1 files changed, 383 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
new file mode 100644
index 0000000000..f6e4e57b0a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
@@ -0,0 +1,383 @@
+/*
+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;
+}