| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h" |
| #include "BulletSoftBody/btSoftRigidCollisionAlgorithm.h" |
| #include "BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h" |
| #include "BulletSoftBody/btSoftSoftCollisionAlgorithm.h" |
| |
| #include "LinearMath/btPoolAllocator.h" |
| |
| #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1 |
| |
| btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) |
| :btDefaultCollisionConfiguration(constructionInfo) |
| { |
| void* mem; |
| |
| mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16); |
| m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc; |
| |
| mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); |
| m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; |
| |
| mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); |
| m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; |
| m_swappedSoftRigidConvexCreateFunc->m_swapped=true; |
| |
| #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS |
| mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); |
| m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc; |
| |
| mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); |
| m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc; |
| m_swappedSoftRigidConcaveCreateFunc->m_swapped=true; |
| #endif |
| |
| //replace pool by a new one, with potential larger size |
| |
| if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool) |
| { |
| int curElemSize = m_collisionAlgorithmPool->getElementSize(); |
| ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool |
| |
| |
| int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm); |
| int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm); |
| int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm); |
| |
| int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1); |
| collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2); |
| |
| if (collisionAlgorithmMaxElementSize > curElemSize) |
| { |
| m_collisionAlgorithmPool->~btPoolAllocator(); |
| btAlignedFree(m_collisionAlgorithmPool); |
| void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); |
| m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); |
| } |
| } |
| |
| } |
| |
| btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration() |
| { |
| m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc(); |
| btAlignedFree( m_softSoftCreateFunc); |
| |
| m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); |
| btAlignedFree( m_softRigidConvexCreateFunc); |
| |
| m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); |
| btAlignedFree( m_swappedSoftRigidConvexCreateFunc); |
| |
| #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS |
| m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); |
| btAlignedFree( m_softRigidConcaveCreateFunc); |
| |
| m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); |
| btAlignedFree( m_swappedSoftRigidConcaveCreateFunc); |
| #endif |
| } |
| |
| ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation |
| btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) |
| { |
| |
| ///try to handle the softbody interactions first |
| |
| if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE)) |
| { |
| return m_softSoftCreateFunc; |
| } |
| |
| ///softbody versus convex |
| if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1)) |
| { |
| return m_softRigidConvexCreateFunc; |
| } |
| |
| ///convex versus soft body |
| if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) |
| { |
| return m_swappedSoftRigidConvexCreateFunc; |
| } |
| |
| #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS |
| ///softbody versus convex |
| if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1)) |
| { |
| return m_softRigidConcaveCreateFunc; |
| } |
| |
| ///convex versus soft body |
| if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) |
| { |
| return m_swappedSoftRigidConcaveCreateFunc; |
| } |
| #endif |
| |
| ///fallback to the regular rigid collision shape |
| return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1); |
| } |