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Merge pull request #2 from GarageGames/development

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Jumping into the future
This commit is contained in:
Thomas Dickerson 2017-01-05 12:21:06 -05:00 • committed by GitHub
commit 3f73bb99b9
4616 changed files with 756013 additions and 196255 deletions
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13
.gitattributes vendored
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# Set to always use Windows line endings
*.cs text eol=crlf
# Explicitly declare text files we want to always be normalized and converted
# to native line endings on checkout.
*.c text
*.h text
*.cpp text
*.hpp text
*.ppm text
*.nsh text
*.nlf text
*.command
*.txt
*.ini

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.gitignore vendored
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@ -40,6 +40,11 @@ local.properties
*.suo
*.user
*.sln.docstates
*.sln
*.vcxproj
*.vcxproj.filters
*.vcproj
# Build results
[Dd]ebug/
@ -62,6 +67,11 @@ local.properties
*.vspscc
.builds
*.dotCover
*.dll
*.lib
*.exp
*.exe
## TODO: If you have NuGet Package Restore enabled, uncomment this
#packages/

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CMakeLists.txt Normal file
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cmake_minimum_required (VERSION 2.8.12)
set(TORQUE_APP_NAME "" CACHE STRING "the app name")
set(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/temp" CACHE PATH "default install path" FORCE )
if("${TORQUE_APP_NAME}" STREQUAL "")
message(FATAL_ERROR "Please set TORQUE_APP_NAME first")
endif()
project(${TORQUE_APP_NAME})
add_subdirectory(Tools/CMake)

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CONTRIBUTING.md Normal file
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# Torque 3D contribution guidelines
So you want to help Torque out by contributing to the repo? That's awesome!
We just ask that you'd give this document a quick read to get yourself familiar with the process.
Do you want to [request a feature](#request-a-feature)?
Create a [pull-request](#create-a-pull-request) to contribute your own code to the engine?
[Report an issue](#report-an-issue) you've discovered?
## Report an issue
Before you report an issue with the engine, please [search](https://github.com/GarageGames/Torque3D/issues) and quickly make sure someone else hasn't obviously reported it.
If you're not sure if it's the same issue, go ahead and comment on it!
Once you're certain you've found a new issue, hit the [big green button](https://github.com/GarageGames/Torque3D/issues/new) and please include the following information:
* Your platform and compiler, if you're not using a precompiled binary
* Steps to reproduce the issue, if _at all_ possible
* If it's related to graphics, your GFX card and driver details.
## Create a pull-request
We ask that potential contributors read our [pull-request guidelines](http://torque3d.org/contribute/#pull-request-guide) before opening a PR.
We also have some [code style guidelines](https://github.com/GarageGames/Torque3D/wiki/Code-Style-Guidelines).
Here's a quick guide to the branches in this repo that you might think of targeting a PR at:
### The master branch
The repository's `master` branch is where we make releases.
It's supposed to be stable at all times - or as stable as we can make it - and only gets updated when a new version comes out.
Any pull-requests to the master branch will have to be rejected - sorry :(.
### The development branch
The `development` branch is where most development happens.
It is the target for the next 'middle' version of the engine (the 6 in 3.6.1, for example).
This means we will add new features, and refactor code if it doesn't break existing games made with the engine _too_ much*.
Most pull requests to `development` can be accepted if we like your code - unless they would potentially break users' games.
*How much is _too_ much is for the Steering Committee to decide.
### The development-3.6 branch
The `development-3.6` branch is where we will make bugfixes and small patches to the previous stable 'middle' version.
This branch is where the 'small' versions will be created - 3.6.2, 3.6.3, etcetera.
So if you have a bugfix or tiny enhancement that doesn't require anyone to change their game, it'd be best appreciated in this branch.
### TLDR
Don't make any PRs to `master`.
PR new features and large fixes/refactorings to `development`.
PR bugfixes to `development-3.6`.
## Request a feature
We ask that all feature requests be discussed in the [GarageGames forums](http://www.garagegames.com/community/forums), our [IRC channel](http://torque3d.wikidot.com/community:chat), or on our [UserVoice feature request voting page](https://garagegames.uservoice.com/forums/178972-torque-3d-mit/filters/top) before making an issue here.
If your idea is popular, we'll hear of it and probably make an issue ourselves, if we agree.
Even better - don't request a feature, start working on it!
This engine isn't going to improve itself ;).

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language: cpp
os:
- linux
- osx
compiler:
- gcc
- clang
addons:
apt:
packages:
- python3
script:
- echo "CXX="$CXX
- echo "CC="$CC
- cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure
# Build again with double precision
- cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure
# Build again with shared libraries
- cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
- make -j8
- ctest -j8 --output-on-failure
- sudo make install

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Engine/lib/bullet/AUTHORS
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@ -1,22 +0,0 @@
Bullet Physics Library is an open source project with help from the community at the Physics Forum
See the forum at http://bulletphysics.com
The project was started by Erwin Coumans
Following people contributed to Bullet
(random order, please let us know on the forum if your name should be in this list)
Gino van den Bergen: LinearMath classes
Christer Ericson: parts of the voronoi simplex solver
Simon Hobbs: 3d axis sweep and prune, Extras/SATCollision, separating axis theorem + SIMD code
Dirk Gregorius: generic D6 constraint
Erin Catto: accumulated impulse in sequential impulse
Nathanael Presson: EPA penetration depth calculation
Francisco Leon: GIMPACT Concave Concave collision
Joerg Henrichs: make buildsystem (work in progress)
Eric Sunshine: jam + msvcgen buildsystem
Steve Baker: GPU physics and general implementation improvements
Jay Lee: Double precision support
KleMiX, aka Vsevolod Klementjev, managed version, rewritten in C# for XNA
Erwin Coumans: most other source code

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Engine/lib/bullet/AUTHORS.txt Normal file
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Bullet Physics is created by Erwin Coumans with contributions from the following authors / copyright holders:
AMD
Apple
Steve Baker
Gino van den Bergen
Nicola Candussi
Erin Catto
Lawrence Chai
Erwin Coumans
Christer Ericson
Disney Animation
Google
Dirk Gregorius
Marcus Hennix
MBSim Development Team
Takahiro Harada
Simon Hobbs
John Hsu
Ole Kniemeyer
Jay Lee
Francisco Leon
Vsevolod Klementjev
Phil Knight
John McCutchan
Steven Peters
Roman Ponomarev
Nathanael Presson
Gabor PUHR
Arthur Shek
Russel Smith
Sony
Jakub Stephien
Marten Svanfeldt
Pierre Terdiman
Steven Thompson
Tamas Umenhoffer
Yunfei Bai
If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3

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# -*- cmake -*-
#
# BulletConfig.cmake(.in)
#
# Use the following variables to compile and link against Bullet:
# BULLET_FOUND - True if Bullet was found on your system
# BULLET_USE_FILE - The file making Bullet usable
# BULLET_DEFINITIONS - Definitions needed to build with Bullet
# BULLET_INCLUDE_DIR - Directory where Bullet-C-Api.h can be found
# BULLET_INCLUDE_DIRS - List of directories of Bullet and it's dependencies
# BULLET_LIBRARIES - List of libraries to link against Bullet library
# BULLET_LIBRARY_DIRS - List of directories containing Bullet' libraries
# BULLET_ROOT_DIR - The base directory of Bullet
# BULLET_VERSION_STRING - A human-readable string containing the version
set ( BULLET_FOUND 1 )
set ( BULLET_USE_FILE "@BULLET_USE_FILE@" )
set ( BULLET_DEFINITIONS "@BULLET_DEFINITIONS@" )
set ( BULLET_INCLUDE_DIR "@INCLUDE_INSTALL_DIR@" )
set ( BULLET_INCLUDE_DIRS "@INCLUDE_INSTALL_DIR@" )
set ( BULLET_LIBRARIES "@BULLET_LIBRARIES@" )
set ( BULLET_LIBRARY_DIRS "@LIB_DESTINATION@" )
set ( BULLET_ROOT_DIR "@CMAKE_INSTALL_PREFIX@" )
set ( BULLET_VERSION_STRING "@BULLET_VERSION@" )

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Engine/lib/bullet/BulletLicense.txt
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@ -1,17 +0,0 @@
/*
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.
*/
Free for commercial use, but please mail bullet@erwincoumans.com to report projects, and join the forum at
www.continuousphysics.com/Bullet/phpBB2

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Engine/lib/bullet/CMakeLists.txt
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@ -1,72 +1,352 @@
cmake_minimum_required(VERSION 2.4)
cmake_minimum_required(VERSION 2.4.3)
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
SET(BULLET_VERSION 2.75)
SET(BULLET_VERSION 2.85)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
if(POLICY CMP0042)
# Enable MACOSX_RPATH by default.
cmake_policy(SET CMP0042 NEW)
endif(POLICY CMP0042)
ENDIF(COMMAND cmake_policy)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
ENDIF (NOT CMAKE_BUILD_TYPE)
ENDIF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
#statically linking VC++ isn't supported for WindowsPhone/WindowsStore
IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
ELSE ()
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
#MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG})
IF(MSVC)
IF (NOT USE_MSVC_INCREMENTAL_LINKING)
#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3})
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}")
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3})
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" )
ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
#We statically link to reduce dependancies
FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
IF(${flag_var} MATCHES "/MD")
STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MD")
IF(${flag_var} MATCHES "/MDd")
STRING(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MDd")
ENDFOREACH(flag_var)
ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
IF (USE_MSVC_SSE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
ENDIF()
ENDIF()
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
ENDIF()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
ENDIF(MSVC)
IF (WIN32)
OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF)
IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR})
ELSE()
SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
ENDIF()
OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)
OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF)
SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.")
SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.")
SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.")
IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
SET(CMAKE_SUPPRESS_REGENERATION 1)
SET(CMAKE_USE_RELATIVE_PATHS 1)
ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
ENDIF (WIN32)
OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF)
IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
IF (USE_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
IF(BULLET2_USE_THREAD_LOCKS)
ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
IF (NOT MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF (NOT MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
IF (WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )
ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
IF (USE_GLUT AND MSVC)
string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
remove_definitions(-D_WINDOWS )
ENDIF()
ELSE(WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ENDIF(WIN32)
# string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
remove_definitions(-D_WINDOWS )
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
ENDIF(COMMAND cmake_policy)
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
FIND_PACKAGE(OpenGL)
IF (OPENGL_FOUND)
MESSAGE("OPENGL FOUND")
MESSAGE(${OPENGL_LIBRARIES})
MESSAGE("OPENGL FOUND")
MESSAGE(${OPENGL_LIBRARIES})
ELSE (OPENGL_FOUND)
MESSAGE("OPENGL NOT FOUND")
SET(OPENGL_gl_LIBRARY opengl32)
SET(OPENGL_glu_LIBRARY glu32)
MESSAGE("OPENGL NOT FOUND")
SET(OPENGL_gl_LIBRARY opengl32)
SET(OPENGL_glu_LIBRARY glu32)
ENDIF (OPENGL_FOUND)
# ADD_DEFINITIONS(-DBT_USE_FREEGLUT)
FIND_PACKAGE(GLU)
FIND_PACKAGE(GLUT)
IF (GLUT_FOUND)
MESSAGE("GLUT FOUND")
MESSAGE(${GLUT_glut_LIBRARY})
ELSE (GLUT_FOUND)
IF (MINGW)
MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
SET(GLUT_glut_LIBRARY glut32)
ENDIF (MINGW)
IF (MSVC)
MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
ENDIF (MSVC)
ENDIF (GLUT_FOUND)
#FIND_PACKAGE(GLU)
IF (WIN32)
INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/Glut)
ELSE (WIN32)
# This is the lines for linux. This should always work if everything is installed and working fine.
INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
ENDIF (WIN32)
IF (APPLE)
FIND_LIBRARY(COCOA_LIBRARY Cocoa)
ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
IF(BUILD_PYBULLET_NUMPY)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
#include(FindNumPy)
FIND_PACKAGE(NumPy)
if (PYTHON_NUMPY_FOUND)
message("NumPy found")
add_definitions(-DPYBULLET_USE_NUMPY)
else()
message("NumPy not found")
endif()
ENDIF()
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
IF(WIN32)
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
ELSE(WIN32)
SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
ENDIF(WIN32)
ENDIF(BUILD_PYBULLET)
IF(BUILD_BULLET3)
IF(APPLE)
MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9)
MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
#unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
ELSE()
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
ENDIF()
ELSE()
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
ENDIF()
ELSE(BUILD_BULLET3)
unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF)
ENDIF(BUILD_BULLET3)
IF(BUILD_OPENGL3_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
SUBDIRS(Demos3)
ENDIF()
ELSE()
ADD_DEFINITIONS(-DNO_OPENGL3)
ENDIF(BUILD_OPENGL3_DEMOS)
OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON)
IF(BUILD_BULLET2_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
SUBDIRS(examples)
ENDIF()
IF (BULLET2_USE_THREAD_LOCKS)
OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF)
OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
IF (MSVC)
OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
ENDIF (MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
ENDIF(BUILD_BULLET2_DEMOS)
OPTION(BUILD_DEMOS "Set when you want to build the demos" ON)
IF(BUILD_DEMOS)
SUBDIRS(Demos)
ENDIF(BUILD_DEMOS)
OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
IF(BUILD_EXTRAS)
SUBDIRS(Extras)
ENDIF(BUILD_EXTRAS)
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
SUBDIRS(src)
IF("${CMAKE_GENERATOR}" MATCHES "Unix Makefiles")
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
ELSE()
IF(APPLE AND FRAMEWORK)
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
ELSE()
#by default, don't enable the 'INSTALL' option for Xcode and MSVC projectfiles
OPTION(INSTALL_LIBS "Set when you want to install libraries" OFF)
ENDIF()
ENDIF()
IF(INSTALL_LIBS)
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
## the following are directories where stuff will be installed to
SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
IF(NOT MSVC)
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
INSTALL(
FILES
${CMAKE_CURRENT_BINARY_DIR}/bullet.pc
DESTINATION
${PKGCONFIG_INSTALL_PREFIX})
ENDIF(NOT MSVC)
ENDIF(INSTALL_LIBS)
#INSTALL of other files requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
IF (BUILD_UNIT_TESTS)
ENABLE_TESTING()
SUBDIRS(test)
ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_LIBRARIES LinearMath)
IF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
ENDIF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES BulletCollision)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
@ONLY ESCAPE_QUOTES
)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
)

