131 lines
5.3 KiB
C++
131 lines
5.3 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 "btSoftBodyRigidBodyCollisionConfiguration.h"
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#include "btSoftRigidCollisionAlgorithm.h"
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#include "btSoftBodyConcaveCollisionAlgorithm.h"
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#include "btSoftSoftCollisionAlgorithm.h"
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#include "LinearMath/btPoolAllocator.h"
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#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
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btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
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: btDefaultCollisionConfiguration(constructionInfo)
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{
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void* mem;
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mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc), 16);
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m_softSoftCreateFunc = new (mem) btSoftSoftCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
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m_softRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
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m_swappedSoftRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
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m_swappedSoftRigidConvexCreateFunc->m_swapped = true;
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#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
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mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
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m_softRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
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m_swappedSoftRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
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m_swappedSoftRigidConcaveCreateFunc->m_swapped = true;
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#endif
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//replace pool by a new one, with potential larger size
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if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
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{
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int curElemSize = m_collisionAlgorithmPool->getElementSize();
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///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
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int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
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int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
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int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
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int collisionAlgorithmMaxElementSize = btMax(maxSize0, maxSize1);
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collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);
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if (collisionAlgorithmMaxElementSize > curElemSize)
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{
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m_collisionAlgorithmPool->~btPoolAllocator();
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btAlignedFree(m_collisionAlgorithmPool);
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void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
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m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
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}
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}
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}
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btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
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{
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m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree(m_softSoftCreateFunc);
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m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree(m_softRigidConvexCreateFunc);
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m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree(m_swappedSoftRigidConvexCreateFunc);
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#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
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m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree(m_softRigidConcaveCreateFunc);
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m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree(m_swappedSoftRigidConcaveCreateFunc);
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#endif
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}
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///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
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btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
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{
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///try to handle the softbody interactions first
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if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE) && (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE))
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{
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return m_softSoftCreateFunc;
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}
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///softbody versus convex
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if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
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{
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return m_softRigidConvexCreateFunc;
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}
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///convex versus soft body
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if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
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{
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return m_swappedSoftRigidConvexCreateFunc;
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}
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#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
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///softbody versus convex
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if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
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{
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return m_softRigidConcaveCreateFunc;
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}
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///convex versus soft body
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if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
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{
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return m_swappedSoftRigidConcaveCreateFunc;
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}
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#endif
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///fallback to the regular rigid collision shape
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return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
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}
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