proceed as following: @@ -54,36 +53,35 @@ btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm { protected: - btCollisionAlgorithm * m_convex_algorithm; - btPersistentManifold * m_manifoldPtr; + btCollisionAlgorithm* m_convex_algorithm; + btPersistentManifold* m_manifoldPtr; btManifoldResult* m_resultOut; - const btDispatcherInfo * m_dispatchInfo; + const btDispatcherInfo* m_dispatchInfo; int m_triface0; int m_part0; int m_triface1; int m_part1; - //! Creates a new contact point - SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1) + SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0, const btCollisionObject* body1) { - m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); + m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1); return m_manifoldPtr; } SIMD_FORCE_INLINE void destroyConvexAlgorithm() { - if(m_convex_algorithm) + if (m_convex_algorithm) { m_convex_algorithm->~btCollisionAlgorithm(); - m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); + m_dispatcher->freeCollisionAlgorithm(m_convex_algorithm); m_convex_algorithm = NULL; } } SIMD_FORCE_INLINE void destroyContactManifolds() { - if(m_manifoldPtr == NULL) return; + if (m_manifoldPtr == NULL) return; m_dispatcher->releaseManifold(m_manifoldPtr); m_manifoldPtr = NULL; } @@ -104,207 +102,187 @@ protected: return m_manifoldPtr; } - // Call before process collision - SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) { - if(getLastManifold() == 0) + if (getLastManifold() == 0) { - newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()); } m_resultOut->setPersistentManifold(getLastManifold()); } // Call before process collision - SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + SIMD_FORCE_INLINE btCollisionAlgorithm* newAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) { - checkManifold(body0Wrap,body1Wrap); + checkManifold(body0Wrap, body1Wrap); - btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( - body0Wrap,body1Wrap,getLastManifold()); - return convex_algorithm ; + btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm( + body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS); + return convex_algorithm; } // Call before process collision - SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) { - if(m_convex_algorithm) return; - m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap); + if (m_convex_algorithm) return; + m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap); } + void addContactPoint(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btVector3& point, + const btVector3& normal, + btScalar distance); - - - void addContactPoint(const btCollisionObjectWrapper * body0Wrap, - const btCollisionObjectWrapper * body1Wrap, - const btVector3 & point, - const btVector3 & normal, - btScalar distance); - -//! Collision routines -//!@{ + //! Collision routines + //!@{ void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart * shape0, - const btGImpactMeshShapePart * shape1, - const int * pairs, int pair_count); + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart* shape0, + const btGImpactMeshShapePart* shape1, + const int* pairs, int pair_count); void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart * shape0, - const btGImpactMeshShapePart * shape1, - const int * pairs, int pair_count); - - - + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart* shape0, + const btGImpactMeshShapePart* shape1, + const int* pairs, int pair_count); void shape_vs_shape_collision( - const btCollisionObjectWrapper* body0, - const btCollisionObjectWrapper* body1, - const btCollisionShape * shape0, - const btCollisionShape * shape1); + const btCollisionObjectWrapper* body0, + const btCollisionObjectWrapper* body1, + const btCollisionShape* shape0, + const btCollisionShape* shape1); void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btCollisionShape* shape0, - const btCollisionShape* shape1); - - + const btCollisionObjectWrapper* body1Wrap, + const btCollisionShape* shape0, + const btCollisionShape* shape1); void gimpact_vs_gimpact_find_pairs( - const btTransform & trans0, - const btTransform & trans1, - const btGImpactShapeInterface * shape0, - const btGImpactShapeInterface * shape1,btPairSet & pairset); + const btTransform& trans0, + const btTransform& trans1, + const btGImpactShapeInterface* shape0, + const btGImpactShapeInterface* shape1, btPairSet& pairset); void gimpact_vs_shape_find_pairs( - const