745
Engine/lib/bullet/ChangeLog
View file

@ -1,745 +0,0 @@
Bullet Continuous Collision Detection and Physics Library
Primary author and maintainer: Erwin Coumans
Please see http://code.google.com/p/bullet/source/list for more complete log in Subversion
2009 September 17
- Minor update to Bullet 2.75 release, revision 1770
- Support for btConvex2dShape, check out Bullet/Demos/Box2dDemo
- Minor fix in btGjkPairDetector
- Initialize world transform for btCollisionShape in constructor
2009 September 6
- Bullet 2.75 release
- Added SPH fluid simulation in Extras, not integrated with rigid body / soft body yet
Thanks to Rama Hoetzlein to make this contribution available under the ZLib license
- add special capsule-capsule collider code in btConvexConvexCollisionAlgorithm, to speed up capsule-ragdolls
- soft body improvement: faster building of bending constraints
- soft body improvement: allow to disable/enable cluster self-collision
- soft body fix: 'exploding' soft bodies when using cluster collision
- fix some degenerate cases in continuous convex cast, could impact ray cast/convex cast
Thanks to Jacob Langford for the report and reproduction cases, see http://code.google.com/p/bullet/issues/detail?id=250&can=1&start=200
- re-enabled split impulse
- added btHinge2Constraint, btUniversalConstraint, btGeneric6DofSpringConstraint
- demonstrate 2D physics with 2D/3D object interaction
2008 December 2
- Fix contact refresh issues with btCompoundShape, introduced with btDbvt acceleration structure in btCompoundCollisionAlgorithm
- Made btSequentialImpulseConstraintSolver 100% compatible with ODE quickstep
constraints can use 'solveConstraint' method or 'getInfo/getInfo2'
2008 November 30
- Add highly optimized SIMD branchless PGS/SI solver innerloop
2008 November 12
- Add compound shape export to BulletColladaConverter
Thanks to JamesH for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=12&t=2840
- Fix compiler build for Visual Studio 6
Thanks to JoF for the report: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2841
2008 November 11
- Add CProfileManager::dumpAll() to dump performance statistics to console using printf.
- Add support for interaction between btSoftBody and btCollisionObject/btGhostObject
2008 November 8
- Fix PosixThreadSupport
- Add improved btHeightfieldTerrainShape support and new Demos/TerrainDemo
Thanks to tomva, http://code.google.com/p/bullet/issues/detail?id=63&can=1
- Moved kinematic character controller from Demos/CharacterDemo into src/BulletDynamics/Character/btKinematicCharacterController.cpp
2008 November 6
- reduced default memory pool allocation from 40Mb to 3Mb. This should be more suitable for all platforms, including iPhone
- improved CUDA broadphase
- IBM Cell SDK 3.x support, fix ibmsdk Makefiles
- improved CMake support with 'install' and 'framework option
2008 November 4
- add btAxisSweep::resetPool to avoid non-determinism due to shuffled linked list
Thanks to Ole for the contribution,
2008 October 30
- disabled btTriangleMesh duplicate search by default, it is extremely slow
- added Extras/IFF binary chunk serialization library as preparation for in-game native platform serialization (planned COLLADA DOM -> IFF converter)
2008 October 20
- added SCE Physics Effects box-box collision detection for SPU/BulletMultiThreaded version
See Bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.cpp
Thanks to Sony Computer Entertainment Japan, SCEI for the contribution
2008 October 17
- Added btGhostObject support, this helps character controller, explosions, triggers and other local spatial queries
2008 October 10
- Moved aabb to btBroadphaseProxy, improves rayTest dramatically. Further raytest improvements using the broadphase acceleration structures are planned
- Moved BulletMultiThreaded from Extras to /src/BulletMultiThreaded for better integration
2008 October 3
- Add support for autoconf automake
./autogen.sh and ./configure will create both Makefile and Jamfile. CMake and autogenerated Visual Studio projectfiles remain supported too.
- Improved ColladaConverter: plane shape export, and callback for shape construction to allow deletion of memory
2008 Sept 30
- Improved Soft Body support, fixed issues related to soft body colliding against concave triangle meshes
- Shared more code between regular version and SPU/BulletMultiThreaded, in particular GJK/EPA
2008 Sept 28
- Fixed rotation issues in Dynamic Maya Plugin
2008 Sept 11
- Enable CCD motion clamping for btDiscreteDynamicsWorld, to avoid tunneling. A more advanced solution will be implemented in btContinuousDynamicsWorld.
2008 Sept 7
- Add btScaledBvhTriangleMeshShape, to allow re-use of btBvhTriangleMeshShape of different sizes, without copying of the BVH data.
2008 Sept 5
- Enabled Demos/ForkLiftDemo
Thanks Roman Ponomarev.
2008 Sept 4
- Added btCudaBroadphase in Extras/CUDA: some research into accelerating Bullet using CUDA.
Thanks to the particle demo from the NVidia CUDA SDK.
2008 Sept 3
- Several bug fixes and contributions related to inertia tensor, memory leaks etc.
Thanks to Ole K.
2008 Sept 1
- Updated CDTestFramework, with latest version of OPCODE Array SAP. See Extras/CDTestFramework
Thanks to Pierre Terdiman for the update
2008 August 25
- Walt Disney Studios contributes their in-house Maya Plugin for simulating Bullet physics, with options for other engines such as PhysBam or PhysX.
Thanks to Nicola Candussi and Arthur Shek
2008 August 14
- Improved performance for btDbvtBroadphase, based on dual dynamic AABB trees (one for static, one for dynamic objects, where objects can move from one to the other tree)
Thanks to Nathanael Presson again, for all his work.
2008 July 31
- Added Havok .hkx to COLLADA Physics .dae converter patch+information
- Fix btSubsimplexConvexCast
Thanks to Nacho, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2422)
- Fix in rendering, GL_STENCIL
- btTriangleIndexVertexArray indices should be unsigned int/unsigned short int,
- Made InternalProcessAllTriangles virtual, thanks to
Both thank to Fullmetalcoder, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2401
- clamp impulse for btPoint2PointConstraint
Thanks to Martijn Reuvers, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2418
- Free memory of bvh, pass in scaling factor (optional)
Thanks to Roy Eltham, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=2375
2008 July 27
btDbvtBroadphase:
- Fixed a performance issues reported by 'reltham'
- Added btDbvtBroadphase::optimize() for people who want good performances right
away or don't do dynamics.
- fixed compilation issues when DBVT_BP_PROFILE was set.
btSoftBody:
- Fixed singular matrix issues related to polar decomposition (flat meshes).
DemoApplication:
- Shadows (enable/disable through 'g' or DemoApplication::setShadows(bool)).
- Texture can be enable/disable through 'u'
CDFramework:
- fixed compilation issues.
All thanks to Nathanael Presson
2008 July 10
- Added btMultimaterialTriangleMeshShape and MultiMaterialDemo
Thanks to Alex Silverman for the contribution
2008 June 30
- Added initial support for kinematic character controller
Thanks to John McCutchan
2008 April 14
- Added ray cast support for Soft Bodies
Thanks to Nathanael Presson for the contribution
2008 April 9
- Cleanup of Stan Melax ConvexHull, removed Extras/ConvexHull, moved sources into LinearMath/BulletCollision
2008 April 4
- Added btSliderConstraint and demo
Thanks Roman Ponomarev
2008 April 3
- Fixed btMinkowskiSumShape, and added hitpoint to btSubsimplexConvexCast
2008 April 2
- Added Extras/CdTestFrameWork
Thanks Pierre Terdiman
2008 April 1
- Added posix thread (pthread) support
Thanks Enrico
2008 March 30
- Added Soft Body, cloth, rope and deformable volumes, including demos and interaction
Thanks Nathanael Presson for this great contribution
2008 March 17
- Improved BulletColladaConverter
Thanks John McCutchan
2008 March 15
- btMultiSapBroadphase in a working state. Needs more optimizations to be fully useable.
- Allow btOptimizedBvh to be used for arbitrary objects, not just triangles
- added quicksort to btAlignedObjectArray
- removed btTypedUserInfo, added btHashMap
2008 March 30
- Moved quickstep solver and boxbox into Bullet/src folder
Thanks Russell L. Smith for permission to redistribute Open Dynamics Engine quickstep and box-box under the ZLib license
2008 Feb 27
- Added initial version for Character Control Demo
- Applied fixes to IBM Cell SDK 3.0 build makefiles
Thanks Jochen and mojo for reporting/providing patch: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1922
2008 Feb 8
- Bugfixes in ConvexCast support against the world.
Thanks to Isgmasa for reporting/providing fix: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1823
2008 Feb 6
- Added btCapsuleShapeX and btCapsuleShapeZ for capsules around X and Z axis (default capsule is around Y)
2008 Feb 3
- Added btTypedUserInfo, useful for serialization
2008 Jan 31
- Add support for 16 and 32-bit indices for SPU / BulletMultiThreaded version.
2008 Jan 29
- Added COLLADA Physics export/serialization/snapshot from any Bullet btDynamicsWorld. Saving the physics world into a text .xml file is useful for debugging etc.
2008 Jan 23
- Added Stan Melax Convex Hull utility library in Extras/ConvexHull. This is useful to render non-polyhedral convex objects, and to simplify convex polyhedra.
2008 Jan 14
- Add support for batch raycasting on SPU / BulletMultiThreaded
2007 Dec 16
- Added btRigidBodyConstructionInfo, to make it easier to set individual setting (and leave other untouched) during rigid body construction.
Thanks Vangelis Kokkevis for pointing this out.
- Fixed memoryleak in the ConstraintDemo and Raytracer demo.
- Fixed issue with clearing forces/gravity at the end of the stepSimulation, instead of during internalSingleStepSimulation.
Thanks chunky for pointing this out: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1780
- Disabled additional damping in rigid body by default, but enable it in most demos. Set btRigidBodyConstructionInfo m_additionalDamping to true to enable this.
- Removed obsolete QUICKPROF BEGIN/END_PROFILE, and enabled BT_PROFILE. Profiling is enabled by default (see Bullet/Demos/OpenGL/DemoApplication.cpp how to use this).
User can switch off profiling by enabling define BT_NO_PROFILE in Bullet/src/btQuickprof.h.
2007 Dec 14
- Added Hello World and BulletMultiThreaded demos
- Add portable version of BulletMultiThreaded, through SequentialThreadSupport (non-parallel but sharing the same code-path)
- Add Cmake support for AllBulletDemos
2007 Dec 11
- Moved the 'btRigidBody::clearForce' to the end of the stepSimulation, instead of in each substep.
See discussion http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1601
- Added btConvexPlaneCollisionAlgorithm, makes planes perform better, and prevents tunneling
Thanks Andy O'Neil for reporting the performance/functionality issue
- Fixes for IBM Cell SDK 3.0
Thanks to Jochen Roth for the patch.
2007 Dec 10
- Fixes in btHeightfieldTerrainShape
Thanks to Jay Lee for the patch.
2007 Dec 9
- Only update aabb of active objects
Thanks Peter Tchernev for reporting (http://bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1764 )
- Added workaround to compile libxml under Visual Studio 2008 Beta 2
- Make glui compile under MSVC 9.0 beta (vsnprintf is already defined)
2007 Dec 6
- Added DynamicControlDemo, showing dynamic control through constraint motors
Thanks to Eddy Boxerman
- Add support for generic concave shapes for convex cast.
- Added convex cast query to collision world.
- Added workaround for OpenGL bug in Mac OS X 10.5.0 (Leopard)
- Added concave raycast demo
All above thanks to John McCutchan (JMC)
- Fixed issues that prevent Linux version to compile.
Thanks to Enrico for reporting and patch, see
- Fixed misleading name 'numTriangleIndices' into 'numTriangles'
Thanks Sean Tasker for reporting:
2007 Nov 28:
- Added raycast against trianglemesh. Will be extended to object cast soon.
Thanks John McCutchan (JMC)
- make getNumPoints const correct, add const getPoints().
Thanks Dirk Gregorius
- Bugfix: allow btCollisionObjects (non-btRigidBody) to interact properly with btRigidBody for cache-friendly btSequentialImpulseConstraintSolver.
Thanks Andy O'Neil for pointing this out.
- Bugfix: don't fail if spheres have identical center, use arbitrary separating normal (1,0,0)
Thanks Sean Tasker for reporting! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1681
2007, November 20
- Added hierarchical profiling
- Fixed memory leak in btMultiSapBroadphase,
- Fixed hash function (typo, should use 2 proxies)
Thanks to Stephen (shatcher) for reporting and fixes! http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1696
2007 Nov 11
- Fixed parallel solver (BulletMultiThreaded) friction issue
- Terminate Win32 Threads when closing the CcdPhysicsDemo (when USE_PARALLEL_SOLVER/USE_PARALLEL_DISPATCHER is defined)
2007 Nov 6
- Added support for 16-bit indices for triangle meshes
- Added support for multiple mesh parts using btBvhTriangleMeshShape.
Thanks to Tim Johansson
2007 Oct 22
- All memory allocations go through btAlignedAlloc/btAlignedFree. User can override this to verify memory leaks
- added a few more demos to AllBulletDemos
- fix for one of the constructors of btHingeConstraint
Thanks Marcus Hennix
2007 Oct 20
- included glui, a GLUT/OpenGL based toolkit for some graphical user elements
Removed dynamic_cast from glui, to allow linkage without rtti
- added Box2D framework using glui, allowing all demos to run within one executable
Thanks Erin Catto for the FrameWork skeleton (http://www.box2d.org)
2007 Ocy 17
- Allow user to pass in their own memory (stack and pool) allocators, through collisionConfiguration. See demos how to use this
2007 Oct 14
- Included working version of Cell SPU parallel optimized version for Libspe2 SPU task scheduler.
This version compiles and runs on Playstation 3 Linux and IBM CellBlade, see BulletSpuOptimized.pdf for build instructions
(Official Playstation 3 developers can request a SPURS version through Sony PS3 Devnet.)
Thanks to IBM 'Extreme Blue' project for the contribution
http://www-913.ibm.com/employment/us/extremeblue/
Thanks Minh Cuong Tran, Benjamin Hoeferlin, Frederick Roth and Martina Huellmann
for various contributions to get this initial Libspe2 parallel version up and running.
2007 Oct 13
- made 'btCollisionShape::calculateLocalInertia' const
Thanks to cgripeos, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1514
- applied a large patch to remove warnings
Thanks to Enrico, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1568
- removed SSE includes, added #incude <string.h> for memset in Extras/quickstep, thanks Eternl Knight
2007 Oct 11
- added Hashed Overlapping Pair Cache, recommended by Pierre Terdiman. It works like a charm, thanks Pierre and Erin Catto (code from Box2D)
- modified some margins inside btBoxShape, btCylinderShape and btSphereShape
- added cone debug rendering (for cones with x, y and z up-axis)
- added improvements for optional Extra/quickstep, thanks to Remotion
- some performance improvements for Bullet constraint solver
2007 Sept 28
- upgraded GIMPACT to version 0.3
Thanks to Francisco Leon
2007 Sept 27
- added contribution from IBM Extreme Blue project for Libspe2 support. This allow to execute BulletMultiThreaded on Cell SPU under PS3 Linux and Cell Blade. See http://www-913.ibm.com/employment/us/extremeblue
Thanks to Minh Cuong Tran, Frederick Roth, Martina Heullmann and Benjamin Hoeferlin.
2007 Sept 13
- Improved btGenericD6Constraint. It can be used to create ragdolls (similar to the new btConeTwistConstraint). See GenericJointDemo
- Added support for Bullet constraints in the optional Extras/quickstep ODE solver. See CcdPhysicsDemo, enable #COMPARE_WITH_QUICKSTEP and add libquickstep to the dependencies.
For both patches/improvements thanks Francisco Leon/projectileman
2007 Sept 10
- removed union from btQuadWordStorage, it caused issues under certain version of gcc/Linux
2007 Sept 10
- Reverted constraint solver, due to some issues. Need to review the recent memory allocation changes.
- Fixed issue with kinematic objects rotating at low speed: quaternion was de-normalized, passing value > 1 into acosf returns #IND00 invalid values
- 16 byte memory alignment for BVH serialization
- memory cleanup for btPoolAllocator
2007 Sept 9
- Added serialization for BVH/btBvhTriangleMeshShape, including endian swapping. See ConcaveDemo for an example.
Thanks to Phil Knight for the contribution.
- Fixed issues related to stack allocator/compound collision algorithm
Thanks Proctoid, http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=18&t=1460
- Increase some default memory pool settings, and added a fallback for the constraints solver to use heap memory
- Removed accidential testing code in btScalar.h related to operator new.
- Enable btAxis3Sweep and bt32BitAxis3Sweep to be linked in at the same time, using template
2007 Sept 7
- Replaced several dynamic memory allocations by stack allocation and pool allocations
- Added branch-free quantized aabb bounding box overlap check, works better on Playstation 3 and XBox 360
Thanks to Phil Knight. Also see www.cellperformance.com for related articles
- Collision algorithms and settings for the memory/stack allocator can be done using btDefaultCollisionConfiguration
This is an API change. See demos how to modify existing implementations with a one-liner.
- Register several collision algorithms by default (sphere-sphere, sphere-box, sphere-triangle)
- Use other traveral method for BVH by default, this improves triangle mesh collision performance.
2007 Aug 31
- fixed MSVC 6 build
Thanks Proctoid, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1375
- fixed double precision build issues
Thanks Alex Silverman, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1434
2007 Aug 24
- fixed bug in btMatrix3x3::transposeTimes(const btMatrix3x3& m) const. Luckily it wasn't used in core parts of the library (yet).
Thanks to Jay Lee
2007 Aug 15
- fixed bug in Extras/GIMPACT 0.2 related to moving triangle meshes
Thanks Thomas, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1368
2007 Aug 14
- added parallel constraint solver. Works on Playstation 3 Cell SPU and multi core (Win Threads on PC and XBox 360).
See Extras/BulletMultiThreaded for SpuSolverTask subfolder and SpuParallelSolver.cpp
Thanks Marten Svanfeldt (Starbreeze Studios)
- fixed some bugs related to parallel collision detection (Extras/BulletMultiThreaded)
Thanks Marten Svanfeldt (Starbreeze Studios)
2007 Aug 2
- added compound and concave-convex (swapped) case for BulletMultiThreaded collision detection, thanks to Marten Svanfeldt
- refactored broadphase and overlapping pair cache. This allows performance improvement by combining multiple broadphases. This helps add/remove of large batches of objects and large worlds. See also Pierre Terdiman forum topic:
http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
2007 July 27
- added Ragdoll Demo
Thanks to Marten Svanfeldt (Starbreeze Studios)
- added Vector Math library for SIMD 3D graphics linear algebra (vector, matrix, quaternion)
See Bullet/Extras/vectormathlibrary
Supports SIMD SSE, PowerPC PPU and Cell SPU (including PS3 Linux and CellBlade), as well as generic portable scalar version
Will be used to improve BulletMultiThreaded performance
Open Sourced by Sony Computer Entertainment Inc. under the new BSD license
- added SIMD math library
4-way SIMD for common math functions like atan2f4, cosf4, floorf4, fabsf4, rsqrtf4 etc. Used by Vector Math library under PPU and SPU.
Supports PowerPC (PPU) and Cell SPU, including PS3 Linux and CellBlade.
See Bullet/Extras/simdmathlibrary
Open sourced by Sony Computer Entertainment Inc. under the new BSD license
2007 July 25
- added several patches: per-rigidbody sleeping threshold. added Assert to prevent deletion of rigidbody while constraints are still pointing at it
Thanks to Marten Svanfeldt (Starbreeze Studios)
2007 July 13
- fixed relative #include paths again. We can't use "../" relative paths: some compilers choke on it (it causes extreme long paths)
Within the libraries, we always need to start with "BulletCollision/" or "BulletDynamics/ or "LinearMath/"
2007 July 10
- Updated Bullet User Manual
2007 July 5
- added btConeTwistConstraint, especially useful for ragdolls. See Demos/RagdollDemo
Thanks to Marten Svanfeldt (Starbreeze Studios)
2007 June 29
- btHeightfieldTerrainShape: Added heightfield support, with customizations
- Upgraded to GIMPACT 0.2, see Extras/GIMPACT and MovingConcaveDemo
- Several patches from Marten Svanfeldt (Starbreeze Studios)
Improved collision filtering (in broadphase and rigidbody)
Improved debug rendering
Allow to set collision filter group/mask in addRigidBody
2007 June 15
- Changed btAlignedObjectArray to call copy constructor/replacement new for duplication, rather then assignment operator (operator=).
2007 June 11
- Added multi-threading. Originally for Playstation 3 Cell SPU, but the same code can run using Win32 Threads using fake DMA transfers (memcpy)
Libspe2 support for Cell Blade / PS3 Linux is upcoming
See Extras/BulletMultiThreaded. Usage: replace btCollisionDispatcher by btSpuGatheringCollisionDispatcher
- Added managed Bullet library, entirely rewritten in C# for Windows and XBox 360 XNA
See Extras/BulletX
Thanks to KleMiX, aka Vsevolod Klementjev
2007 May 31
- sign-bit went wrong in case of 32-bit broadphase, causing quantization problems.
Thanks DevO for reporting.
2007 May 23
- Fixed quantization problem for planar triangle meshes in btOptimizedBvh
Thanks Phil Knight for reporting and helping to fix this bug.
2007 May 20
- btAxisSweep3: Fixed a bug in btAxisSweep3 (sweep and prune) related to object removal. Only showed up when at least one btStaticPlaneShape was inserted.
Thanks tbp for more details on reproducing case.
- btAxisSweep3: Fixed issue with full 32bit precision btAxisSweep3 (define BP_USE_FIXEDPOINT_INT_32), it used only 0xffff/65536 for quantization instead of full integer space (0xffffffff)
- btRaycastVehicle: Added 'getForwardVector' and getCurrentSpeedKmHour utility functions
- Fixed local scaling issues (btConvexTriangleMeshShape, btBvhTriangleMeshShape, removed scaling from btMatrix3x3).
Thanks Volker for reporting!
- Added second filename search, so that starting BspDemo and ConvexDecompositionDemo from within Visual Studio (without setting the starting path) still works
2007 April 22
- Added braking functionality to btRaycastVehicle
- Removed tons of warnings, under MSVC 2005 compilation in -W4
2007 March 21
- Fixed issues: comma at end of enum causes errors for some compilers
- Fixed initialization bug in LocalRayResult ( m_localShapeInfo(localShapeInfo) )
2007 March 20
- Added refit tree to quantized stackless tree, and updated ConcaveDemo as example.
2007 March 17
- Added constraint solver optimizations, avoiding cross products during iterations, and gather rigidbody/constraint info in contiguous memory (btSolverBody/btSolverConstraint)
- These optimizations don't give large benefit yet, but it has good potential. Turned on by default. Can be switched off using solver->setSolverMode(SOLVER_RANDMIZE_ORDER).
- Enabled anti-jitter for rigid bodies. This is experimental, and can be switched off by setting a global (it is experimental so no proper interface) gJitterVelocityDampingFactor = 1.0;
- Fixed bug in islandmanifold.heapSort(btPersistentManifoldSortPredicate()); , thanks Noehrgel for reporting this (affected Sun Solaris)
2007 March 12
- Added compile-time toggle between on 16-bit and 32-bit fixed-point SAP broadphase.
This allows the number of bodies to exceed 32767
- Enable useQuantizedAabbCompression on btTriangleMesh, see ColladaDemo
2007 March 8
- Fixed bug in constraint/island sorting (caused by replacing STL by dedicated btAlignedObjectArray with heapSort)
Thanks Clemens Unterkofler for pointing this out!
2007 March 6
- removed STL from the Bullet library: replace std::vector by btAlignedObjectArray. Also removed the std::set for overlapping pair set, and turned it into an overlapping pair array. The SAP only adds objects, never removed. Removal is postponed for during traversal of overlapping pairs (duplicates and non-overlapping pairs are removed during that traversal).
- added heap sort and binary search/linear search to btAlignedObjectArray
- fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
2007 Feb 25
- Improved performance of convex collision shapes, cache local AABB instead of recomputation. This fixes issue with very slow performance in larger .bsp levels
2007 Feb 24
- Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices.
Should be faster and smaller then original version (quantized aabb check is done in integer space)
Original aabb tree nodes are still supported. They are 44 bytes, with full floating point precision and additional subPart index.
- added meter-unit scaling support in ColladaConverter.cpp
2007 Feb 21
- Build system: updated bullet.pc.in library names
- Updated EPA comparison integration (missing parameter)
2007 Jan 04
- fixed optimized AABB tree building: in some cases the tree building fails due to unbalanced trees, which generated stack overflow
2006 Dec 15
- added contribution to allow double precision collision detection/dynamics. Define BT_USE_DOUBLE_PRECISION in your project and libraries that include Bullet
2006 Dec 14
- merged contact and non-contact constraint solving into one loop, will improve stability of jointed bodies during collisions
- added first draft for hingeConstraint motor
2006 Dec 8, Erwin Coumans
- preparation for SIMD: added btAlignedAllocator and btAlignedObjectArray, to replace stl std::vector, same interface, but compatible with 16 byte alignment
- cleaned up dependencies in autogenerated msvc projectfiles
- aligned btVector3 on 16 bytes boundary, under win32. see if developers will come up with problems
2006 Dec 04, Erwin Coumans
Added btNearCallback. This is similar to Open Dynamics Engine (ODE) dNearCallback, but important differences:
- contact points are persistent (lifetime more then one frame, for warmstarting/incremental contact point management)
- continuous collision detection, time of impact
Added btRigidBody::isInWorld(), returns true if btRigidBody is inside a btCollisionWorld/btDynamicsWorld derived class
Added angularFactor to btRigidbody, this helps some character control (no angular impulse applied)
2006 Nov 28
Moved StackAlloc from EPA into LinearMath/btStackAlloc
renamed internal class ConcaveShape into btConcaveShape
added btHeightfieldTerrainShape (not completed yet)
2006 Nov 15 Nathanael Presson
Added EPA penetration depth algorithm, Expanding Polytope Algorithm
Added Pierre Terdiman penetration depth comparison/test DEMO
Fixed Bullet's Minkowski sampling penetration depth solver
Contributed by Nathanael Presson
2006 Nov 11 Francisco León Nájera
Added GIMPACT trimesh collision detection: concave versus concave,
Contributed by Francisco León Nájera
2006 Nov 2
Minor refactoring: btCollisionObject changes from struct into class, added accessor methods
Force use of btMotionState to synchronize graphics transform, disabled old btRigidBody constructor that accepts btTransform
Renamed treshold into threshold throughout the code
2006 Oct 30
Enable decoupling of physics and graphics framerate using interpolation and internal fixed timestep, based on btMotionState
Enabled raycast vehicle demo (still needs tuning)
Refresh contact points, even when they are already persistent.
Fixed debugDraw colors (thanks pc0de for reporting)
Use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)
Improved performance of constraint solver by precalculating the cross product/impulse arm
Added collision comparison code: ODE box-box, also sphere-triangle
Added safety check into GJK, and an assert for AABB's that are very large
Fixed kinematic support (deriving velocities for animated objects)
Updated comparison/optional quickstep solver in Extras
UserCollisionAlgorithm demonstrates btTriangleMesh usage (easier trimesh compared to index array version)
Removed scaling from btTransform (we only want to deal with rigid transforms)
2006 Oct 4
Fixed minor leak in btOptimizeBVH
Cleanup of btRigidBody construction
added getW() in btQuaternion
assert when setLinearVelocity is called on btRigidBody
renamed projectfile library from collada-dom to colladadom (to make VC6 happy)
2006 Sept 27
Big Refactoring: renamed and moved files, create a replacement for CcdPhysicsEnvironment/CcdPhysicsController.
All Bullet classes in LinearMath, BulletCollision and BulletDynamics start with bt, and methods start with lowercase.
Moved classes into src folder, which is the only include folder needed.
Added 2 headerfiles in src: btBulletCollisionCommon.h and btBulletDynamicsCommon.h
2006 Sept 23
Fixed 2 bugs, causing crashes when removing objects. Should do better unit-testing. UnionFind and 3D SAP were involved.
2006 Sept 19
Allow programmable friction and contact solver model. User can register their own functions for several interaction types.
Improved performance, and removed hardcoded maximum overlaps (switched from C-array to stl::set)
2006 Sept 16
Added Bullet 2.0 User Manual
Allow registration of custom user collision algorithms
2006 Sept 10
Started cleaning up demos
2006 Sept 4
Fixed concave collision bug (caused instability/missing collisions in meshes/compounds)
Fixed memoryleak in OptimizedBvh, added RayTestSingle to CollisionWorld
Prepared for VehicleDemo
Increased Performance (island generation for sleeping objects took too much time)
Better COLLADA 1.4.1 physics conformance in ColladaDemo
2006 August 11
Added Quake BspDemo
Improved CCD for compound and non-convex objects
2006 August 10
Added per-triangle material (friction/restitution) support for non-convex meshes. See ConcaveDemo for usage.
2006 August 9
Added CMake support (see http://cmake.org)
This can autogenerate makefiles, projectfiles cross platform (including MacOS X Xcode )
Just run cmake . in the root folder and it will autogenerate build files
2006 July 26 Erwin Coumans
Upgraded to COLLADA-DOM 1.4.1, latest SVN version
ColladaDemo can export snapshots to .dae
2006 July 24 Erwin Coumans
Added Compound CollisionShape support
(this is still low performance -> requires stackless tree-versus-tree traversal for better performance)
2006 July 15 Erwin Coumans
Added initial support for Parallel execution (collision detection, constraint solving)
See ParallelPhysicsEnvironment in Extras\PhysicsInterface\CcdPhysics
2006 July 10 Erwin Coumans
Added MacOS X support (some build issues mainly)
2006 July 5 Erwin Coumans
Improved COLLADA 1.4 physics import, both COLLADA-DOM and FCollada
2006 June 29 Erwin Coumans
Refactoring of the broadphase
Moved some optional files to Extras: Algebraic ccd and EPA, quickstep
Moved the limits on bodies/overlap to 32k and 65k
2006 June 25 Erwin Coumans
Added basic Collision Filtering, during broadphase
Allow adding meshes to the TriangleIndexVertexArray,
(input for TriangleMeshShape)
Preparation for CompoundShape
2006 June 19 Erwin Coumans
Added support for COLLADA Physics Import.
Both jam and Visual Studio can compile ColladaDemo
2006 June 18 Dirk Gregorius <dirk@dirkgregorius.de>
Started implementing Generic6DOF joint and setup basic interface
2006 June 17 Frank Richter <resqu@gmx.ch>
Bumped version in configure.ac to 1.5.6 (assuming that "1.5f" is
the next version released).
Updated files in mk/autoconf and mk/jam with copies from CS; fixes a
GLU detection issue on MinGW.
Set msvc/bullet_ico.ico as the default application icon.
Disabled exceptions for gcc builds.
Applied a patch from Michael D. Adams to fix a warning with gcc.
2006 jUNE 16 Erwin Coumans
Constraints now merge simulation islands.
2006 May 24
Improved GJK accuracy, fixed GjkConvexCast issue, thanks to ~MyXa~ for reporting
2006 May 19
Added restitution support
Moved out Friction and Dynamics info from ManifoldPoint (removed logical dependency)
Added a void* m_userPersistentData in ManifoldPoint.
Added a ContactDestroyedCallback, to allow user to handle destruction of m_userPersistentData
2006 May 13
Fixed some bugs in friction / jacobian calculations. Reported by Dirk Gregorius. Thanks!
2006 May 9
Fixed raycasting filtering
Moved repository to SVN at https://svn.sourceforge.net/svnroot/bullet
2006 April 27
Moved raycasting to CollisionWorld, to make it more generic
Added basic CCD option in the CcdCollisionDemo
Fixed 'noResponse' mode, for triggering rigidbodies (useful for Artificial Intelligence queries)
Improved Bullet/ODE sample (in Extras)
2006 April 10
Separating Axis Test (SAT) convex hull collision detector, contribution by Simon Hobbs
Added SIMD SSE Math classes (for above SAT)
Added Mouse picking in CcdPhysicsDemo
Improved penetration depth estimation in MinkowskiPenetrationDepthSolver, both accuracy and performance
Added Hinge constraint
Added quickprof profiling (see http://sourceforge.net/projects/quickprof )
2006 March 21 Frank Richter <resqu@gmx.ch>
Removed VC manifest files.
Removed superfluous "grpplugins" projects.
2006 March 20 Erwin Coumans
Clamped the acculumated impulse rather then intermediate impulse (within the iteration)
Use the persistent contacts for reusing the impulse
Separated friction and normal solving for better stability
Decreased the default number of iterations of the constraint solver from 10 to 4
2006 March 19 Frank Richter <resqu@gmx.ch>
Removed a couple of CSisms from the VC projects.
Fixed VC include & lib paths to go to the Addtional* options
instead the command line arguments.
Added pkgconfig support.
2006 March 14 Frank Richter <resqu@gmx.ch>
Added support for shipped GLUT on MinGW.
Fixed GLUT support on MinGW.
2006 March 13 Frank Richter <resqu@gmx.ch>
Bolted on Jam-based build system.
Generated VC project files.
Fixed GCC warnings.
Fixed Linux build issues.
2006 March 13
Added 3D Sweep and Prune Broadphase Collision Detection, Contribution from Simon Hobbs.
2006 March 2
Minor change in license to ZLib/LibPNG
This makes it legally a bit easier to deploy on Playstation 3
Prepared for more generic constraints, added ConstraintsDemo
2006 Feb 23
Rearranged files and dependencies to allow for easier standalone Collision Detection without Bullet Dynamics.
See Demos/CollisionInterfaceDemo and Extras/ode/ode/test/test_BulletGjk.cpp for examples how to use.
2005 August 6
Bullet 0.2 release with demos, sources, doxygen, draft manual
2005 June 1
First public release of Bullet
... todo: add history
2003 Initial version (continuous collision detection)

