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source: code/branches/SuperOrxoBros_HS18/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @ 12175

Last change on this file since 12175 was 12175, checked in by siramesh, 5 years ago

Super Orxo Bros (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 9.2 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17
18#include "btCollisionDispatcher.h"
19
20
21#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
22
23#include "BulletCollision/CollisionShapes/btCollisionShape.h"
24#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
25#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
26#include "LinearMath/btPoolAllocator.h"
27#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
28
29int gNumManifold = 0;
30
31#ifdef BT_DEBUG
32#include <stdio.h>
33#endif
34
35
36btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration): 
37m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
38        m_collisionConfiguration(collisionConfiguration)
39{
40        int i;
41
42        setNearCallback(defaultNearCallback);
43       
44        m_collisionAlgorithmPoolAllocator = collisionConfiguration->getCollisionAlgorithmPool();
45
46        m_persistentManifoldPoolAllocator = collisionConfiguration->getPersistentManifoldPool();
47
48        for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
49        {
50                for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
51                {
52                        m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
53                        btAssert(m_doubleDispatch[i][j]);
54                }
55        }
56       
57       
58}
59
60
61void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
62{
63        m_doubleDispatch[proxyType0][proxyType1] = createFunc;
64}
65
66btCollisionDispatcher::~btCollisionDispatcher()
67{
68}
69
70btPersistentManifold*   btCollisionDispatcher::getNewManifold(void* b0,void* b1) 
71{ 
72        gNumManifold++;
73       
74        //btAssert(gNumManifold < 65535);
75       
76
77        btCollisionObject* body0 = (btCollisionObject*)b0;
78        btCollisionObject* body1 = (btCollisionObject*)b1;
79
80        //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
81       
82        btScalar contactBreakingThreshold =  (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ? 
83                btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
84                : gContactBreakingThreshold ;
85
86        btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
87               
88        void* mem = 0;
89       
90        if (m_persistentManifoldPoolAllocator->getFreeCount())
91        {
92                mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
93        } else
94        {
95                //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
96                if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
97                {
98                        mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
99                } else
100                {
101                        btAssert(0);
102                        //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
103                        return 0;
104                }
105        }
106        btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
107        manifold->m_index1a = m_manifoldsPtr.size();
108        m_manifoldsPtr.push_back(manifold);
109
110        return manifold;
111}
112
113void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
114{
115        manifold->clearManifold();
116}
117
118       
119void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
120{
121       
122        gNumManifold--;
123
124        //printf("releaseManifold: gNumManifold %d\n",gNumManifold);
125        clearManifold(manifold);
126
127        int findIndex = manifold->m_index1a;
128        btAssert(findIndex < m_manifoldsPtr.size());
129        m_manifoldsPtr.swap(findIndex,m_manifoldsPtr.size()-1);
130        m_manifoldsPtr[findIndex]->m_index1a = findIndex;
131        m_manifoldsPtr.pop_back();
132
133        manifold->~btPersistentManifold();
134        if (m_persistentManifoldPoolAllocator->validPtr(manifold))
135        {
136                m_persistentManifoldPoolAllocator->freeMemory(manifold);
137        } else
138        {
139                btAlignedFree(manifold);
140        }
141       
142}
143
144       
145
146btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
147{
148       
149        btCollisionAlgorithmConstructionInfo ci;
150
151        ci.m_dispatcher1 = this;
152        ci.m_manifold = sharedManifold;
153        btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
154
155        return algo;
156}
157
158
159
160
161bool    btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
162{
163        //here you can do filtering
164        bool hasResponse = 
165                (body0->hasContactResponse() && body1->hasContactResponse());
166        //no response between two static/kinematic bodies:
167        hasResponse = hasResponse &&
168                ((!body0->isStaticOrKinematicObject()) ||(! body1->isStaticOrKinematicObject()));
169        return hasResponse;
170}
171
172bool    btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
173{
174        btAssert(body0);
175        btAssert(body1);
176
177        bool needsCollision = true;
178
179#ifdef BT_DEBUG
180        if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
181        {
182                //broadphase filtering already deals with this
183                if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
184                {
185                        m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
186                        printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
187                }
188        }
189#endif //BT_DEBUG
190
191        if ((!body0->isActive()) && (!body1->isActive()))
192                needsCollision = false;
193        else if (!body0->checkCollideWith(body1))
194                needsCollision = false;
195       
196        return needsCollision ;
197
198}
199
200
201
202///interface for iterating all overlapping collision pairs, no matter how those pairs are stored (array, set, map etc)
203///this is useful for the collision dispatcher.
204class btCollisionPairCallback : public btOverlapCallback
205{
206        const btDispatcherInfo& m_dispatchInfo;
207        btCollisionDispatcher*  m_dispatcher;
208
209public:
210
211        btCollisionPairCallback(const btDispatcherInfo& dispatchInfo,btCollisionDispatcher*     dispatcher)
212        :m_dispatchInfo(dispatchInfo),
213        m_dispatcher(dispatcher)
214        {
215        }
216
217        /*btCollisionPairCallback& operator=(btCollisionPairCallback& other)
218        {
219                m_dispatchInfo = other.m_dispatchInfo;
220                m_dispatcher = other.m_dispatcher;
221                return *this;
222        }
223        */
224
225
226        virtual ~btCollisionPairCallback() {}
227
228
229        virtual bool    processOverlap(btBroadphasePair& pair)
230        {
231                (*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
232
233                return false;
234        }
235};
236
237
238
239void    btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) 
240{
241        //m_blockedForChanges = true;
242
243        btCollisionPairCallback collisionCallback(dispatchInfo,this);
244
245        pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
246
247        //m_blockedForChanges = false;
248
249}
250
251
252
253
254//by default, Bullet will use this near callback
255void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
256{
257                btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
258                btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
259
260                if (dispatcher.needsCollision(colObj0,colObj1))
261                {
262                        //dispatcher will keep algorithms persistent in the collision pair
263                        if (!collisionPair.m_algorithm)
264                        {
265                                collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
266                        }
267
268                        if (collisionPair.m_algorithm)
269                        {
270                                btManifoldResult contactPointResult(colObj0,colObj1);
271                               
272                                if (dispatchInfo.m_dispatchFunc ==              btDispatcherInfo::DISPATCH_DISCRETE)
273                                {
274                                        //discrete collision detection query
275                                        collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
276                                } else
277                                {
278                                        //continuous collision detection query, time of impact (toi)
279                                        btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
280                                        if (dispatchInfo.m_timeOfImpact > toi)
281                                                dispatchInfo.m_timeOfImpact = toi;
282
283                                }
284                        }
285                }
286
287}
288
289
290void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
291{
292        if (m_collisionAlgorithmPoolAllocator->getFreeCount())
293        {
294                return m_collisionAlgorithmPoolAllocator->allocate(size);
295        }
296       
297        //warn user for overflow?
298        return  btAlignedAlloc(static_cast<size_t>(size), 16);
299}
300
301void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)
302{
303        if (m_collisionAlgorithmPoolAllocator->validPtr(ptr))
304        {
305                m_collisionAlgorithmPoolAllocator->freeMemory(ptr);
306        } else
307        {
308                btAlignedFree(ptr);
309        }
310}
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