289 lines
10 KiB
C++
289 lines
10 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btCollisionDispatcher.h"
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#include "LinearMath/btQuickprof.h"
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/CollisionShapes/btCollisionShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "LinearMath/btPoolAllocator.h"
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#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#ifdef BT_DEBUG
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#include <stdio.h>
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#endif
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btCollisionDispatcher::btCollisionDispatcher(btCollisionConfiguration* collisionConfiguration) : m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
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m_collisionConfiguration(collisionConfiguration)
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{
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int i;
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setNearCallback(defaultNearCallback);
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m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
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m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
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for (i = 0; i < MAX_BROADPHASE_COLLISION_TYPES; i++)
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{
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for (int j = 0; j < MAX_BROADPHASE_COLLISION_TYPES; j++)
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{
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m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i, j);
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btAssert(m_doubleDispatchContactPoints[i][j]);
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m_doubleDispatchClosestPoints[i][j] = m_collisionConfiguration->getClosestPointsAlgorithmCreateFunc(i, j);
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}
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}
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}
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void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
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{
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m_doubleDispatchContactPoints[proxyType0][proxyType1] = createFunc;
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}
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void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc* createFunc)
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{
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m_doubleDispatchClosestPoints[proxyType0][proxyType1] = createFunc;
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}
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btCollisionDispatcher::~btCollisionDispatcher()
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{
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}
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btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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//btAssert(gNumManifold < 65535);
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//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
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btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold), body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
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: gContactBreakingThreshold;
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btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold());
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void* mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
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if (NULL == mem)
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{
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//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
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if ((m_dispatcherFlags & CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION) == 0)
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{
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mem = btAlignedAlloc(sizeof(btPersistentManifold), 16);
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}
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else
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{
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btAssert(0);
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//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
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return 0;
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}
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}
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btPersistentManifold* manifold = new (mem) btPersistentManifold(body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold);
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manifold->m_index1a = m_manifoldsPtr.size();
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m_manifoldsPtr.push_back(manifold);
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return manifold;
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}
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void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
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{
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manifold->clearManifold();
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}
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void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
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{
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//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
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clearManifold(manifold);
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int findIndex = manifold->m_index1a;
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btAssert(findIndex < m_manifoldsPtr.size());
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m_manifoldsPtr.swap(findIndex, m_manifoldsPtr.size() - 1);
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m_manifoldsPtr[findIndex]->m_index1a = findIndex;
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m_manifoldsPtr.pop_back();
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manifold->~btPersistentManifold();
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if (m_persistentManifoldPoolAllocator->validPtr(manifold))
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{
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m_persistentManifoldPoolAllocator->freeMemory(manifold);
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}
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else
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{
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btAlignedFree(manifold);
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}
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}
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btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType)
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{
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btCollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher1 = this;
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ci.m_manifold = sharedManifold;
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btCollisionAlgorithm* algo = 0;
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if (algoType == BT_CONTACT_POINT_ALGORITHMS)
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{
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algo = m_doubleDispatchContactPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
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}
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else
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{
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algo = m_doubleDispatchClosestPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
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}
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return algo;
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}
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bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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//here you can do filtering
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bool hasResponse =
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(body0->hasContactResponse() && body1->hasContactResponse());
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//no response between two static/kinematic bodies:
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hasResponse = hasResponse &&
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((!body0->isStaticOrKinematicObject()) || (!body1->isStaticOrKinematicObject()));
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return hasResponse;
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}
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bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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btAssert(body0);
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btAssert(body1);
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bool needsCollision = true;
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#ifdef BT_DEBUG
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if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
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{
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//broadphase filtering already deals with this
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if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
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{
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m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
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printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
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}
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}
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#endif //BT_DEBUG
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if ((!body0->isActive()) && (!body1->isActive()))
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needsCollision = false;
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else if ((!body0->checkCollideWith(body1)) || (!body1->checkCollideWith(body0)))
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needsCollision = false;
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return needsCollision;
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}
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///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
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///this is useful for the collision dispatcher.
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class btCollisionPairCallback : public btOverlapCallback
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{
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const btDispatcherInfo& m_dispatchInfo;
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btCollisionDispatcher* m_dispatcher;
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public:
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btCollisionPairCallback(const btDispatcherInfo& dispatchInfo, btCollisionDispatcher* dispatcher)
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: m_dispatchInfo(dispatchInfo),
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m_dispatcher(dispatcher)
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{
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}
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/*btCollisionPairCallback& operator=(btCollisionPairCallback& other)
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{
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m_dispatchInfo = other.m_dispatchInfo;
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m_dispatcher = other.m_dispatcher;
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return *this;
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}
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*/
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virtual ~btCollisionPairCallback() {}
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virtual bool processOverlap(btBroadphasePair& pair)
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{
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(*m_dispatcher->getNearCallback())(pair, *m_dispatcher, m_dispatchInfo);
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return false;
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}
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};
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void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache, const btDispatcherInfo& dispatchInfo, btDispatcher* dispatcher)
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{
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//m_blockedForChanges = true;
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btCollisionPairCallback collisionCallback(dispatchInfo, this);
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{
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BT_PROFILE("processAllOverlappingPairs");
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pairCache->processAllOverlappingPairs(&collisionCallback, dispatcher, dispatchInfo);
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}
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//m_blockedForChanges = false;
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}
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//by default, Bullet will use this near callback
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void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
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{
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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if (dispatcher.needsCollision(colObj0, colObj1))
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{
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btCollisionObjectWrapper obj0Wrap(0, colObj0->getCollisionShape(), colObj0, colObj0->getWorldTransform(), -1, -1);
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btCollisionObjectWrapper obj1Wrap(0, colObj1->getCollisionShape(), colObj1, colObj1->getWorldTransform(), -1, -1);
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//dispatcher will keep algorithms persistent in the collision pair
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if (!collisionPair.m_algorithm)
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{
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collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap, &obj1Wrap, 0, BT_CONTACT_POINT_ALGORITHMS);
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}
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if (collisionPair.m_algorithm)
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{
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btManifoldResult contactPointResult(&obj0Wrap, &obj1Wrap);
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if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
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{
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//discrete collision detection query
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collisionPair.m_algorithm->processCollision(&obj0Wrap, &obj1Wrap, dispatchInfo, &contactPointResult);
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}
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else
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{
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//continuous collision detection query, time of impact (toi)
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btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0, colObj1, dispatchInfo, &contactPointResult);
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if (dispatchInfo.m_timeOfImpact > toi)
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dispatchInfo.m_timeOfImpact = toi;
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}
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}
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}
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}
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void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
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{
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void* mem = m_collisionAlgorithmPoolAllocator->allocate(size);
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if (NULL == mem)
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{
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//warn user for overflow?
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return btAlignedAlloc(static_cast<size_t>(size), 16);
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}
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return mem;
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}
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void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
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{
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if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
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{
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m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
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}
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else
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{
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btAlignedFree(ptr);
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}
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}
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