27
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@ -13,6 +13,9 @@
# General configuration options
#---------------------------------------------------------------------------
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
# by quotes) that should identify the project.
PROJECT_NAME = "Bullet Collision Detection & Physics Library"
@ -267,7 +270,7 @@ WARN_LOGFILE =
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = src
INPUT = src/LinearMath src/BulletCollision src/BulletDynamics src/BulletSoftBody src/btBulletCollisionCommon.h src/btBulletDynamicsCommon.h Extras/Serialize/BulletWorldImporter Extras/Serialize/BulletFileLoader
# If the value of the INPUT tag contains directories, you can use the
@ -399,7 +402,9 @@ HTML_ALIGN_MEMBERS = YES
GENERATE_HTMLHELP = YES
HHC_LOCATION = "C:\Program Files\HTML Help Workshop\hhc.exe"
# HHC_LOCATION = "C:\Program Files\HTML Help Workshop\hhc.exe"
HHC_LOCATION = "C:\Program Files (x86)\HTML Help Workshop\hhc.exe"
HTML_FILE_EXTENSION = .html
HTML_HEADER =
@ -589,7 +594,7 @@ MACRO_EXPANSION = YES
# then the macro expansion is limited to the macros specified with the
# PREDEFINED and EXPAND_AS_PREDEFINED tags.
EXPAND_ONLY_PREDEF = NO
EXPAND_ONLY_PREDEF = YES
# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
# in the INCLUDE_PATH (see below) will be search if a #include is found.
@ -600,7 +605,7 @@ SEARCH_INCLUDES = YES
# contain include files that are not input files but should be processed by
# the preprocessor.
INCLUDE_PATH = src
INCLUDE_PATH =
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
# patterns (like *.h and *.hpp) to filter out the header-files in the
@ -615,7 +620,14 @@ INCLUDE_FILE_PATTERNS =
# or name=definition (no spaces). If the definition and the = are
# omitted =1 is assumed.
PREDEFINED =
PREDEFINED = "ATTRIBUTE_ALIGNED128(x)=x" \
"ATTRIBUTE_ALIGNED16(x)=x" \
"SIMD_FORCE_INLINE=inline" \
"VECTORMATH_FORCE_INLINE=inline" \
"USE_WIN32_THREADING=1"\
"USE_PTHREADS=1"\
"_WIN32=1"
# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then
# this tag can be used to specify a list of macro names that should be expanded.
@ -718,6 +730,11 @@ MAX_DOT_GRAPH_HEIGHT = 1024
GENERATE_LEGEND = YES
# delete intermediate dot files?
DOT_CLEANUP = YES
#---------------------------------------------------------------------------
# Configuration::addtions related to the search engine
#---------------------------------------------------------------------------