btTransform & trans0, - const btTransform & trans1, - const btGImpactShapeInterface * shape0, - const btCollisionShape * shape1, - btAlignedObjectArray<int> & collided_primitives); - + const btTransform& trans0, + const btTransform& trans1, + const btGImpactShapeInterface* shape0, + const btCollisionShape* shape1, + btAlignedObjectArray<int>& collided_primitives); void gimpacttrimeshpart_vs_plane_collision( - const btCollisionObjectWrapper * body0Wrap, - const btCollisionObjectWrapper * body1Wrap, - const btGImpactMeshShapePart * shape0, - const btStaticPlaneShape * shape1,bool swapped); - + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactMeshShapePart* shape0, + const btStaticPlaneShape* shape1, bool swapped); public: - - btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); + btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap); virtual ~btGImpactCollisionAlgorithm(); - virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) { if (m_manifoldPtr) manifoldArray.push_back(m_manifoldPtr); } - btManifoldResult* internalGetResultOut() + btManifoldResult* internalGetResultOut() { return m_resultOut; } - struct CreateFunc :public btCollisionAlgorithmCreateFunc + struct CreateFunc : public btCollisionAlgorithmCreateFunc { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); - return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap); + return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap); } }; //! Use this function for register the algorithm externally - static void registerAlgorithm(btCollisionDispatcher * dispatcher); + static void registerAlgorithm(btCollisionDispatcher* dispatcher); #ifdef TRI_COLLISION_PROFILING //! Gets the average time in miliseconds of tree collisions static float getAverageTreeCollisionTime(); //! Gets the average time in miliseconds of triangle collisions static float getAverageTriangleCollisionTime(); -#endif //TRI_COLLISION_PROFILING +#endif //TRI_COLLISION_PROFILING //! Collides two gimpact shapes /*! \pre shape0 and shape1 couldn't be btGImpactMeshShape objects */ - void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper * body1Wrap, - const btGImpactShapeInterface * shape0, - const btGImpactShapeInterface * shape1); + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface* shape0, + const btGImpactShapeInterface* shape1); void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface * shape0, - const btCollisionShape * shape1,bool swapped); + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface* shape0, + const btCollisionShape* shape1, bool swapped); - void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap, - const btCollisionObjectWrapper * body1Wrap, - const btGImpactShapeInterface * shape0, - const btCompoundShape * shape1,bool swapped); + void gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface* shape0, + const btCompoundShape* shape1, bool swapped); void gimpact_vs_concave( - const btCollisionObjectWrapper * body0Wrap, - const btCollisionObjectWrapper * body1Wrap, - const btGImpactShapeInterface * shape0, - const btConcaveShape * shape1,bool swapped); - - - - - /// Accessor/Mutator pairs for Part and triangleID - void setFace0(int value) - { - m_triface0 = value; - } - int getFace0() - { - return m_triface0; - } - void setFace1(int value) - { - m_triface1 = value; - } - int getFace1() - { - return m_triface1; - } - void setPart0(int value) - { - m_part0 = value; - } - int getPart0() - { - return m_part0; - } - void setPart1(int value) - { - m_part1 = value; - } - int getPart1() - { - return m_part1; - } + const btCollisionObjectWrapper* body0Wrap, + const btCollisionObjectWrapper* body1Wrap, + const btGImpactShapeInterface* shape0, + const btConcaveShape* shape1, bool swapped); + /// Accessor/Mutator pairs for Part and triangleID + void setFace0(int value) + { + m_triface0 = value; + } + int getFace0() + { + return m_triface0; + } + void setFace1(int value) + { + m_triface1 = value; + } + int getFace1() + { + return m_triface1; + } + void setPart0(int value) + { + m_part0 = value; + } + int getPart0() + { + return m_part0; + } + void setPart1(int value) + { + m_part1 = value; + } + int getPart1() + { + return m_part1; + } }; - //algorithm details //#define BULLET_TRIANGLE_COLLISION 1 #define GIMPACT_VS_PLANE_COLLISION 1 - - -#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H +#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H |