1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
|
/*
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 "btSoftBodyRigidBodyCollisionConfiguration.h"
#include "btSoftRigidCollisionAlgorithm.h"
#include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "btSoftSoftCollisionAlgorithm.h"
#include "LinearMath/btPoolAllocator.h"
#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
: btDefaultCollisionConfiguration(constructionInfo)
{
void* mem;
mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc), 16);
m_softSoftCreateFunc = new (mem) btSoftSoftCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
m_softRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
m_swappedSoftRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
m_swappedSoftRigidConvexCreateFunc->m_swapped = true;
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
m_softRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
m_swappedSoftRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
m_swappedSoftRigidConcaveCreateFunc->m_swapped = true;
#endif
//replace pool by a new one, with potential larger size
if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
{
int curElemSize = m_collisionAlgorithmPool->getElementSize();
///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
int collisionAlgorithmMaxElementSize = btMax(maxSize0, maxSize1);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
if (collisionAlgorithmMaxElementSize > curElemSize)
{
m_collisionAlgorithmPool->~btPoolAllocator();
btAlignedFree(m_collisionAlgorithmPool);
void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
}
}
}
btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
{
m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_softSoftCreateFunc);
m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_softRigidConvexCreateFunc);
m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_swappedSoftRigidConvexCreateFunc);
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_softRigidConcaveCreateFunc);
m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_swappedSoftRigidConcaveCreateFunc);
#endif
}
///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
{
///try to handle the softbody interactions first
if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE) && (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE))
{
return m_softSoftCreateFunc;
}
///softbody versus convex
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
{
return m_softRigidConvexCreateFunc;
}
///convex versus soft body
if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
{
return m_swappedSoftRigidConvexCreateFunc;
}
#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
///softbody versus convex
if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
{
return m_softRigidConcaveCreateFunc;
}
///convex versus soft body
if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
{
return m_swappedSoftRigidConcaveCreateFunc;
}
#endif
///fallback to the regular rigid collision shape
return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
}
|