100
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@ -1,100 +0,0 @@
Bullet Collision Detection and Physics Library
** Windows Compilation **
Under Windows, projectfiles for Visual Studio version 6,7,7.1 and 8 are
available in msvc/<version>. For example, for Visual Studio 2005, open
msvc/8/wksbullet.sln
The ColladaDemo and ConvexDecomposition demo needs to be able to locate the
data files (jenga.dae and file.obj) in the current directory. Make sure Visual
Studio points to the right folder (..\..).
Alternatively use CMake to autogenerate a build system for Windows:
- Download/install CMake from www.cmake.org or package manager
- List available build systems by running 'cmake' in the Bullet root folder
- Create a build system using the -G option for example:
cmake . -G "Visual Studio 9 2008" or
cmake . -G "Visual Studio 9 2008 Win64"
** Linux Compilation **
- Download/install CMake from www.cmake.org or package manager
CMake is like autoconf in that it will create build scripts which are then
used for the actual compilation
- There are some options for cmake builds:
BUILD_SHARED_LIBS: default 'OFF', set to 'ON' to build .so libraries
BUILD_EXTRAS: default 'ON', compiles additional libraries in 'Extras'
BUILD_DEMOS: default 'ON', compiles applications found in 'Demos'
CMAKE_INSTALL_PREFIX: default '/usr/local', the installation path.
CMAKE_INSTALL_RPATH: if you install outside a standard ld search path,
then you should set this to the installation lib path.
Other options may be discovered by 'cmake --help-variable-list' and
'cmake --help-variable OPTION'
- Run 'cmake' with desired options of the form -DOPTION=VALUE
By default this will create the usual Makefile build system, but CMake can
also produce Eclipse or KDevelop project files. See 'cmake --help' to see
what "generators" are available in your environment, selected via '-G'.
For example:
cmake -DBUILD_SHARED_LIBS=ON
- Assuming using the default Makefile output from cmake, run 'make' to
build, and then 'make install' if you wish to install.
** Mac OS X Compilation **
- Download/install CMake from www.cmake.org or package manager
CMake is like autoconf in that it will create build scripts which are then
used for the actual compilation
- There are some options for cmake builds:
BUILD_SHARED_LIBS: default 'OFF', set to 'ON' to build .dylib libraries
BUILD_EXTRAS: default 'ON', compiles additional libraries in 'Extras'
BUILD_DEMOS: default 'ON', compiles applications found in 'Demos'
CMAKE_INSTALL_PREFIX: default '/usr/local', the installation path.
CMAKE_INSTALL_NAME_DIR: if you install outside a standard ld search
path, then you should set this to the installation lib/framework path.
To build framework bundles:
FRAMEWORK: default 'OFF', also requires 'BUILD_SHARED_LIBS' set ON
If both FRAMEWORK and BUILD_SHARED_LIBS are set, will create
OS X style Framework Bundles which can be placed in
linked via the -framework gcc argument or drag into Xcode projects.
(If not framework, then UNIX style 'include' and 'lib' will be produced)
Other options may be discovered by 'cmake --help-variable-list' and
'cmake --help-variable OPTION'
- Run 'cmake' with desired options of the form -DOPTION=VALUE
By default this will create the usual Makefile build system, but CMake can
also produce Eclipse or KDevelop project files. See 'cmake --help' to see
what "generators" are available in your environment, selected via '-G'.
For example:
cmake -DBUILD_SHARED_LIBS=ON -DFRAMEWORK=ON \
-DCMAKE_INSTALL_PREFIX=/Library/Frameworks \
-DCMAKE_INSTALL_NAME_DIR=/Library/Frameworks
- Assuming using the default Makefile output from cmake, run 'make' to build
and then 'make install'.
** Alternative Mac OS X and Linux via 'jam' or autoconf/make **
- at the command line:
./autogen.sh
./configure
- 'jam' or 'make' depending on preference
- If jam is not available for your system, you can compile it, jam sources
are included with the Bullet sources in jam-2.5
- compiling jam:
cd jam-2.5
make
sudo make install
** For more help, visit http://www.bulletphysics.com **

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@ -1,66 +0,0 @@
TOP ?= "@top_srcdir@" ;
BUILDTOP ?= "@top_builddir@" ;
SubDir TOP ;
IncludeDir ;
IncludeDir src ;
IncludeDir $(BUILDTOP) : : literal transient ;
CleanDir clean :
out ;
Clean distclean :
aclocal.m4
config.h
config.h.in~
config.log
config.status
config.status.lineno
config.cache
configure.lineno
Jamconfig
Jamfile ;
CleanDir distclean :
autom4te.cache ;
Depends distclean : clean ;
Clean maintainerclean :
config.h.in
configure ;
Depends maintainerclean : distclean ;
Help distclean : "Remove built targets and configuration" ;
Help maintainerclean :
"Remove built targets, configuration, and generated files." ;
ApplicationIconDefault win32 : all : bullet_ico.ico : $(TOP) msvc ;
MsvcGenSubDir TOP msvc : common ;
MsvcGenSubDir TOP msvc 6 : 6 ;
MsvcGenSubDir TOP msvc 7 : 7 ;
MsvcGenSubDir TOP msvc 71 : 71 ;
MsvcGenSubDir TOP msvc sn71 : sn71 ;
MsvcGenSubDir TOP msvc 8 : 8 ;
MsvcGenSubDir TOP msvc xenon8 : xenon8 ;
MsvcGenTemplateDir TOP mk msvcgen ;
MsvcGenWorkspace bullet : : "grp.+_(?!bullet$)" ;
MsvcGenWorkspace bullet_corelib : libbulletcollision libbulletdynamics libbulletmath libbulletmultithreaded : "grp.+_(?!bullet_corelib$)" ;
# Set project-specific compiler and linker options for msvcgen.
MsvcGenConfig GL.AVAILABLE : yes ;
MsvcGenConfig GL.LFLAGS : ;
MsvcGenConfig GL.LIBS : opengl32.lib ;
MsvcGenConfig GLUT.AVAILABLE : yes ;
MsvcGenConfig GLUT.CFLAGS : ;
MsvcGenConfig GLUT.LFLAGS : ;
MsvcGenConfig GLUT.INCDIRS : "../../Glut" ;
MsvcGenConfig GLUT.LIBDIRS : "../../Glut" ;
MsvcGenConfig GLUT.LIBS : glut32.lib ;
MsvcGenConfig GLEW.LIBS : glew32.lib ;
SubInclude TOP src ;
SubInclude TOP Extras ;
SubInclude TOP Demos ;
Depends install_config : [ DoInstall bullet.pc : $(libdir)/pkgconfig ] ;

21
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@ -1,21 +0,0 @@
if ! $(BUILDTOP)
{
BUILDTOP = . ;
}
# Include configuration.
JAMCONFIG ?= $(BUILDTOP)/Jamconfig ;
include $(JAMCONFIG) ;
# Set up compiler flags.
# Unfortunately, we can not use FDefines here since Boost Jam does not have it,
# and we have not yet included mk/jam/build.jam which provides an emulation
# layer for Boost. We can not include build.jam earlier because these flags
# need to be defined before build.jam is included. :-(
COMPILER.CFLAGS += -Wall -Wno-unknown-pragmas ;
COMPILER.CFLAGS.optimize += -O3 -fomit-frame-pointer -ffast-math ;
COMPILER.CFLAGS.debug += -g3 ;
COMPILER.CFLAGS.profile += -gp -O3 ;
# Include CS build rules
include $(TOP)/mk/jam/build.jam ;

19
Engine/lib/bullet/LICENSE
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@ -1,19 +0,0 @@
/*
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.
*/
All files in the Bullet/src folder are under this Zlib license.
Optional Extras/GIMPACT and Extras/GIMPACTBullet is also under ZLib license. Other optional external libraries in Extras/Demos have own license,see respective files.
This means Bullet can freely be used in any software, including commercial and console software. A Playstation 3 optimized version is available through Sony.

15
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@ -0,0 +1,15 @@
The files in this repository are licensed under the zlib license, except for the files under 'Extras' and examples/ThirdPartyLibs.
Bullet Continuous Collision Detection and Physics Library
http://bulletphysics.org
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.

7
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@ -1,7 +0,0 @@
if CONDITIONAL_BUILD_DEMOS
SUBDIRS=src Extras Demos
else
SUBDIRS=src Extras
endif
pkgconfigdir = $(libdir)/pkgconfig
pkgconfig_DATA = bullet.pc

4
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@ -1,4 +0,0 @@
For news, visit the Bullet Physics Forum at
http://www.continuousphysics.com/Bullet/phpBB2/viewforum.php?f=9

7
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@ -1,7 +0,0 @@
Bullet is a 3D Collision Detection and Rigid Body Dynamics Library for games and animation.
Free for commercial use, including Playstation 3, open source under the ZLib License.
Discrete and continuous collision detection, integrated into Blender 3D, and COLLADA 1.4 Physics import.
See the Bullet_User_Manual.pdf for more info and visit the Bullet Physics Forum at
http://bulletphysics.com

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@ -0,0 +1,107 @@
[![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3)
[![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3)
# Bullet Physics SDK
This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR
The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
The steps towards a new API is in a nutshell:
1. The old Bullet2 demos are being merged into the examples/ExampleBrowser
2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h
3. Python bindings in pybullet are on top of this C-API, see examples/pybullet
4. A Virtual Reality sandbox using openvr for HTC Vive and Oculus Rift is available
5. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl
You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk
## Requirements for Bullet 2
A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android,
but should likely work on any platform with C++ compiler.
Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too.
## Contributors and Coding Style information
https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit
## Requirements for experimental OpenCL GPGPU support
The entire collision detection and rigid body dynamics can be executed on the GPU.
A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better.
We succesfully tested the software under Windows, Linux and Mac OSX.
The software currently doesn't work on OpenCL CPU devices. It might run
on a laptop GPU but performance will not likely be very good. Note that
often an OpenCL drivers fails to compile a kernel. Some unit tests exist to
track down the issue, but more work is required to cover all OpenCL kernels.
## License
All source code files are licensed under the permissive zlib license
(http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file.
## Build instructions for Bullet using premake. You can also use cmake instead.
**Windows**
Click on build_visual_studio.bat and open build3/vs2010/0MySolution.sln
**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift**
Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln
Edit this batch file to choose where Python include/lib directories are located.
Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
You can connect from Python pybullet to the sandbox using:
```
import pybullet as p
p.connect(p.SHARED_MEMORY)
```
**Linux and Mac OSX gnu make**
In a terminal type:
cd build3
Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
./premake4_linux gmake
./premake4_linux64 gmake
./premake4_osx gmake
Then
cd gmake
make
**Mac OSX Xcode**
Click on build3/xcode4.command or in a terminal window execute
./premake_osx xcode4
## Usage
The App_ExampleBrowser executables will be located in the bin folder.
You can just run it though a terminal/command prompt, or by clicking it.
```
[--start_demo_name="Demo Name"] Start with a selected demo
[--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed
[--mouse_move_multiplier=0.400000] Set the mouse move sensitivity
[--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity
[--background_color_red= 0.9] Set the red component for background color. Same for green and blue
[--fixed_timestep= 0.0] Use either a real-time delta time (0.0) or a fixed step size (0.016666)
```
You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls.
Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app.
Check out the docs folder and the Bullet physics forums for further information.

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@ -1,34 +0,0 @@
This document details the steps necessary to package a release of Bullet.
1) Preparing for release:
update VERSION in several places
update ChangeLog
regenerate MSVC project files
2) Generating the release .zip:
Do an SVN export on a Windows machine into the directory: bullet-X.YY
prepare a zip file containing the directory
3) Generating the release .tar.gz:
Do an SVN export on a Unix machine into the directory: bullet-X.YY
prepare a .tar.gz file containing the directory
4) Uploading release to google code:
Google Code Bullet downloads URL: http://code.google.com/p/bullet/downloads/list
Title of release should follow this guide line: Bullet <VERSION> Physics SDK <Release Type> (revision)
It is better to upload the .tar.gz before the .zip so that the .zip appears first in the list
If the release is an Alpha/Beta or RC the tags should be: Type-Source, OpSys-ALL
If the release is a final release the tags should be: Type-Source, OpSys-ALL, Featured
5) Obsoleting old releases
Edit the tags on old releases and add the 'Deprecated' tag
6) Announcing final releases:
Final release announcements are done here: http://bulletphysics.com/Bullet/phpBB3/viewforum.php?f=18

10
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@ -0,0 +1,10 @@
# -*- cmake -*-
#
# UseBullet.cmake
#
add_definitions ( ${BULLET_DEFINITIONS} )
include_directories ( ${BULLET_INCLUDE_DIRS} )
link_directories ( ${BULLET_LIBRARY_DIRS} )

2
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@ -1 +1 @@
2.75
2.85

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File diff suppressed because it is too large Load diff

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@ -0,0 +1,19 @@
build:
project: build3/vs2010/0_Bullet3Solution.sln
build_script:
- mkdir cm
- cd cm
- cmake .. -G"Visual Studio 14 2015 Win64"
- cmake --build . --target ALL_BUILD --config Release -- /maxcpucount:4 /verbosity:quiet
test_script:
- ctest --parallel 4 --build-config Release --output-on-failure
before_build:
- echo %CD%
- ps: cd build3
- echo %CD%
- premake4 vs2010
- ps: cd ..

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@ -1,61 +0,0 @@
#! /bin/sh
if [ "$USER" = "root" ]; then
echo "*** You cannot do this as "$USER" please use a normal user account."
exit 1
fi
if test ! -f configure.ac ; then
echo "*** Please invoke this script from directory containing configure.ac."
exit 1
fi
echo "running aclocal"
aclocal
rc=$?
if test $rc -eq 0; then
echo "running libtool"
libtoolize --force --automake --copy
rc=$?
else
echo "An error occured, autogen.sh stopping."
exit $rc
fi
if test $rc -eq 0; then
echo "libtool worked."
else
echo "libtool not found. trying glibtool."
glibtoolize --force --automake --copy
rc=$?
fi
if test $rc -eq 0; then
echo "running automake"
automake --add-missing --copy
rc=$?
else
echo "An error occured, autogen.sh stopping."
exit $rc
fi
if test $rc -eq 0; then
echo "running autoheader"
autoheader
rc=$?
else
echo "An error occured, autogen.sh stopping."
exit $rc
fi
if test $rc -eq 0; then
echo "running autoconf"
autoconf
rc=$?
else
echo "An error occured, autogen.sh stopping."
exit $rc
fi
echo "autogen.sh complete"
exit $rc

6
Engine/lib/bullet/bullet.pc.cmake Normal file
View file

@ -0,0 +1,6 @@
Name: bullet
Description: Bullet Continuous Collision Detection and Physics Library
Requires:
Version: @BULLET_VERSION@
Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletSoftBody -lBulletDynamics -lBulletCollision -lLinearMath
Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include

11
Engine/lib/bullet/bullet.pc.in
View file

@ -1,11 +0,0 @@
prefix=@prefix@
exec_prefix=@exec_prefix@
libdir=@libdir@
includedir=@includedir@
Name: bullet
Description: Bullet Continuous Collision Detection and Physics Library
Requires:
Version: @PACKAGE_VERSION@
Libs: -L${libdir} -lbulletdynamics -lbulletcollision -lbulletmath
Cflags: -I${includedir}/bullet

108
Engine/lib/bullet/config.h.in
View file

@ -1,108 +0,0 @@
/* config.h.in. Generated from configure.ac by autoheader. */
/* Architecture is PowerPC */
#undef ARCH_PPC
/* Architecture is x86 */
#undef ARCH_X86
/* Architecture is x86-64 */
#undef ARCH_X86_64
/* Define when compiling for MacOS/X */
#undef CS_PLATFORM_MACOSX
/* Define when compiling for Unix and Unix-like (i.e. MacOS/X) */
#undef CS_PLATFORM_UNIX
/* Define when compiling for Win32 */
#undef CS_PLATFORM_WIN32
/* Define to 1 if you have the <dlfcn.h> header file. */
#undef HAVE_DLFCN_H
/* Define to 1 if you have the <inttypes.h> header file. */
#undef HAVE_INTTYPES_H
/* Define to 1 if you have the `mx' library (-lmx). */
#undef HAVE_LIBMX
/* Define to 1 if you have the `nsl' library (-lnsl). */
#undef HAVE_LIBNSL
/* Define to 1 if you have the <memory.h> header file. */
#undef HAVE_MEMORY_H
/* Define to 1 if you have the <stdint.h> header file. */
#undef HAVE_STDINT_H
/* Define to 1 if you have the <stdlib.h> header file. */
#undef HAVE_STDLIB_H
/* Define to 1 if you have the <strings.h> header file. */
#undef HAVE_STRINGS_H
/* Define to 1 if you have the <string.h> header file. */
#undef HAVE_STRING_H
/* Define to 1 if you have the <sys/stat.h> header file. */
#undef HAVE_SYS_STAT_H
/* Define to 1 if you have the <sys/types.h> header file. */
#undef HAVE_SYS_TYPES_H
/* Whether the int32 type is available */
#undef HAVE_TYPE_INT32
/* Define to 1 if you have the <unistd.h> header file. */
#undef HAVE_UNISTD_H
/* Define to 1 if you have the <windows.h> header file. */
#undef HAVE_WINDOWS_H
/* Define to the sub-directory in which libtool stores uninstalled libraries.
*/
#undef LT_OBJDIR
/* Name of package */
#undef PACKAGE
/* Define to the address where bug reports for this package should be sent. */
#undef PACKAGE_BUGREPORT
/* Define to the full name of this package. */
#undef PACKAGE_NAME
/* Define to the full name and version of this package. */
#undef PACKAGE_STRING
/* Define to the one symbol short name of this package. */
#undef PACKAGE_TARNAME
/* Define to the version of this package. */
#undef PACKAGE_VERSION
/* Platform is Apple */
#undef PLATFORM_APPLE
/* Platform is Linux */
#undef PLATFORM_LINUX
/* Platform is Win32 */
#undef PLATFORM_WIN32
/* Define to 1 if you have the ANSI C header files. */
#undef STDC_HEADERS
/* Version number of package */
#undef VERSION
/* Define to 1 if your processor stores words with the most significant byte
first (like Motorola and SPARC, unlike Intel and VAX). */
#undef WORDS_BIGENDIAN
/* Define to 1 if the X Window System is missing or not being used. */
#undef X_DISPLAY_MISSING
/* Avoid problem caused by missing <Carbon/CarbonSound.h> */
#undef __CARBONSOUND__

