Changeset 1972 for code/branches/physics/src/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

Timestamp:

Oct 20, 2008, 5:40:38 PM (17 years ago)

Author:

rgrieder

Message:

Downgraded Bullet to latest tagged version: 2.72
That should give us more stability.

File:

• code/branches/physics/src/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp (modified) (16 diffs)

code/branches/physics/src/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp

@@ -51 +51 @@
 
 btSoftBodyTriangleCallback::btSoftBodyTriangleCallback(btDispatcher*  dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
-m_dispatcher(dispatcher),
-m_dispatchInfoPtr(0)
+          m_dispatcher(dispatcher),
+        m_dispatchInfoPtr(0)
 {
         m_softBody = (btSoftBody*) (isSwapped? body1:body0);
         m_triBody = isSwapped? body0:body1;
-
-        //
-        // create the manifold from the dispatcher 'manifold pool'
-        //
-        //        m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
-
+        
+          //
+          // create the manifold from the dispatcher 'manifold pool'
+          //
+//        m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
+
+          clearCache();
+}
+
+btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
+{
         clearCache();
-}
-
-btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback()
-{
-        clearCache();
-        //      m_dispatcher->releaseManifold( m_manifoldPtr );
-
-}
-
+//      m_dispatcher->releaseManifold( m_manifoldPtr );
+  
+}
+  
 
 void    btSoftBodyTriangleCallback::clearCache()
@@ -89 +89 @@
 void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
 {
-        //just for debugging purposes
+        //just for debugging purposes
         //printf("triangle %d",m_triangleCount++);
         btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
@@ -95 +95 @@
         ci.m_dispatcher1 = m_dispatcher;
 
-        ///debug drawing of the overlapping triangles
+                ///debug drawing of the overlapping triangles
         if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && m_dispatchInfoPtr->m_debugDraw->getDebugMode() > 0)
         {
@@ -108 +108 @@
         btHashKey<btTriIndex> triKey(triIndex.getUid());
 
-
+        
         btTriIndex* shapeIndex = m_shapeCache[triKey];
         if (shapeIndex)
@@ -117 +117 @@
                 //copy over user pointers to temporary shape
                 tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
-
+                
                 btCollisionShape* tmpShape = ob->getCollisionShape();
                 ob->internalSetTemporaryCollisionShape( tm );
-
+                
 
                 btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
-
+                
                 colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
                 colAlgo->~btCollisionAlgorithm();
@@ -134 +134 @@
 
         //btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
-
-        //      if (m_softBody->getCollisionShape()->getShapeType()==
-        {
-                //              btVector3 other;
+        
+//      if (m_softBody->getCollisionShape()->getShapeType()==
+        {
+//              btVector3 other;
                 btVector3 normal = (triangle[1]-triangle[0]).cross(triangle[2]-triangle[0]);
                 normal.normalize();
                 normal*= BT_SOFTBODY_TRIANGLE_EXTRUSION;
-                //              other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
-                //              other+=normal*22.f;
+//              other=(triangle[0]+triangle[1]+triangle[2])*0.333333f;
+//              other+=normal*22.f;
                 btVector3       pts[6] = {triangle[0]+normal,
                         triangle[1]+normal,
-                        triangle[2]+normal,
-                        triangle[0]-normal,
-                        triangle[1]-normal,
-                        triangle[2]-normal};
+                triangle[2]+normal,
+                triangle[0]-normal,
+                triangle[1]-normal,
+                triangle[2]-normal};
 
                 btConvexHullShape* tm = new btConvexHullShape(&pts[0].getX(),6);
 
 
-                //              btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
-
+//              btBU_Simplex1to4 tm(triangle[0],triangle[1],triangle[2],other);
+                
                 //btTriangleShape tm(triangle[0],triangle[1],triangle[2]);      
-                //      tm.setMargin(m_collisionMarginTriangle);
-
+        //      tm.setMargin(m_collisionMarginTriangle);
+                
                 //copy over user pointers to temporary shape
                 tm->setUserPointer(ob->getRootCollisionShape()->getUserPointer());
-
+                
                 btCollisionShape* tmpShape = ob->getCollisionShape();
                 ob->internalSetTemporaryCollisionShape( tm );
-
+                
 
                 btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_softBody,m_triBody,0);//m_manifoldPtr);
@@ -170 +170 @@
 
                 //m_resultOut->setShapeIdentifiers(-1,-1,partId,triangleIndex);
-                //      cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
-                //              cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
+        //      cvxcvxalgo.setShapeIdentifiers(-1,-1,partId,triangleIndex);
+//              cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
                 colAlgo->processCollision(m_softBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
                 colAlgo->~btCollisionAlgorithm();
                 ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
-
-
+                
+                
                 ob->internalSetTemporaryCollisionShape( tmpShape );
                 triIndex.m_childShape = tm;
@@ -183 +183 @@
         }
 
-
+        
 
 }
@@ -195 +195 @@
         m_resultOut = resultOut;
 
-
+        
         btVector3       aabbWorldSpaceMin,aabbWorldSpaceMax;
         m_softBody->getAabb(aabbWorldSpaceMin,aabbWorldSpaceMax);
@@ -218 +218 @@
 void btSoftBodyConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
 {
-
-
+        
+        
         btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
         btCollisionObject* triBody = m_isSwapped ? body0 : body1;
@@ -229 +229 @@
                 btCollisionObject*      triOb = triBody;
                 btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
-
-                //      if (convexBody->getCollisionShape()->isConvex())
+                
+        //      if (convexBody->getCollisionShape()->isConvex())
                 {
                         btScalar collisionMarginTriangle = concaveShape->getMargin();
-
-                        //                      resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
+                                        
+//                      resultOut->setPersistentManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
                         m_btSoftBodyTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
 
@@ -240 +240 @@
                         //m_dispatcher->clearManifold(m_btSoftBodyTriangleCallback.m_manifoldPtr);
 
-                        //                      m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
+//                      m_btSoftBodyTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
 
 
                         concaveShape->processAllTriangles( &m_btSoftBodyTriangleCallback,m_btSoftBodyTriangleCallback.getAabbMin(),m_btSoftBodyTriangleCallback.getAabbMax());
-
-                        //      resultOut->refreshContactPoints();
-
-                }
-
+                        
+                //      resultOut->refreshContactPoints();
+        
+                }
+        
         }
 
@@ -288 +288 @@
                 btScalar        m_ccdSphereRadius;
                 btScalar        m_hitFraction;
-
+        
 
                 LocalTriangleSphereCastCallback(const btTransform& from,const btTransform& to,btScalar ccdSphereRadius,btScalar hitFraction)
@@ -297 +297 @@
                 {                       
                 }
-
-
+                
+                
                 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
                 {
@@ -328 +328 @@
 
 
-
-
-
+        
+
+        
         if (triBody->getCollisionShape()->isConcave())
         {
@@ -350 +350 @@
 
                 btConcaveShape* triangleMesh = (btConcaveShape*) concavebody->getCollisionShape();
-
+                
                 if (triangleMesh)
                 {
                         triangleMesh->processAllTriangles(&raycastCallback,rayAabbMin,rayAabbMax);
                 }
-
+