1 | /* |
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2 | Bullet Continuous Collision Detection and Physics Library |
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3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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4 | |
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5 | This software is provided 'as-is', without any express or implied warranty. |
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6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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7 | Permission is granted to anyone to use this software for any purpose, |
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8 | including commercial applications, and to alter it and redistribute it freely, |
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9 | subject to the following restrictions: |
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10 | |
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11 | 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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12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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13 | 3. This notice may not be removed or altered from any source distribution. |
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14 | */ |
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15 | |
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16 | #include "btDefaultCollisionConfiguration.h" |
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17 | |
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18 | #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" |
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19 | #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h" |
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20 | #include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h" |
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21 | #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h" |
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22 | #include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h" |
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23 | #include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h" |
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24 | #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" |
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25 | #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM |
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26 | #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h" |
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27 | #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM |
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28 | #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h" |
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29 | #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" |
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30 | #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" |
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31 | #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" |
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32 | |
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33 | |
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34 | |
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35 | #include "LinearMath/btStackAlloc.h" |
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36 | #include "LinearMath/btPoolAllocator.h" |
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37 | |
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38 | |
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39 | |
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40 | |
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41 | |
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42 | btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) |
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43 | //btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool) |
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44 | { |
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45 | |
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46 | void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16); |
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47 | m_simplexSolver = new (mem)btVoronoiSimplexSolver(); |
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48 | |
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49 | if (constructionInfo.m_useEpaPenetrationAlgorithm) |
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50 | { |
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51 | mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16); |
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52 | m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver; |
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53 | }else |
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54 | { |
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55 | mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16); |
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56 | m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver; |
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57 | } |
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58 | |
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59 | //default CreationFunctions, filling the m_doubleDispatch table |
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60 | mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16); |
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61 | m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver); |
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62 | mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); |
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63 | m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc; |
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64 | mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); |
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65 | m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc; |
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66 | mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16); |
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67 | m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc; |
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68 | mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16); |
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69 | m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc; |
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70 | mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16); |
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71 | m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc; |
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72 | |
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73 | mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16); |
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74 | m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc; |
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75 | #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM |
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76 | mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16); |
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77 | m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc; |
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78 | mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16); |
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79 | m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc; |
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80 | m_boxSphereCF->m_swapped = true; |
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81 | #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM |
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82 | |
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83 | mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16); |
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84 | m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc; |
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85 | mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16); |
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86 | m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc; |
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87 | m_triangleSphereCF->m_swapped = true; |
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88 | |
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89 | mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16); |
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90 | m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc; |
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91 | |
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92 | //convex versus plane |
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93 | mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16); |
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94 | m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc; |
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95 | mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16); |
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96 | m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc; |
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97 | m_planeConvexCF->m_swapped = true; |
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98 | |
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99 | ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool |
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100 | int maxSize = sizeof(btConvexConvexAlgorithm); |
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101 | int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm); |
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102 | int maxSize3 = sizeof(btCompoundCollisionAlgorithm); |
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103 | int sl = sizeof(btConvexSeparatingDistanceUtil); |
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104 | sl = sizeof(btGjkPairDetector); |
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105 | int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize); |
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106 | collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2); |
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107 | collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3); |
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108 | |
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109 | if (constructionInfo.m_stackAlloc) |
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110 | { |
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111 | m_ownsStackAllocator = false; |
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112 | this->m_stackAlloc = constructionInfo.m_stackAlloc; |
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113 | } else |
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114 | { |
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115 | m_ownsStackAllocator = true; |
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116 | void* mem = btAlignedAlloc(sizeof(btStackAlloc),16); |
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117 | m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize); |
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118 | } |
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119 | |
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120 | if (constructionInfo.m_persistentManifoldPool) |
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121 | { |
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122 | m_ownsPersistentManifoldPool = false; |
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123 | m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool; |
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124 | } else |
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125 | { |
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126 | m_ownsPersistentManifoldPool = true; |
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127 | void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); |
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128 | m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize); |
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129 | } |
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130 | |
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131 | if (constructionInfo.m_collisionAlgorithmPool) |
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132 | { |
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133 | m_ownsCollisionAlgorithmPool = false; |
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134 | m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool; |
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135 | } else |
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136 | { |
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137 | m_ownsCollisionAlgorithmPool = true; |
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138 | void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); |