192
Engine/lib/bullet/configure.ac
View file

@ -1,192 +0,0 @@
#----------------------------------------------------------------------------
# Autoconf input script. Invoke the ./autogen.sh script to generate a
# configure script from this file.
#----------------------------------------------------------------------------
AC_PREREQ([2.54])
#----------------------------------------------------------------------------
# Initialize Autoconf.
#----------------------------------------------------------------------------
AC_INIT(
[bullet],
[2.75],
[bullet@erwincoumans.com])
AC_CANONICAL_HOST
CS_PACKAGEINFO(
[Bullet Continuous Collision Detection and Physics Library],
[Copyright (c) 2005-2008 Erwin Coumans],
[http://www.bulletphysics.com])
AC_CONFIG_SRCDIR([configure.ac])
AM_INIT_AUTOMAKE
AC_PROG_CC
AC_PROG_CXX
AC_PROG_LIBTOOL
case "$host" in
*-*-mingw*|*-*-cygwin*)
AC_DEFINE(PLATFORM_WIN32, 1, [Platform is Win32])
opengl_LIBS="-lunsupported_platform"
PLATFORM_STRING="Win32"
;;
*-*-linux*)
AC_DEFINE(PLATFORM_LINUX, 1, [Platform is Linux])
opengl_LIBS="-lGL -lGLU -lglut"
PLATFORM_STRING="Linux"
;;
*-*-darwin*)
AC_DEFINE(PLATFORM_APPLE, 1, [Platform is Apple])
opengl_LIBS="-framework AGL -framework OpenGL -framework GLUT"
PLATFORM_STRING="Apple"
;;
*)
AC_MSG_WARN([*** Please add $host to configure.ac checks!])
;;
esac
AC_SUBST(opengl_LIBS)
case "$host" in
i?86-* | k?-* | athlon-* | pentium*-)
AC_DEFINE(ARCH_X86, 1, [Architecture is x86])
ARCH_SPECIFIC_CFLAGS=""
ARCH_STRING="X86"
;;
x86_64-*)
AC_DEFINE(ARCH_X86_64, 1, [Architecture is x86-64])
ARCH_SPECIFIC_CFLAGS="-DUSE_ADDR64"
ARCH_STRING="X86-64"
;;
ppc-* | powerpc-*)
AC_DEFINE(ARCH_PPC, 1, [Architecture is PowerPC])
ARCH_SPECIFIC_CFLAGS=""
ARCH_STRING="PowerPC"
;;
*)
AC_MSG_ERROR([Unknown Architecture])
;;
esac
AC_C_BIGENDIAN
#----------------------------------------------------------------------------
# Setup for the configuration header.
#----------------------------------------------------------------------------
AC_CONFIG_HEADERS([config.h])
#----------------------------------------------------------------------------
# Check for tools.
#----------------------------------------------------------------------------
CS_PROG_CC
AS_IF([test -z "$CC"],
[AC_MSG_ERROR([Could not find a usable C compiler.])])
CS_PROG_CXX
AS_IF([test -z "$CXX"],
[AC_MSG_ERROR([Could not find a usable C++ compiler.])])
CS_PROG_LINK
CS_CHECK_COMMON_TOOLS_LINK
CS_CHECK_COMMON_TOOLS_BASIC
CS_CHECK_COMMON_TOOLS_DOC_DOXYGEN
CS_CHECK_PROGS([PERL], [perl5 perl])
CS_EMIT_BUILD_PROPERTY([PERL], [$PERL])
CS_CHECK_TEMPLATE_TOOLKIT2([emit])
#----------------------------------------------------------------------------
# Check if C++ exceptions can be disabled.
#----------------------------------------------------------------------------
CS_EMIT_BUILD_FLAGS([how to disable C++ exceptions],
[cs_cv_prog_cxx_disable_exceptions], [CS_CREATE_TUPLE([-fno-exceptions])],
[C++], [COMPILER.C++FLAGS.EXCEPTIONS.DISABLE], [],
[CS_EMIT_BUILD_PROPERTY([COMPILER.C++FLAGS],
[$cs_cv_prog_cxx_disable_exceptions], [+])])
#----------------------------------------------------------------------------
# Determine system type
#----------------------------------------------------------------------------
CS_CHECK_HOST
#----------------------------------------------------------------------------
# Check for syntax problems / header files
#----------------------------------------------------------------------------
# Nothing yet.
#----------------------------------------------------------------------------
# Check for GLUT.
#----------------------------------------------------------------------------
AS_IF([test $cs_host_family = windows],
[# Tack the GLUT that comes with bullet onto compiler & linker flags.
_AC_SRCDIRS(["."])
glut_cflags="-I$ac_top_srcdir/Glut"
glut_lflags="-L$ac_top_srcdir/Glut"
CFLAGS="$CFLAGS $glut_cflags"
LDFLAGS="$LDFLAGS $glut_lflags"
CS_EMIT_BUILD_PROPERTY([COMPILER.CFLAGS], [$glut_cflags], [+])
CS_EMIT_BUILD_PROPERTY([COMPILER.LFLAGS], [$glut_lflags], [+])
])
CS_CHECK_GLUT
#----------------------------------------------------------------------------
# Package configuration switches.
#----------------------------------------------------------------------------
AC_ARG_ENABLE([multithreaded],
[AC_HELP_STRING([--enable-multithreaded],
[build BulletMultiThreaded (default NO)])],
[disable_multithreaded=no], [disable_multithreaded=yes])
AC_MSG_CHECKING([BulletMultiThreaded])
AS_IF([test "$disable_multithreaded" = yes], [build_multithreaded=no], [build_multithreaded=yes])
AC_MSG_RESULT([$build_multithreaded])
AM_CONDITIONAL([CONDITIONAL_BUILD_MULTITHREADED], [test "$build_multithreaded" = yes])
AC_ARG_ENABLE([demos],
[AS_HELP_STRING([--disable-demos],
[disable Bullet demos])],
[],
[enable_demos=yes])
AM_CONDITIONAL([CONDITIONAL_BUILD_DEMOS], [false])
if test "x$enable_demos" != xno; then
AC_MSG_NOTICE([Building Bullet demos])
AM_CONDITIONAL([CONDITIONAL_BUILD_DEMOS],[true])
fi
AC_ARG_ENABLE([debug],
[AC_HELP_STRING([--enable-debug],
[build with debugging information (default NO)])],
[], [enable_debug=no])
AC_MSG_CHECKING([build mode])
AS_IF([test $enable_debug = yes], [build_mode=debug], [build_mode=optimize])
AC_MSG_RESULT([$build_mode])
CS_EMIT_BUILD_PROPERTY([MODE], [$build_mode])
#-----------------------------------------------------------------------------
# Emit install paths and package information.
#-----------------------------------------------------------------------------
CS_OUTPUT_INSTALLDIRS
CS_EMIT_PACKAGEINFO
CFLAGS="$ARCH_SPECIFIC_CFLAGS $CFLAGS"
CXXFLAGS="$ARCH_SPECIFIC_CFLAGS $CXXFLAGS $CFLAGS"
#----------------------------------------------------------------------------
# Emit generated files.
#----------------------------------------------------------------------------
CS_JAMCONFIG_OUTPUT([Jamconfig])
AC_CONFIG_FILES([bullet.pc Jamfile Makefile Demos/Makefile Demos/SoftDemo/Makefile Demos/AllBulletDemos/Makefile Demos/MultiThreadedDemo/Makefile Demos/ColladaDemo/Makefile Demos/OpenGL/Makefile Demos/BasicDemo/Makefile Demos/CcdPhysicsDemo/Makefile Demos/VehicleDemo/Makefile Demos/TerrainDemo/Makefile src/Makefile Extras/Makefile])
AC_OUTPUT
AC_MSG_NOTICE([
You can type 'make' or 'jam' to build Bullet.
Alternatively, you can use cmake or use the wksbullet.sln visual studio x solutions in the msvc/x folder.
CMake home:http://cmake.org
Jam home: http://www.perforce.com/jam/jam.html
Jam source: ftp://ftp.perforce.com/jam/
Please type 'make' to build Bullet
])

176
Engine/lib/bullet/src/Bullet-C-Api.h
View file

@ -1,176 +0,0 @@
/*
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.
*/
/*
Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
Work in progress, functionality will be added on demand.
If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
*/
#ifndef BULLET_C_API_H
#define BULLET_C_API_H
#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
#ifdef BT_USE_DOUBLE_PRECISION
typedef double plReal;
#else
typedef float plReal;
#endif
typedef plReal plVector3[3];
typedef plReal plQuaternion[4];
#ifdef __cplusplus
extern "C" {
#endif
/** Particular physics SDK (C-API) */
PL_DECLARE_HANDLE(plPhysicsSdkHandle);
/** Dynamics world, belonging to some physics SDK (C-API)*/
PL_DECLARE_HANDLE(plDynamicsWorldHandle);
/** Rigid Body that can be part of a Dynamics World (C-API)*/
PL_DECLARE_HANDLE(plRigidBodyHandle);
/** Collision Shape/Geometry, property of a Rigid Body (C-API)*/
PL_DECLARE_HANDLE(plCollisionShapeHandle);
/** Constraint for Rigid Bodies (C-API)*/
PL_DECLARE_HANDLE(plConstraintHandle);
/** Triangle Mesh interface (C-API)*/
PL_DECLARE_HANDLE(plMeshInterfaceHandle);
/** Broadphase Scene/Proxy Handles (C-API)*/
PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
PL_DECLARE_HANDLE(plCollisionWorldHandle);
/**
Create and Delete a Physics SDK
*/
extern plPhysicsSdkHandle plNewBulletSdk(); //this could be also another sdk, like ODE, PhysX etc.
extern void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk);
/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
extern plCollisionBroadphaseHandle plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback);
extern void plDestroyBroadphase(plCollisionBroadphaseHandle bp);
extern plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle);
extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
/* todo: add pair cache support with queries like add/remove/find pair */
extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk);
/* todo: add/remove objects */
/* Dynamics World */
extern plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
extern void plDeleteDynamicsWorld(plDynamicsWorldHandle world);
extern void plStepSimulation(plDynamicsWorldHandle, plReal timeStep);
extern void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
extern void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
/* Rigid Body */
extern plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape );
extern void plDeleteRigidBody(plRigidBodyHandle body);
/* Collision Shape definition */
extern plCollisionShapeHandle plNewSphereShape(plReal radius);
extern plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
extern plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
extern plCollisionShapeHandle plNewCompoundShape();
extern void plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
extern void plDeleteShape(plCollisionShapeHandle shape);
/* Convex Meshes */
extern plCollisionShapeHandle plNewConvexHullShape();
extern void plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
/* Concave static triangle meshes */
extern plMeshInterfaceHandle plNewMeshInterface();
extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
extern void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
/* SOLID has Response Callback/Table/Management */
/* PhysX has Triggers, User Callbacks and filtering */
/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
/* typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle rbHandle, plVector3 pos); */
/* typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle rbHandle, plQuaternion orientation); */
/* get world transform */
extern void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
extern void plGetPosition(plRigidBodyHandle object,plVector3 position);
extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
/* set world transform (position/orientation) */
extern void plSetPosition(plRigidBodyHandle object, const plVector3 position);
extern void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
extern void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
extern void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
typedef struct plRayCastResult {
plRigidBodyHandle m_body;
plCollisionShapeHandle m_shape;
plVector3 m_positionWorld;
plVector3 m_normalWorld;
} plRayCastResult;
extern int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
/* Sweep API */
/* extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
/* Continuous Collision Detection API */
// needed for source/blender/blenkernel/intern/collision.c
double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
#ifdef __cplusplus
}
#endif
#endif //BULLET_C_API_H

33
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View file

@ -16,8 +16,8 @@
//
// 3. This notice may not be removed or altered from any source distribution.
#ifndef AXIS_SWEEP_3_H
#define AXIS_SWEEP_3_H
#ifndef BT_AXIS_SWEEP_3_H
#define BT_AXIS_SWEEP_3_H
#include "LinearMath/btVector3.h"
#include "btOverlappingPairCache.h"
@ -150,6 +150,8 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
@ -285,6 +287,31 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,cons
}
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
if (m_raycastAccelerator)
{
m_raycastAccelerator->aabbTest(aabbMin,aabbMax,callback);
} else
{
//choose axis?
BP_FP_INT_TYPE axis = 0;
//for each proxy
for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
{
if (m_pEdges[axis][i].IsMax())
{
Handle* handle = getHandle(m_pEdges[axis][i].m_handle);
if (TestAabbAgainstAabb2(aabbMin,aabbMax,handle->m_aabbMin,handle->m_aabbMax))
{
callback.process(handle);
}
}
}
}
}
template <typename BP_FP_INT_TYPE>
@ -588,7 +615,7 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::removeHandle(BP_FP_INT_TYPE handle,bt
}
template <typename BP_FP_INT_TYPE>
void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* dispatcher)
void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*/)
{
if (m_numHandles == 0)
{

20
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_INTERFACE_H
#define BROADPHASE_INTERFACE_H
#ifndef BT_BROADPHASE_INTERFACE_H
#define BT_BROADPHASE_INTERFACE_H
@ -26,7 +26,14 @@ class btOverlappingPairCache;
struct btBroadphaseRayCallback
struct btBroadphaseAabbCallback
{
virtual ~btBroadphaseAabbCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
{
///added some cached data to accelerate ray-AABB tests
btVector3 m_rayDirectionInverse;
@ -34,7 +41,6 @@ struct btBroadphaseRayCallback
btScalar m_lambda_max;
virtual ~btBroadphaseRayCallback() {}
virtual bool process(const btBroadphaseProxy* proxy) = 0;
};
#include "LinearMath/btVector3.h"
@ -54,6 +60,8 @@ public:
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0)) = 0;
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
@ -65,10 +73,10 @@ public:
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(btDispatcher* dispatcher) {};
virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
virtual void printStats() = 0;
};
#endif //BROADPHASE_INTERFACE_H
#endif //BT_BROADPHASE_INTERFACE_H

19
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BROADPHASE_PROXY_H
#define BROADPHASE_PROXY_H
#ifndef BT_BROADPHASE_PROXY_H
#define BT_BROADPHASE_PROXY_H
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
#include "LinearMath/btVector3.h"
@ -141,6 +141,11 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
return (proxyType < CONCAVE_SHAPES_START_HERE);
}
static SIMD_FORCE_INLINE bool isNonMoving(int proxyType)
{
return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE));
}
static SIMD_FORCE_INLINE bool isConcave(int proxyType)
{
return ((proxyType > CONCAVE_SHAPES_START_HERE) &&
@ -150,6 +155,12 @@ BT_DECLARE_ALIGNED_ALLOCATOR();
{
return (proxyType == COMPOUND_SHAPE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isSoftBody(int proxyType)
{
return (proxyType == SOFTBODY_SHAPE_PROXYTYPE);
}
static SIMD_FORCE_INLINE bool isInfinite(int proxyType)
{
return (proxyType == STATIC_PLANE_PROXYTYPE);
@ -235,7 +246,7 @@ class btBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b )
bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const
{
const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1;
const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1;
@ -255,5 +266,5 @@ SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphaseP
}
#endif //BROADPHASE_PROXY_H
#endif //BT_BROADPHASE_PROXY_H

13
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_ALGORITHM_H
#define COLLISION_ALGORITHM_H
#ifndef BT_COLLISION_ALGORITHM_H
#define BT_COLLISION_ALGORITHM_H
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
@ -23,6 +23,7 @@ struct btBroadphaseProxy;
class btDispatcher;
class btManifoldResult;
class btCollisionObject;
struct btCollisionObjectWrapper;
struct btDispatcherInfo;
class btPersistentManifold;
@ -44,7 +45,7 @@ struct btCollisionAlgorithmConstructionInfo
btDispatcher* m_dispatcher1;
btPersistentManifold* m_manifold;
int getDispatcherId();
// int getDispatcherId();
};
@ -59,7 +60,7 @@ protected:
btDispatcher* m_dispatcher;
protected:
int getDispatcherId();
// int getDispatcherId();
public:
@ -69,7 +70,7 @@ public:
virtual ~btCollisionAlgorithm() {};
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) = 0;
@ -77,4 +78,4 @@ public:
};
#endif //COLLISION_ALGORITHM_H
#endif //BT_COLLISION_ALGORITHM_H

