diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp | 362 |
1 files changed, 0 insertions, 362 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp deleted file mode 100644 index ef3ea9e394..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp +++ /dev/null @@ -1,362 +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. -*/ - -#include "btDefaultCollisionConfiguration.h" - -#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h" - -#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h" -#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" -#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM -#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" -#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM -#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h" -#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" -#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" - -#include "LinearMath/btPoolAllocator.h" - -btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) -//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool) -{ - void* mem = NULL; - if (constructionInfo.m_useEpaPenetrationAlgorithm) - { - mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver), 16); - m_pdSolver = new (mem) btGjkEpaPenetrationDepthSolver; - } - else - { - mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver), 16); - m_pdSolver = new (mem) btMinkowskiPenetrationDepthSolver; - } - - //default CreationFunctions, filling the m_doubleDispatch table - mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc), 16); - m_convexConvexCreateFunc = new (mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver); - mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc), 16); - m_convexConcaveCreateFunc = new (mem) btConvexConcaveCollisionAlgorithm::CreateFunc; - mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc), 16); - m_swappedConvexConcaveCreateFunc = new (mem) btConvexConcaveCollisionAlgorithm::SwappedCreateFunc; - mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc), 16); - m_compoundCreateFunc = new (mem) btCompoundCollisionAlgorithm::CreateFunc; - - mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc), 16); - m_compoundCompoundCreateFunc = new (mem) btCompoundCompoundCollisionAlgorithm::CreateFunc; - - mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc), 16); - m_swappedCompoundCreateFunc = new (mem) btCompoundCollisionAlgorithm::SwappedCreateFunc; - mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc), 16); - m_emptyCreateFunc = new (mem) btEmptyAlgorithm::CreateFunc; - - mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc), 16); - m_sphereSphereCF = new (mem) btSphereSphereCollisionAlgorithm::CreateFunc; -#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM - mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc), 16); - m_sphereBoxCF = new (mem) btSphereBoxCollisionAlgorithm::CreateFunc; - mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc), 16); - m_boxSphereCF = new (mem) btSphereBoxCollisionAlgorithm::CreateFunc; - m_boxSphereCF->m_swapped = true; -#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM - - mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc), 16); - m_sphereTriangleCF = new (mem) btSphereTriangleCollisionAlgorithm::CreateFunc; - mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc), 16); - m_triangleSphereCF = new (mem) btSphereTriangleCollisionAlgorithm::CreateFunc; - m_triangleSphereCF->m_swapped = true; - - mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc), 16); - m_boxBoxCF = new (mem) btBoxBoxCollisionAlgorithm::CreateFunc; - - //convex versus plane - mem = btAlignedAlloc(sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc), 16); - m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc; - mem = btAlignedAlloc(sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc), 16); - m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc; - m_planeConvexCF->m_swapped = true; - - ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool - int maxSize = sizeof(btConvexConvexAlgorithm); - int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm); - int maxSize3 = sizeof(btCompoundCollisionAlgorithm); - int maxSize4 = sizeof(btCompoundCompoundCollisionAlgorithm); - - int collisionAlgorithmMaxElementSize = btMax(maxSize, constructionInfo.m_customCollisionAlgorithmMaxElementSize); - collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2); - collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize3); - collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize4); - - if (constructionInfo.m_persistentManifoldPool) - { - m_ownsPersistentManifoldPool = false; - m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool; - } - else - { - m_ownsPersistentManifoldPool = true; - void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16); - m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold), constructionInfo.m_defaultMaxPersistentManifoldPoolSize); - } - - collisionAlgorithmMaxElementSize = (collisionAlgorithmMaxElementSize + 16) & 0xffffffffffff0; - if (constructionInfo.m_collisionAlgorithmPool) - { - m_ownsCollisionAlgorithmPool = false; - m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool; - } - else - { - m_ownsCollisionAlgorithmPool = true; - void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16); - m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); - } -} - -btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration() -{ - if (m_ownsCollisionAlgorithmPool) - { - m_collisionAlgorithmPool->~btPoolAllocator(); - btAlignedFree(m_collisionAlgorithmPool); - } - if (m_ownsPersistentManifoldPool) - { - m_persistentManifoldPool->~btPoolAllocator(); - btAlignedFree(m_persistentManifoldPool); - } - - m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_convexConvexCreateFunc); - - m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_convexConcaveCreateFunc); - m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_swappedConvexConcaveCreateFunc); - - m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_compoundCreateFunc); - - m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_compoundCompoundCreateFunc); - - m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_swappedCompoundCreateFunc); - - m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_emptyCreateFunc); - - m_sphereSphereCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_sphereSphereCF); - -#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM - m_sphereBoxCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_sphereBoxCF); - m_boxSphereCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_boxSphereCF); -#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM - - m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_sphereTriangleCF); - m_triangleSphereCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_triangleSphereCF); - m_boxBoxCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_boxBoxCF); - - m_convexPlaneCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_convexPlaneCF); - m_planeConvexCF->~btCollisionAlgorithmCreateFunc(); - btAlignedFree(m_planeConvexCF); - - m_pdSolver->~btConvexPenetrationDepthSolver(); - - btAlignedFree(m_pdSolver); -} - -btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) -{ - if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) - { - return m_sphereSphereCF; - } -#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM - if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) - { - return m_sphereBoxCF; - } - - if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) - { - return m_boxSphereCF; - } -#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM - - if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE)) - { - return m_sphereTriangleCF; - } - - if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) - { - return m_triangleSphereCF; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE)) - { - return m_convexPlaneCF; - } - - if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE)) - { - return m_planeConvexCF; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) - { - return m_convexConvexCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) - { - return m_convexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) - { - return m_swappedConvexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1)) - { - return m_compoundCompoundCreateFunc; - } - - if (btBroadphaseProxy::isCompound(proxyType0)) - { - return m_compoundCreateFunc; - } - else - { - if (btBroadphaseProxy::isCompound(proxyType1)) - { - return m_swappedCompoundCreateFunc; - } - } - - //failed to find an algorithm - return m_emptyCreateFunc; -} - -btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1) -{ - if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) - { - return m_sphereSphereCF; - } -#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM - if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) - { - return m_sphereBoxCF; - } - - if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) - { - return m_boxSphereCF; - } -#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM - - if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE)) - { - return m_sphereTriangleCF; - } - - if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) - { - return m_triangleSphereCF; - } - - if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) - { - return m_boxBoxCF; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE)) - { - return m_convexPlaneCF; - } - - if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE)) - { - return m_planeConvexCF; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) - { - return m_convexConvexCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) - { - return m_convexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) - { - return m_swappedConvexConcaveCreateFunc; - } - - if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1)) - { - return m_compoundCompoundCreateFunc; - } - - if (btBroadphaseProxy::isCompound(proxyType0)) - { - return m_compoundCreateFunc; - } - else - { - if (btBroadphaseProxy::isCompound(proxyType1)) - { - return m_swappedCompoundCreateFunc; - } - } - - //failed to find an algorithm - return m_emptyCreateFunc; -} - -void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold) -{ - btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*)m_convexConvexCreateFunc; - convexConvex->m_numPerturbationIterations = numPerturbationIterations; - convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; -} - -void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold) -{ - btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF; - cpCF->m_numPerturbationIterations = numPerturbationIterations; - cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; - - btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF; - pcCF->m_numPerturbationIterations = numPerturbationIterations; - pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; -} |