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139 | m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); |
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140 | } |
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141 | |
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142 | |
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143 | } |
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144 | |
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145 | btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration() |
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146 | { |
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147 | if (m_ownsStackAllocator) |
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148 | { |
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149 | m_stackAlloc->destroy(); |
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150 | m_stackAlloc->~btStackAlloc(); |
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151 | btAlignedFree(m_stackAlloc); |
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152 | } |
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153 | if (m_ownsCollisionAlgorithmPool) |
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154 | { |
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155 | m_collisionAlgorithmPool->~btPoolAllocator(); |
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156 | btAlignedFree(m_collisionAlgorithmPool); |
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157 | } |
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158 | if (m_ownsPersistentManifoldPool) |
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159 | { |
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160 | m_persistentManifoldPool->~btPoolAllocator(); |
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161 | btAlignedFree(m_persistentManifoldPool); |
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162 | } |
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163 | |
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164 | m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); |
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165 | btAlignedFree( m_convexConvexCreateFunc); |
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166 | |
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167 | m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); |
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168 | btAlignedFree( m_convexConcaveCreateFunc); |
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169 | m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); |
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170 | btAlignedFree( m_swappedConvexConcaveCreateFunc); |
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171 | |
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172 | m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc(); |
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173 | btAlignedFree( m_compoundCreateFunc); |
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174 | |
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175 | m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc(); |
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176 | btAlignedFree( m_swappedCompoundCreateFunc); |
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177 | |
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178 | m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc(); |
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179 | btAlignedFree( m_emptyCreateFunc); |
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180 | |
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181 | m_sphereSphereCF->~btCollisionAlgorithmCreateFunc(); |
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182 | btAlignedFree( m_sphereSphereCF); |
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183 | |
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184 | #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM |
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185 | m_sphereBoxCF->~btCollisionAlgorithmCreateFunc(); |
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186 | btAlignedFree( m_sphereBoxCF); |
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187 | m_boxSphereCF->~btCollisionAlgorithmCreateFunc(); |
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188 | btAlignedFree( m_boxSphereCF); |
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189 | #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM |
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190 | |
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191 | m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc(); |
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192 | btAlignedFree( m_sphereTriangleCF); |
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193 | m_triangleSphereCF->~btCollisionAlgorithmCreateFunc(); |
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194 | btAlignedFree( m_triangleSphereCF); |
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195 | m_boxBoxCF->~btCollisionAlgorithmCreateFunc(); |
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196 | btAlignedFree( m_boxBoxCF); |
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197 | |
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198 | m_convexPlaneCF->~btCollisionAlgorithmCreateFunc(); |
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199 | btAlignedFree( m_convexPlaneCF); |
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200 | m_planeConvexCF->~btCollisionAlgorithmCreateFunc(); |
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201 | btAlignedFree( m_planeConvexCF); |
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202 | |
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203 | m_simplexSolver->~btVoronoiSimplexSolver(); |
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204 | btAlignedFree(m_simplexSolver); |
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205 | |
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206 | m_pdSolver->~btConvexPenetrationDepthSolver(); |
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207 | |
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208 | btAlignedFree(m_pdSolver); |
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209 | |
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210 | |
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211 | } |
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212 | |
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213 | |
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214 | btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) |
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215 | { |
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216 | |
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217 | |
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218 | |
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219 | if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) |
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220 | { |
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221 | return m_sphereSphereCF; |
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222 | } |
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223 | #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM |
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224 | if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE)) |
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225 | { |
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226 | return m_sphereBoxCF; |
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227 | } |
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228 | |
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229 | if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) |
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230 | { |
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231 | return m_boxSphereCF; |
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232 | } |
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233 | #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM |
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234 | |
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235 | |
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236 | if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE)) |
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237 | { |
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238 | return m_sphereTriangleCF; |
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239 | } |
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240 | |
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241 | if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE)) |
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242 | { |
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243 | return m_triangleSphereCF; |
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244 | } |
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245 | |
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246 | if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) |
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247 | { |
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248 | return m_boxBoxCF; |
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249 | } |
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250 | |
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251 | if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE)) |
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252 | { |
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253 | return m_convexPlaneCF; |
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254 | } |
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255 | |
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256 | if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE)) |
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257 | { |
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258 | return m_planeConvexCF; |
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259 | } |
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260 | |
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261 | |
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262 | |
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263 | if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) |
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264 | { |
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265 | return m_convexConvexCreateFunc; |
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266 | } |
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267 | |
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268 | if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) |
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269 | { |
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270 | return m_convexConcaveCreateFunc; |
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271 | } |
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272 | |
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273 | if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) |
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274 | { |
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275 | return m_swappedConvexConcaveCreateFunc; |
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276 | } |
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277 | |
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278 | if (btBroadphaseProxy::isCompound(proxyType0)) |
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279 | { |
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280 | return m_compoundCreateFunc; |
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281 | } else |
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282 | { |
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283 | if (btBroadphaseProxy::isCompound(proxyType1)) |
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284 | { |
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285 | return m_swappedCompoundCreateFunc; |
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286 | } |
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287 | } |
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288 | |
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289 | //failed to find an algorithm |
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290 | return m_emptyCreateFunc; |
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291 | } |
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292 | |
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293 | void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold) |
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294 | { |
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295 | btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc; |
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296 | convexConvex->m_numPerturbationIterations = numPerturbationIterations; |
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297 | convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold; |
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298 | } |
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