10
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.cpp
View file

@ -38,8 +38,9 @@ static DBVT_INLINE btDbvtVolume merge( const btDbvtVolume& a,
const btDbvtVolume& b)
{
#if (DBVT_MERGE_IMPL==DBVT_IMPL_SSE)
ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtAabbMm)]);
btDbvtVolume& res=*(btDbvtVolume*)locals;
ATTRIBUTE_ALIGNED16( char locals[sizeof(btDbvtAabbMm)]);
btDbvtVolume* ptr = (btDbvtVolume*) locals;
btDbvtVolume& res=*ptr;
#else
btDbvtVolume res;
#endif
@ -61,7 +62,7 @@ static void getmaxdepth(const btDbvtNode* node,int depth,int& maxdepth)
if(node->isinternal())
{
getmaxdepth(node->childs[0],depth+1,maxdepth);
getmaxdepth(node->childs[0],depth+1,maxdepth);
getmaxdepth(node->childs[1],depth+1,maxdepth);
} else maxdepth=btMax(maxdepth,depth);
}
@ -250,7 +251,8 @@ static btDbvtVolume bounds( const tNodeArray& leaves)
{
#if DBVT_MERGE_IMPL==DBVT_IMPL_SSE
ATTRIBUTE_ALIGNED16(char locals[sizeof(btDbvtVolume)]);
btDbvtVolume& volume=*(btDbvtVolume*)locals;
btDbvtVolume* ptr = (btDbvtVolume*) locals;
btDbvtVolume& volume=*ptr;
volume=leaves[0]->volume;
#else
btDbvtVolume volume=leaves[0]->volume;

149
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h
View file

@ -32,7 +32,7 @@ subject to the following restrictions:
#define DBVT_IMPL_SSE 1 // SSE
// Template implementation of ICollide
#ifdef WIN32
#ifdef _WIN32
#if (defined (_MSC_VER) && _MSC_VER >= 1400)
#define DBVT_USE_TEMPLATE 1
#else
@ -57,7 +57,7 @@ subject to the following restrictions:
// Specific methods implementation
//SSE gives errors on a MSVC 7.1
#if defined (BT_USE_SSE) && defined (WIN32)
#if defined (BT_USE_SSE) //&& defined (_WIN32)
#define DBVT_SELECT_IMPL DBVT_IMPL_SSE
#define DBVT_MERGE_IMPL DBVT_IMPL_SSE
#define DBVT_INT0_IMPL DBVT_IMPL_SSE
@ -92,7 +92,7 @@ subject to the following restrictions:
#endif
#if DBVT_USE_MEMMOVE
#ifndef __CELLOS_LV2__
#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>
@ -122,6 +122,7 @@ subject to the following restrictions:
#error "DBVT_INT0_IMPL undefined"
#endif
//
// Defaults volumes
//
@ -160,6 +161,10 @@ struct btDbvtAabbMm
btDbvtAabbMm& r);
DBVT_INLINE friend bool NotEqual( const btDbvtAabbMm& a,
const btDbvtAabbMm& b);
DBVT_INLINE btVector3& tMins() { return(mi); }
DBVT_INLINE btVector3& tMaxs() { return(mx); }
private:
DBVT_INLINE void AddSpan(const btVector3& d,btScalar& smi,btScalar& smx) const;
private:
@ -184,6 +189,9 @@ struct btDbvtNode
};
};
typedef btAlignedObjectArray<const btDbvtNode*> btNodeStack;
///The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).
///This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes.
///Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.
@ -319,7 +327,17 @@ struct btDbvt
DBVT_PREFIX
void collideTV( const btDbvtNode* root,
const btDbvtVolume& volume,
DBVT_IPOLICY);
DBVT_IPOLICY) const;
DBVT_PREFIX
void collideTVNoStackAlloc( const btDbvtNode* root,
const btDbvtVolume& volume,
btNodeStack& stack,
DBVT_IPOLICY) const;
///rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc)
///rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time
DBVT_PREFIX
@ -338,6 +356,7 @@ struct btDbvt
btScalar lambda_max,
const btVector3& aabbMin,
const btVector3& aabbMax,
btAlignedObjectArray<const btDbvtNode*>& stack,
DBVT_IPOLICY) const;
DBVT_PREFIX
@ -518,7 +537,11 @@ DBVT_INLINE bool Intersect( const btDbvtAabbMm& a,
#if DBVT_INT0_IMPL == DBVT_IMPL_SSE
const __m128 rt(_mm_or_ps( _mm_cmplt_ps(_mm_load_ps(b.mx),_mm_load_ps(a.mi)),
_mm_cmplt_ps(_mm_load_ps(a.mx),_mm_load_ps(b.mi))));
#if defined (_WIN32)
const __int32* pu((const __int32*)&rt);
#else
const int* pu((const int*)&rt);
#endif
return((pu[0]|pu[1]|pu[2])==0);
#else
return( (a.mi.x()<=b.mx.x())&&
@ -567,7 +590,12 @@ DBVT_INLINE int Select( const btDbvtAabbMm& o,
const btDbvtAabbMm& b)
{
#if DBVT_SELECT_IMPL == DBVT_IMPL_SSE
#if defined (_WIN32)
static ATTRIBUTE_ALIGNED16(const unsigned __int32) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x7fffffff};
#else
static ATTRIBUTE_ALIGNED16(const unsigned int) mask[]={0x7fffffff,0x7fffffff,0x7fffffff,0x00000000 /*0x7fffffff*/};
#endif
///@todo: the intrinsic version is 11% slower
#if DBVT_USE_INTRINSIC_SSE
@ -903,39 +931,72 @@ inline void btDbvt::collideTT( const btDbvtNode* root0,
}
#endif
//
DBVT_PREFIX
inline void btDbvt::collideTV( const btDbvtNode* root,
const btDbvtVolume& vol,
DBVT_IPOLICY)
DBVT_IPOLICY) const
{
DBVT_CHECKTYPE
if(root)
{
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol);
btAlignedObjectArray<const btDbvtNode*> stack;
stack.resize(0);
stack.reserve(SIMPLE_STACKSIZE);
stack.push_back(root);
do {
const btDbvtNode* n=stack[stack.size()-1];
stack.pop_back();
if(Intersect(n->volume,volume))
if(root)
{
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol);
btAlignedObjectArray<const btDbvtNode*> stack;
stack.resize(0);
stack.reserve(SIMPLE_STACKSIZE);
stack.push_back(root);
do {
const btDbvtNode* n=stack[stack.size()-1];
stack.pop_back();
if(Intersect(n->volume,volume))
{
if(n->isinternal())
{
if(n->isinternal())
{
stack.push_back(n->childs[0]);
stack.push_back(n->childs[1]);
}
else
{
policy.Process(n);
}
stack.push_back(n->childs[0]);
stack.push_back(n->childs[1]);
}
} while(stack.size()>0);
}
else
{
policy.Process(n);
}
}
} while(stack.size()>0);
}
}
//
DBVT_PREFIX
inline void btDbvt::collideTVNoStackAlloc( const btDbvtNode* root,
const btDbvtVolume& vol,
btNodeStack& stack,
DBVT_IPOLICY) const
{
DBVT_CHECKTYPE
if(root)
{
ATTRIBUTE_ALIGNED16(btDbvtVolume) volume(vol);
stack.resize(0);
stack.reserve(SIMPLE_STACKSIZE);
stack.push_back(root);
do {
const btDbvtNode* n=stack[stack.size()-1];
stack.pop_back();
if(Intersect(n->volume,volume))
{
if(n->isinternal())
{
stack.push_back(n->childs[0]);
stack.push_back(n->childs[1]);
}
else
{
policy.Process(n);
}
}
} while(stack.size()>0);
}
}
DBVT_PREFIX
inline void btDbvt::rayTestInternal( const btDbvtNode* root,
const btVector3& rayFrom,
@ -945,8 +1006,10 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
btScalar lambda_max,
const btVector3& aabbMin,
const btVector3& aabbMax,
DBVT_IPOLICY) const
btAlignedObjectArray<const btDbvtNode*>& stack,
DBVT_IPOLICY ) const
{
(void) rayTo;
DBVT_CHECKTYPE
if(root)
{
@ -954,15 +1017,14 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
int depth=1;
int treshold=DOUBLE_STACKSIZE-2;
btAlignedObjectArray<const btDbvtNode*> stack;
stack.resize(DOUBLE_STACKSIZE);
stack[0]=root;
btVector3 bounds[2];
do
{
const btDbvtNode* node=stack[--depth];
bounds[0] = node->volume.Mins()+aabbMin;
bounds[1] = node->volume.Maxs()+aabbMax;
bounds[0] = node->volume.Mins()-aabbMax;
bounds[1] = node->volume.Maxs()-aabbMin;
btScalar tmin=1.f,lambda_min=0.f;
unsigned int result1=false;
result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);
@ -1178,19 +1240,34 @@ inline void btDbvt::collideOCL( const btDbvtNode* root,
/* Insert 0 */
j=nearest(&stack[0],&stock[0],nes[q].value,0,stack.size());
stack.push_back(0);
//void * memmove ( void * destination, const void * source, size_t num );
#if DBVT_USE_MEMMOVE
memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
{
int num_items_to_move = stack.size()-1-j;
if(num_items_to_move > 0)
memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
}
#else
for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
for(int k=stack.size()-1;k>j;--k) {
stack[k]=stack[k-1];
}
#endif
stack[j]=allocate(ifree,stock,nes[q]);
/* Insert 1 */
j=nearest(&stack[0],&stock[0],nes[1-q].value,j,stack.size());
stack.push_back(0);
#if DBVT_USE_MEMMOVE
memmove(&stack[j+1],&stack[j],sizeof(int)*(stack.size()-j-1));
{
int num_items_to_move = stack.size()-1-j;
if(num_items_to_move > 0)
memmove(&stack[j+1],&stack[j],sizeof(int)*num_items_to_move);
}
#else
for(int k=stack.size()-1;k>j;--k) stack[k]=stack[k-1];
for(int k=stack.size()-1;k>j;--k) {
stack[k]=stack[k-1];
}
#endif
stack[j]=allocate(ifree,stock,nes[1-q]);
}

93
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
View file

@ -16,6 +16,7 @@ subject to the following restrictions:
///btDbvtBroadphase implementation by Nathanael Presson
#include "btDbvtBroadphase.h"
#include "LinearMath/btThreads.h"
//
// Profiling
@ -142,6 +143,11 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
{
m_stageRoots[i]=0;
}
#if BT_THREADSAFE
m_rayTestStacks.resize(BT_MAX_THREAD_COUNT);
#else
m_rayTestStacks.resize(1);
#endif
#if DBVT_BP_PROFILE
clear(m_profiling);
#endif
@ -227,6 +233,23 @@ struct BroadphaseRayTester : btDbvt::ICollide
void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
{
BroadphaseRayTester callback(rayCallback);
btAlignedObjectArray<const btDbvtNode*>* stack = &m_rayTestStacks[0];
#if BT_THREADSAFE
// for this function to be threadsafe, each thread must have a separate copy
// of this stack. This could be thread-local static to avoid dynamic allocations,
// instead of just a local.
int threadIndex = btGetCurrentThreadIndex();
btAlignedObjectArray<const btDbvtNode*> localStack;
if (threadIndex < m_rayTestStacks.size())
{
// use per-thread preallocated stack if possible to avoid dynamic allocations
stack = &m_rayTestStacks[threadIndex];
}
else
{
stack = &localStack;
}
#endif
m_sets[0].rayTestInternal( m_sets[0].m_root,
rayFrom,
@ -236,6 +259,7 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
rayCallback.m_lambda_max,
aabbMin,
aabbMax,
*stack,
callback);
m_sets[1].rayTestInternal( m_sets[1].m_root,
@ -246,11 +270,39 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo,
rayCallback.m_lambda_max,
aabbMin,
aabbMax,
*stack,
callback);
}
struct BroadphaseAabbTester : btDbvt::ICollide
{
btBroadphaseAabbCallback& m_aabbCallback;
BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
:m_aabbCallback(orgCallback)
{
}
void Process(const btDbvtNode* leaf)
{
btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
m_aabbCallback.process(proxy);
}
};
void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
{
BroadphaseAabbTester callback(aabbCallback);
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
//process all children, that overlap with the given AABB bounds
m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
}
//
void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
@ -318,6 +370,47 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
}
}
//
void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy,
const btVector3& aabbMin,
const btVector3& aabbMax,
btDispatcher* /*dispatcher*/)
{
btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
bool docollide=false;
if(proxy->stage==STAGECOUNT)
{/* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf=m_sets[0].insert(aabb,proxy);
docollide=true;
}
else
{/* dynamic set */
++m_updates_call;
/* Teleporting */
m_sets[0].update(proxy->leaf,aabb);
++m_updates_done;
docollide=true;
}
listremove(proxy,m_stageRoots[proxy->stage]);
proxy->m_aabbMin = aabbMin;
proxy->m_aabbMax = aabbMax;
proxy->stage = m_stageCurrent;
listappend(proxy,m_stageRoots[m_stageCurrent]);
if(docollide)
{
m_needcleanup=true;
if(!m_deferedcollide)
{
btDbvtTreeCollider collider(this);
m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
}
}
}
//
void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{

42
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
View file

@ -87,6 +87,7 @@ struct btDbvtBroadphase : btBroadphaseInterface
bool m_releasepaircache; // Release pair cache on delete
bool m_deferedcollide; // Defere dynamic/static collision to collide call
bool m_needcleanup; // Need to run cleanup?
btAlignedObjectArray< btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
#if DBVT_BP_PROFILE
btClock m_clock;
struct {
@ -102,20 +103,27 @@ struct btDbvtBroadphase : btBroadphaseInterface
~btDbvtBroadphase();
void collide(btDispatcher* dispatcher);
void optimize();
/* btBroadphaseInterface Implementation */
/* btBroadphaseInterface Implementation */
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
void calculateOverlappingPairs(btDispatcher* dispatcher);
btOverlappingPairCache* getOverlappingPairCache();
const btOverlappingPairCache* getOverlappingPairCache() const;
void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
void printStats();
static void benchmark(btBroadphaseInterface*);
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
virtual btOverlappingPairCache* getOverlappingPairCache();
virtual const btOverlappingPairCache* getOverlappingPairCache() const;
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
virtual void printStats();
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(btDispatcher* dispatcher);
void performDeferredRemoval(btDispatcher* dispatcher);
void setVelocityPrediction(btScalar prediction)
{
m_prediction = prediction;
@ -124,11 +132,15 @@ struct btDbvtBroadphase : btBroadphaseInterface
{
return m_prediction;
}
void performDeferredRemoval(btDispatcher* dispatcher);
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(btDispatcher* dispatcher);
///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
///http://code.google.com/p/bullet/issues/detail?id=223
void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
static void benchmark(btBroadphaseInterface*);
};

35
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h
View file

@ -13,9 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef _DISPATCHER_H
#define _DISPATCHER_H
#ifndef BT_DISPATCHER_H
#define BT_DISPATCHER_H
#include "LinearMath/btScalar.h"
class btCollisionAlgorithm;
@ -23,10 +22,10 @@ struct btBroadphaseProxy;
class btRigidBody;
class btCollisionObject;
class btOverlappingPairCache;
struct btCollisionObjectWrapper;
class btPersistentManifold;
class btStackAlloc;
class btPoolAllocator;
struct btDispatcherInfo
{
@ -40,15 +39,14 @@ struct btDispatcherInfo
m_stepCount(0),
m_dispatchFunc(DISPATCH_DISCRETE),
m_timeOfImpact(btScalar(1.)),
m_useContinuous(false),
m_useContinuous(true),
m_debugDraw(0),
m_enableSatConvex(false),
m_enableSPU(true),
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
m_stackAllocator(0)
m_convexConservativeDistanceThreshold(0.0f)
{
}
@ -64,7 +62,12 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
btStackAlloc* m_stackAllocator;
};
enum ebtDispatcherQueryType
{
BT_CONTACT_POINT_ALGORITHMS = 1,
BT_CLOSEST_POINT_ALGORITHMS = 2
};
///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
@ -76,17 +79,17 @@ class btDispatcher
public:
virtual ~btDispatcher() ;
virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0;
virtual btPersistentManifold* getNewManifold(void* body0,void* body1)=0;
virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0;
virtual void releaseManifold(btPersistentManifold* manifold)=0;
virtual void clearManifold(btPersistentManifold* manifold)=0;
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1) = 0;
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)=0;
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) =0;
@ -96,6 +99,10 @@ public:
virtual btPersistentManifold** getInternalManifoldPointer() = 0;
virtual btPoolAllocator* getInternalManifoldPool() = 0;
virtual const btPoolAllocator* getInternalManifoldPool() const = 0;
virtual void* allocateCollisionAlgorithm(int size) = 0;
virtual void freeCollisionAlgorithm(void* ptr) = 0;
@ -103,4 +110,4 @@ public:
};
#endif //_DISPATCHER_H
#endif //BT_DISPATCHER_H

2
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
View file

@ -341,7 +341,7 @@ class btMultiSapBroadphasePairSortPredicate
{
public:
bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const
{
btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;

11
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
View file

@ -34,7 +34,6 @@ int gFindPairs =0;
btHashedOverlappingPairCache::btHashedOverlappingPairCache():
m_overlapFilterCallback(0),
m_blockedForChanges(false),
m_ghostPairCallback(0)
{
int initialAllocatedSize= 2;
@ -53,7 +52,7 @@ btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
{
if (pair.m_algorithm)
if (pair.m_algorithm && dispatcher)
{
{
pair.m_algorithm->~btCollisionAlgorithm();
@ -240,7 +239,7 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
}*/
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expand();
void* mem = &m_overlappingPairArray.expandNonInitializing();
//this is where we add an actual pair, so also call the 'ghost'
if (m_ghostPairCallback)
@ -373,10 +372,10 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
return userData;
}
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
{
BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
int i;
// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
@ -467,7 +466,7 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
void* mem = &m_overlappingPairArray.expand();
void* mem = &m_overlappingPairArray.expandNonInitializing();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
gOverlappingPairs++;

19
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef OVERLAPPING_PAIR_CACHE_H
#define OVERLAPPING_PAIR_CACHE_H
#ifndef BT_OVERLAPPING_PAIR_CACHE_H
#define BT_OVERLAPPING_PAIR_CACHE_H
#include "btBroadphaseInterface.h"
@ -94,7 +94,12 @@ class btHashedOverlappingPairCache : public btOverlappingPairCache
{
btBroadphasePairArray m_overlappingPairArray;
btOverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
public:
@ -265,11 +270,6 @@ private:
virtual void sortOverlappingPairs(btDispatcher* dispatcher);
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
};
@ -457,12 +457,13 @@ public:
virtual void sortOverlappingPairs(btDispatcher* dispatcher)
{
(void) dispatcher;
}
};
#endif //OVERLAPPING_PAIR_CACHE_H
#endif //BT_OVERLAPPING_PAIR_CACHE_H

267
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
View file

@ -17,6 +17,7 @@ subject to the following restrictions:
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btSerializer.h"
#define RAYAABB2
@ -78,10 +79,10 @@ void btQuantizedBvh::buildInternal()
#ifdef DEBUG_PATCH_COLORS
btVector3 color[4]=
{
btVector3(255,0,0),
btVector3(0,255,0),
btVector3(0,0,255),
btVector3(0,255,255)
btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1),
btVector3(0,1,1)
};
#endif //DEBUG_PATCH_COLORS
@ -95,7 +96,27 @@ void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
m_useQuantization = true;
{
unsigned short vecIn[3];
btVector3 v;
{
quantize(vecIn,m_bvhAabbMin,false);
v = unQuantize(vecIn);
m_bvhAabbMin.setMin(v-clampValue);
}
aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
{
quantize(vecIn,m_bvhAabbMax,true);
v = unQuantize(vecIn);
m_bvhAabbMax.setMax(v+clampValue);
}
aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
}
}
@ -493,8 +514,8 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
//perhaps profile if it is worth doing the aabbOverlap test first
@ -617,8 +638,8 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
btVector3 normal;
#if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);
@ -830,7 +851,7 @@ unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
}
unsigned btQuantizedBvh::calculateSerializeBufferSize()
unsigned btQuantizedBvh::calculateSerializeBufferSize() const
{
unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding();
baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
@ -841,7 +862,7 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize()
return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
}
bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
{
btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
m_subtreeHeaderCount = m_SubtreeHeaders.size();
@ -1143,6 +1164,232 @@ m_bulletVersion(BT_BULLET_VERSION)
}
void btQuantizedBvh::deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData)
{
m_bvhAabbMax.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMax);
m_bvhAabbMin.deSerializeFloat(quantizedBvhFloatData.m_bvhAabbMin);
m_bvhQuantization.deSerializeFloat(quantizedBvhFloatData.m_bvhQuantization);
m_curNodeIndex = quantizedBvhFloatData.m_curNodeIndex;
m_useQuantization = quantizedBvhFloatData.m_useQuantization!=0;
{
int numElem = quantizedBvhFloatData.m_numContiguousLeafNodes;
m_contiguousNodes.resize(numElem);
if (numElem)
{
btOptimizedBvhNodeFloatData* memPtr = quantizedBvhFloatData.m_contiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.deSerializeFloat(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.deSerializeFloat(memPtr->m_aabbMinOrg);
m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
}
}
}
{
int numElem = quantizedBvhFloatData.m_numQuantizedContiguousNodes;
m_quantizedContiguousNodes.resize(numElem);
if (numElem)
{
btQuantizedBvhNodeData* memPtr = quantizedBvhFloatData.m_quantizedContiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
}
}
}
m_traversalMode = btTraversalMode(quantizedBvhFloatData.m_traversalMode);
{
int numElem = quantizedBvhFloatData.m_numSubtreeHeaders;
m_SubtreeHeaders.resize(numElem);
if (numElem)
{
btBvhSubtreeInfoData* memPtr = quantizedBvhFloatData.m_subTreeInfoPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
}
}
}
}
void btQuantizedBvh::deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData)
{
m_bvhAabbMax.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMax);
m_bvhAabbMin.deSerializeDouble(quantizedBvhDoubleData.m_bvhAabbMin);
m_bvhQuantization.deSerializeDouble(quantizedBvhDoubleData.m_bvhQuantization);
m_curNodeIndex = quantizedBvhDoubleData.m_curNodeIndex;
m_useQuantization = quantizedBvhDoubleData.m_useQuantization!=0;
{
int numElem = quantizedBvhDoubleData.m_numContiguousLeafNodes;
m_contiguousNodes.resize(numElem);
if (numElem)
{
btOptimizedBvhNodeDoubleData* memPtr = quantizedBvhDoubleData.m_contiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.deSerializeDouble(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.deSerializeDouble(memPtr->m_aabbMinOrg);
m_contiguousNodes[i].m_escapeIndex = memPtr->m_escapeIndex;
m_contiguousNodes[i].m_subPart = memPtr->m_subPart;
m_contiguousNodes[i].m_triangleIndex = memPtr->m_triangleIndex;
}
}
}
{
int numElem = quantizedBvhDoubleData.m_numQuantizedContiguousNodes;
m_quantizedContiguousNodes.resize(numElem);
if (numElem)
{
btQuantizedBvhNodeData* memPtr = quantizedBvhDoubleData.m_quantizedContiguousNodesPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex = memPtr->m_escapeIndexOrTriangleIndex;
m_quantizedContiguousNodes[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_quantizedContiguousNodes[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
}
}
}
m_traversalMode = btTraversalMode(quantizedBvhDoubleData.m_traversalMode);
{
int numElem = quantizedBvhDoubleData.m_numSubtreeHeaders;
m_SubtreeHeaders.resize(numElem);
if (numElem)
{
btBvhSubtreeInfoData* memPtr = quantizedBvhDoubleData.m_subTreeInfoPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_SubtreeHeaders[i].m_quantizedAabbMax[0] = memPtr->m_quantizedAabbMax[0] ;
m_SubtreeHeaders[i].m_quantizedAabbMax[1] = memPtr->m_quantizedAabbMax[1];
m_SubtreeHeaders[i].m_quantizedAabbMax[2] = memPtr->m_quantizedAabbMax[2];
m_SubtreeHeaders[i].m_quantizedAabbMin[0] = memPtr->m_quantizedAabbMin[0];
m_SubtreeHeaders[i].m_quantizedAabbMin[1] = memPtr->m_quantizedAabbMin[1];
m_SubtreeHeaders[i].m_quantizedAabbMin[2] = memPtr->m_quantizedAabbMin[2];
m_SubtreeHeaders[i].m_rootNodeIndex = memPtr->m_rootNodeIndex;
m_SubtreeHeaders[i].m_subtreeSize = memPtr->m_subtreeSize;
}
}
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btQuantizedBvh::serialize(void* dataBuffer, btSerializer* serializer) const
{
btQuantizedBvhData* quantizedData = (btQuantizedBvhData*)dataBuffer;
m_bvhAabbMax.serialize(quantizedData->m_bvhAabbMax);
m_bvhAabbMin.serialize(quantizedData->m_bvhAabbMin);
m_bvhQuantization.serialize(quantizedData->m_bvhQuantization);
quantizedData->m_curNodeIndex = m_curNodeIndex;
quantizedData->m_useQuantization = m_useQuantization;
quantizedData->m_numContiguousLeafNodes = m_contiguousNodes.size();
quantizedData->m_contiguousNodesPtr = (btOptimizedBvhNodeData*) (m_contiguousNodes.size() ? serializer->getUniquePointer((void*)&m_contiguousNodes[0]) : 0);
if (quantizedData->m_contiguousNodesPtr)
{
int sz = sizeof(btOptimizedBvhNodeData);
int numElem = m_contiguousNodes.size();
btChunk* chunk = serializer->allocate(sz,numElem);
btOptimizedBvhNodeData* memPtr = (btOptimizedBvhNodeData*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
m_contiguousNodes[i].m_aabbMaxOrg.serialize(memPtr->m_aabbMaxOrg);
m_contiguousNodes[i].m_aabbMinOrg.serialize(memPtr->m_aabbMinOrg);
memPtr->m_escapeIndex = m_contiguousNodes[i].m_escapeIndex;
memPtr->m_subPart = m_contiguousNodes[i].m_subPart;
memPtr->m_triangleIndex = m_contiguousNodes[i].m_triangleIndex;
}
serializer->finalizeChunk(chunk,"btOptimizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_contiguousNodes[0]);
}
quantizedData->m_numQuantizedContiguousNodes = m_quantizedContiguousNodes.size();
// printf("quantizedData->m_numQuantizedContiguousNodes=%d\n",quantizedData->m_numQuantizedContiguousNodes);
quantizedData->m_quantizedContiguousNodesPtr =(btQuantizedBvhNodeData*) (m_quantizedContiguousNodes.size() ? serializer->getUniquePointer((void*)&m_quantizedContiguousNodes[0]) : 0);
if (quantizedData->m_quantizedContiguousNodesPtr)
{
int sz = sizeof(btQuantizedBvhNodeData);
int numElem = m_quantizedContiguousNodes.size();
btChunk* chunk = serializer->allocate(sz,numElem);
btQuantizedBvhNodeData* memPtr = (btQuantizedBvhNodeData*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
memPtr->m_escapeIndexOrTriangleIndex = m_quantizedContiguousNodes[i].m_escapeIndexOrTriangleIndex;
memPtr->m_quantizedAabbMax[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[0];
memPtr->m_quantizedAabbMax[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[1];
memPtr->m_quantizedAabbMax[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMax[2];
memPtr->m_quantizedAabbMin[0] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[0];
memPtr->m_quantizedAabbMin[1] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[1];
memPtr->m_quantizedAabbMin[2] = m_quantizedContiguousNodes[i].m_quantizedAabbMin[2];
}
serializer->finalizeChunk(chunk,"btQuantizedBvhNodeData",BT_ARRAY_CODE,(void*)&m_quantizedContiguousNodes[0]);
}
quantizedData->m_traversalMode = int(m_traversalMode);
quantizedData->m_numSubtreeHeaders = m_SubtreeHeaders.size();
quantizedData->m_subTreeInfoPtr = (btBvhSubtreeInfoData*) (m_SubtreeHeaders.size() ? serializer->getUniquePointer((void*)&m_SubtreeHeaders[0]) : 0);
if (quantizedData->m_subTreeInfoPtr)
{
int sz = sizeof(btBvhSubtreeInfoData);
int numElem = m_SubtreeHeaders.size();
btChunk* chunk = serializer->allocate(sz,numElem);
btBvhSubtreeInfoData* memPtr = (btBvhSubtreeInfoData*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++)
{
memPtr->m_quantizedAabbMax[0] = m_SubtreeHeaders[i].m_quantizedAabbMax[0];
memPtr->m_quantizedAabbMax[1] = m_SubtreeHeaders[i].m_quantizedAabbMax[1];
memPtr->m_quantizedAabbMax[2] = m_SubtreeHeaders[i].m_quantizedAabbMax[2];
memPtr->m_quantizedAabbMin[0] = m_SubtreeHeaders[i].m_quantizedAabbMin[0];
memPtr->m_quantizedAabbMin[1] = m_SubtreeHeaders[i].m_quantizedAabbMin[1];
memPtr->m_quantizedAabbMin[2] = m_SubtreeHeaders[i].m_quantizedAabbMin[2];
memPtr->m_rootNodeIndex = m_SubtreeHeaders[i].m_rootNodeIndex;
memPtr->m_subtreeSize = m_SubtreeHeaders[i].m_subtreeSize;
}
serializer->finalizeChunk(chunk,"btBvhSubtreeInfoData",BT_ARRAY_CODE,(void*)&m_SubtreeHeaders[0]);
}
return btQuantizedBvhDataName;
}

126
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
View file

@ -13,8 +13,10 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef QUANTIZED_BVH_H
#define QUANTIZED_BVH_H
#ifndef BT_QUANTIZED_BVH_H
#define BT_QUANTIZED_BVH_H
class btSerializer;
//#define DEBUG_CHECK_DEQUANTIZATION 1
#ifdef DEBUG_CHECK_DEQUANTIZATION
@ -29,6 +31,17 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedAllocator.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btQuantizedBvhData btQuantizedBvhDoubleData
#define btOptimizedBvhNodeData btOptimizedBvhNodeDoubleData
#define btQuantizedBvhDataName "btQuantizedBvhDoubleData"
#else
#define btQuantizedBvhData btQuantizedBvhFloatData
#define btOptimizedBvhNodeData btOptimizedBvhNodeFloatData
#define btQuantizedBvhDataName "btQuantizedBvhFloatData"
#endif
//http://msdn.microsoft.com/library/default.asp?url=/library/en-us/vclang/html/vclrf__m128.asp
@ -65,8 +78,10 @@ ATTRIBUTE_ALIGNED16 (struct) btQuantizedBvhNode
int getTriangleIndex() const
{
btAssert(isLeafNode());
unsigned int x=0;
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
// Get only the lower bits where the triangle index is stored
return (m_escapeIndexOrTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
return (m_escapeIndexOrTriangleIndex&~(y));
}
int getPartId() const
{
@ -94,9 +109,9 @@ ATTRIBUTE_ALIGNED16 (struct) btOptimizedBvhNode
//for child nodes
int m_subPart;
int m_triangleIndex;
int m_padding[5];//bad, due to alignment
//pad the size to 64 bytes
char m_padding[20];
};
@ -190,7 +205,7 @@ protected:
BvhSubtreeInfoArray m_SubtreeHeaders;
//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
int m_subtreeHeaderCount;
mutable int m_subtreeHeaderCount;
@ -443,17 +458,32 @@ public:
return m_SubtreeHeaders;
}
////////////////////////////////////////////////////////////////////
/////Calculate space needed to store BVH for serialization
unsigned calculateSerializeBufferSize();
unsigned calculateSerializeBufferSize() const;
/// Data buffer MUST be 16 byte aligned
virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
static unsigned int getAlignmentSerializationPadding();
//////////////////////////////////////////////////////////////////////
virtual int calculateSerializeBufferSizeNew() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
virtual void deSerializeFloat(struct btQuantizedBvhFloatData& quantizedBvhFloatData);
virtual void deSerializeDouble(struct btQuantizedBvhDoubleData& quantizedBvhDoubleData);
////////////////////////////////////////////////////////////////////
SIMD_FORCE_INLINE bool isQuantized()
{
@ -470,4 +500,82 @@ private:
;
#endif //QUANTIZED_BVH_H
struct btBvhSubtreeInfoData
{
int m_rootNodeIndex;
int m_subtreeSize;
unsigned short m_quantizedAabbMin[3];
unsigned short m_quantizedAabbMax[3];
};
struct btOptimizedBvhNodeFloatData
{
btVector3FloatData m_aabbMinOrg;
btVector3FloatData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
struct btOptimizedBvhNodeDoubleData
{
btVector3DoubleData m_aabbMinOrg;
btVector3DoubleData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
struct btQuantizedBvhNodeData
{
unsigned short m_quantizedAabbMin[3];
unsigned short m_quantizedAabbMax[3];
int m_escapeIndexOrTriangleIndex;
};
struct btQuantizedBvhFloatData
{
btVector3FloatData m_bvhAabbMin;
btVector3FloatData m_bvhAabbMax;
btVector3FloatData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
};
struct btQuantizedBvhDoubleData
{
btVector3DoubleData m_bvhAabbMin;
btVector3DoubleData m_bvhAabbMax;
btVector3DoubleData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};
SIMD_FORCE_INLINE int btQuantizedBvh::calculateSerializeBufferSizeNew() const
{
return sizeof(btQuantizedBvhData);
}
#endif //BT_QUANTIZED_BVH_H

19
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View file

@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAabbUtil2.h"
#include <new>
extern int gOverlappingPairs;
@ -166,6 +168,23 @@ void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
}
void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
for (int i=0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
if(!proxy->m_clientObject)
{
continue;
}
if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
{
callback.process(proxy);
}
}
}

7
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMPLE_BROADPHASE_H
#define SIMPLE_BROADPHASE_H
#ifndef BT_SIMPLE_BROADPHASE_H
#define BT_SIMPLE_BROADPHASE_H
#include "btOverlappingPairCache.h"
@ -136,6 +136,7 @@ public:
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
btOverlappingPairCache* getOverlappingPairCache()
{
@ -166,5 +167,5 @@ public:
#endif //SIMPLE_BROADPHASE_H
#endif //BT_SIMPLE_BROADPHASE_H

65
Engine/lib/bullet/src/BulletCollision/CMakeLists.txt
View file

@ -1,4 +1,4 @@
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src } )
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src )
SET(BulletCollision_SRCS
BroadphaseCollision/btAxisSweep3.cpp
@ -18,7 +18,9 @@ SET(BulletCollision_SRCS
CollisionDispatch/btCollisionDispatcher.cpp
CollisionDispatch/btCollisionObject.cpp
CollisionDispatch/btCollisionWorld.cpp
CollisionDispatch/btCollisionWorldImporter.cpp
CollisionDispatch/btCompoundCollisionAlgorithm.cpp
CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
CollisionDispatch/btConvexConvexAlgorithm.cpp
CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@ -26,6 +28,9 @@ SET(BulletCollision_SRCS
CollisionDispatch/btDefaultCollisionConfiguration.cpp
CollisionDispatch/btEmptyCollisionAlgorithm.cpp
CollisionDispatch/btGhostObject.cpp
CollisionDispatch/btHashedSimplePairCache.cpp
CollisionDispatch/btInternalEdgeUtility.cpp
CollisionDispatch/btInternalEdgeUtility.h
CollisionDispatch/btManifoldResult.cpp
CollisionDispatch/btSimulationIslandManager.cpp
CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
@ -44,6 +49,7 @@ SET(BulletCollision_SRCS
CollisionShapes/btConvexHullShape.cpp
CollisionShapes/btConvexInternalShape.cpp
CollisionShapes/btConvexPointCloudShape.cpp
CollisionShapes/btConvexPolyhedron.cpp
CollisionShapes/btConvexShape.cpp
CollisionShapes/btConvex2dShape.cpp
CollisionShapes/btConvexTriangleMeshShape.cpp
@ -90,6 +96,7 @@ SET(BulletCollision_SRCS
NarrowPhaseCollision/btRaycastCallback.cpp
NarrowPhaseCollision/btSubSimplexConvexCast.cpp
NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
NarrowPhaseCollision/btPolyhedralContactClipping.cpp
)
SET(Root_HDRS
@ -118,8 +125,11 @@ SET(CollisionDispatch_HDRS
CollisionDispatch/btCollisionCreateFunc.h
CollisionDispatch/btCollisionDispatcher.h
CollisionDispatch/btCollisionObject.h
CollisionDispatch/btCollisionObjectWrapper.h
CollisionDispatch/btCollisionWorld.h
CollisionDispatch/btCollisionWorldImporter.h
CollisionDispatch/btCompoundCollisionAlgorithm.h
CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
CollisionDispatch/btConvexConvexAlgorithm.h
CollisionDispatch/btConvex2dConvex2dAlgorithm.h
@ -127,6 +137,7 @@ SET(CollisionDispatch_HDRS
CollisionDispatch/btDefaultCollisionConfiguration.h
CollisionDispatch/btEmptyCollisionAlgorithm.h
CollisionDispatch/btGhostObject.h
CollisionDispatch/btHashedSimplePairCache.h
CollisionDispatch/btManifoldResult.h
CollisionDispatch/btSimulationIslandManager.h
CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@ -148,6 +159,7 @@ SET(CollisionShapes_HDRS
CollisionShapes/btConvexHullShape.h
CollisionShapes/btConvexInternalShape.h
CollisionShapes/btConvexPointCloudShape.h
CollisionShapes/btConvexPolyhedron.h
CollisionShapes/btConvexShape.h
CollisionShapes/btConvex2dShape.h
CollisionShapes/btConvexTriangleMeshShape.h
@ -170,6 +182,7 @@ SET(CollisionShapes_HDRS
CollisionShapes/btTriangleCallback.h
CollisionShapes/btTriangleIndexVertexArray.h
CollisionShapes/btTriangleIndexVertexMaterialArray.h
CollisionShapes/btTriangleInfoMap.h
CollisionShapes/btTriangleMesh.h
CollisionShapes/btTriangleMeshShape.h
CollisionShapes/btTriangleShape.h
@ -221,6 +234,7 @@ SET(NarrowPhaseCollision_HDRS
NarrowPhaseCollision/btSimplexSolverInterface.h
NarrowPhaseCollision/btSubSimplexConvexCast.h
NarrowPhaseCollision/btVoronoiSimplexSolver.h
NarrowPhaseCollision/btPolyhedralContactClipping.h
)
SET(BulletCollision_HDRS
@ -241,27 +255,34 @@ IF (BUILD_SHARED_LIBS)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_LIBS)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
#INSTALL of other files requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletCollision DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletCollision RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
INSTALL(FILES ../btBulletCollisionCommon.h
DESTINATION ${INCLUDE_INSTALL_DIR}/BulletCollision)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
#INSTALL of other files requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletCollision DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletCollision DESTINATION lib)
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
# Have to list out sub-directories manually:
SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
# Have to list out sub-directories manually:
SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ENDIF (INSTALL_LIBS)

63
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
View file

@ -57,8 +57,6 @@ void SphereTriangleDetector::getClosestPoints(const ClosestPointInput& input,Res
}
#define MAX_OVERLAP btScalar(0.)
// See also geometrictools.com
@ -93,48 +91,39 @@ bool SphereTriangleDetector::facecontains(const btVector3 &p,const btVector3* ve
return pointInTriangle(vertices, lnormal, &lp);
}
///combined discrete/continuous sphere-triangle
bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
{
const btVector3* vertices = &m_triangle->getVertexPtr(0);
const btVector3& c = sphereCenter;
btScalar r = m_sphere->getRadius();
btVector3 delta (0,0,0);
btScalar radius = m_sphere->getRadius();
btScalar radiusWithThreshold = radius + contactBreakingThreshold;
btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]);
normal.normalize();
btVector3 p1ToCentre = c - vertices[0];
normal.safeNormalize();
btVector3 p1ToCentre = sphereCenter - vertices[0];
btScalar distanceFromPlane = p1ToCentre.dot(normal);
if (distanceFromPlane < btScalar(0.))
{
//triangle facing the other way
distanceFromPlane *= btScalar(-1.);
normal *= btScalar(-1.);
}
btScalar contactMargin = contactBreakingThreshold;
bool isInsideContactPlane = distanceFromPlane < r + contactMargin;
bool isInsideShellPlane = distanceFromPlane < r;
bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
btScalar deltaDotNormal = delta.dot(normal);
if (!isInsideShellPlane && deltaDotNormal >= btScalar(0.0))
return false;
// Check for contact / intersection
bool hasContact = false;
btVector3 contactPoint;
if (isInsideContactPlane) {
if (facecontains(c,vertices,normal)) {
if (facecontains(sphereCenter,vertices,normal)) {
// Inside the contact wedge - touches a point on the shell plane
hasContact = true;
contactPoint = c - normal*distanceFromPlane;
contactPoint = sphereCenter - normal*distanceFromPlane;
} else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = (r + contactMargin) * (r + contactMargin);
btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
@ -143,7 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
m_triangle->getEdge(i,pa,pb);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,c, nearestOnEdge);
btScalar distanceSqr = SegmentSqrDistance(pa,pb,sphereCenter, nearestOnEdge);
if (distanceSqr < contactCapsuleRadiusSqr) {
// Yep, we're inside a capsule
hasContact = true;
@ -155,24 +144,26 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
}
if (hasContact) {
btVector3 contactToCentre = c - contactPoint;
btVector3 contactToCentre = sphereCenter - contactPoint;
btScalar distanceSqr = contactToCentre.length2();
if (distanceSqr < (r - MAX_OVERLAP)*(r - MAX_OVERLAP)) {
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(r-distance);
if (distanceSqr < radiusWithThreshold*radiusWithThreshold)
{
if (distanceSqr>SIMD_EPSILON)
{
btScalar distance = btSqrt(distanceSqr);
resultNormal = contactToCentre;
resultNormal.normalize();
point = contactPoint;
depth = -(radius-distance);
} else
{
resultNormal = normal;
point = contactPoint;
depth = -radius;
}
return true;
}
if (delta.dot(contactToCentre) >= btScalar(0.0))
return false;
// Moving towards the contact point -> collision
point = contactPoint;
timeOfImpact = btScalar(0.0);
return true;
}
return false;

10
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_TRIANGLE_DETECTOR_H
#define SPHERE_TRIANGLE_DETECTOR_H
#ifndef BT_SPHERE_TRIANGLE_DETECTOR_H
#define BT_SPHERE_TRIANGLE_DETECTOR_H
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
@ -34,9 +34,11 @@ struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
virtual ~SphereTriangleDetector() {};
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
private:
bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold);
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
@ -45,5 +47,5 @@ private:
btScalar m_contactBreakingThreshold;
};
#endif //SPHERE_TRIANGLE_DETECTOR_H
#endif //BT_SPHERE_TRIANGLE_DETECTOR_H

2
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
View file

@ -24,7 +24,7 @@ btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisio
//m_colObj1(0)
{
}
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1)
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* )
:btCollisionAlgorithm(ci)
//,
//m_colObj0(0),

2
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
View file

@ -28,7 +28,7 @@ public:
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btActivatingCollisionAlgorithm();

52
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
View file

@ -22,17 +22,18 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#define USE_PERSISTENT_CONTACTS 1
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btActivatingCollisionAlgorithm(ci,obj0,obj1),
btBox2dBox2dCollisionAlgorithm::btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* obj0Wrap,const btCollisionObjectWrapper* obj1Wrap)
: btActivatingCollisionAlgorithm(ci,obj0Wrap,obj1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_manifoldPtr = m_dispatcher->getNewManifold(obj0Wrap->getCollisionObject(),obj1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@ -52,19 +53,18 @@ btBox2dBox2dCollisionAlgorithm::~btBox2dBox2dCollisionAlgorithm()
void b2CollidePolygons(btManifoldResult* manifold, const btBox2dShape* polyA, const btTransform& xfA, const btBox2dShape* polyB, const btTransform& xfB);
//#include <stdio.h>
void btBox2dBox2dCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btBox2dBox2dCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBox2dShape* box0 = (btBox2dShape*)col0->getCollisionShape();
btBox2dShape* box1 = (btBox2dShape*)col1->getCollisionShape();
const btBox2dShape* box0 = (const btBox2dShape*)body0Wrap->getCollisionShape();
const btBox2dShape* box1 = (const btBox2dShape*)body1Wrap->getCollisionShape();
resultOut->setPersistentManifold(m_manifoldPtr);
b2CollidePolygons(resultOut,box0,col0->getWorldTransform(),box1,col1->getWorldTransform());
b2CollidePolygons(resultOut,box0,body0Wrap->getWorldTransform(),box1,body1Wrap->getWorldTransform());
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
@ -135,14 +135,13 @@ static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2)
{
int count1 = poly1->getVertexCount();
const btVector3* vertices1 = poly1->getVertices();
const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices();
btAssert(0 <= edge1 && edge1 < count1);
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Convert normal from poly1's frame into poly2's frame.
btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
@ -152,15 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
for (int i = 0; i < count2; ++i)
{
btScalar dot = b2Dot(vertices2[i], normal1);
if (dot < minDot)
{
minDot = dot;
index = i;
}
}
if( count2 > 0 )
index = (int) normal1.minDot( vertices2, count2, minDot);
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
btVector3 v2 = b2Mul(xf2, vertices2[index]);
@ -182,16 +174,9 @@ static btScalar FindMaxSeparation(int* edgeIndex,
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
btScalar maxDot = -BT_LARGE_FLOAT;
for (int i = 0; i < count1; ++i)
{
btScalar dot = b2Dot(normals1[i], dLocal1);
if (dot > maxDot)
{
maxDot = dot;
edge = i;
}
}
btScalar maxDot;
if( count1 > 0 )
edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
// Get the separation for the edge normal.
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
@ -271,14 +256,13 @@ static void FindIncidentEdge(ClipVertex c[2],
const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2)
{
int count1 = poly1->getVertexCount();
const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices();
const btVector3* normals2 = poly2->getNormals();
btAssert(0 <= edge1 && edge1 < count1);
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Get the normal of the reference edge in poly2's frame.
btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));
@ -370,7 +354,7 @@ void b2CollidePolygons(btManifoldResult* manifold,
btVector3 v11 = vertices1[edge1];
btVector3 v12 = edge1 + 1 < count1 ? vertices1[edge1+1] : vertices1[0];
btVector3 dv = v12 - v11;
//btVector3 dv = v12 - v11;
btVector3 sideNormal = b2Mul(xf1.getBasis(), v12 - v11);
sideNormal.normalize();
btVector3 frontNormal = btCrossS(sideNormal, 1.0f);

14
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#define BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#ifndef BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -33,11 +33,11 @@ public:
btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btBox2dBox2dCollisionAlgorithm();
@ -52,15 +52,15 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
}
};
};
#endif //BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H

23
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
View file

@ -18,17 +18,17 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btBoxBoxDetector.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#define USE_PERSISTENT_CONTACTS 1
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btActivatingCollisionAlgorithm(ci,obj0,obj1),
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@ -42,15 +42,14 @@ btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
}
}
void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
return;
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
@ -62,8 +61,8 @@ void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCo
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
btBoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);

14
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BOX_BOX__COLLISION_ALGORITHM_H
#define BOX_BOX__COLLISION_ALGORITHM_H
#ifndef BT_BOX_BOX__COLLISION_ALGORITHM_H
#define BT_BOX_BOX__COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -33,11 +33,11 @@ public:
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btBoxBoxCollisionAlgorithm();
@ -52,15 +52,15 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap);
}
};
};
#endif //BOX_BOX__COLLISION_ALGORITHM_H
#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H

55
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
View file

@ -1,4 +1,3 @@
/*
* Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
* Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
@ -25,7 +24,7 @@ subject to the following restrictions:
#include <float.h>
#include <string.h>
btBoxBoxDetector::btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2)
btBoxBoxDetector::btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2)
: m_box1(box1),
m_box2(box2)
{
@ -333,9 +332,9 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
#undef TST
#define TST(expr1,expr2,n1,n2,n3,cc) \
s2 = btFabs(expr1) - (expr2); \
if (s2 > 0) return 0; \
if (s2 > SIMD_EPSILON) return 0; \
l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
if (l > 0) { \
if (l > SIMD_EPSILON) { \
s2 /= l; \
if (s2*fudge_factor > s) { \
s = s2; \
@ -346,6 +345,20 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
} \
}
btScalar fudge2 (1.0e-5f);
Q11 += fudge2;
Q12 += fudge2;
Q13 += fudge2;
Q21 += fudge2;
Q22 += fudge2;
Q23 += fudge2;
Q31 += fudge2;
Q32 += fudge2;
Q33 += fudge2;
// separating axis = u1 x (v1,v2,v3)
TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
@ -424,6 +437,7 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
output.addContactPoint(-normal,pointInWorld,-*depth);
#else
output.addContactPoint(-normal,pb,-*depth);
#endif //
*return_code = code;
}
@ -593,21 +607,30 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
if (maxc < 1) maxc = 1;
if (cnum <= maxc) {
if (code<4)
{
// we have less contacts than we need, so we use them all
for (j=0; j < cnum; j++) {
//AddContactPoint...
//dContactGeom *con = CONTACT(contact,skip*j);
//for (i=0; i<3; i++) con->pos[i] = point[j*3+i] + pa[i];
//con->depth = dep[j];
for (j=0; j < cnum; j++)
{
btVector3 pointInWorld;
for (i=0; i<3; i++)
pointInWorld[i] = point[j*3+i] + pa[i];
output.addContactPoint(-normal,pointInWorld,-dep[j]);
}
} else
{
// we have less contacts than we need, so we use them all
for (j=0; j < cnum; j++)
{
btVector3 pointInWorld;
for (i=0; i<3; i++)
pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
//pointInWorld[i] = point[j*3+i] + pa[i];
output.addContactPoint(-normal,pointInWorld,-dep[j]);
}
}
}
else {
// we have more contacts than are wanted, some of them must be culled.
@ -632,7 +655,13 @@ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
btVector3 posInWorld;
for (i=0; i<3; i++)
posInWorld[i] = point[iret[j]*3+i] + pa[i];
output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
if (code<4)
{
output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
} else
{
output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
}
}
cnum = maxc;
}

10
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
View file

@ -16,8 +16,8 @@ subject to the following restrictions:
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.
*/
#ifndef BOX_BOX_DETECTOR_H
#define BOX_BOX_DETECTOR_H
#ifndef BT_BOX_BOX_DETECTOR_H
#define BT_BOX_BOX_DETECTOR_H
class btBoxShape;
@ -28,12 +28,12 @@ class btBoxShape;
/// re-distributed under the Zlib license with permission from Russell L. Smith
struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
{
btBoxShape* m_box1;
btBoxShape* m_box2;
const btBoxShape* m_box1;
const btBoxShape* m_box2;
public:
btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
btBoxBoxDetector(const btBoxShape* box1,const btBoxShape* box2);
virtual ~btBoxBoxDetector() {};

6
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
View file

@ -15,9 +15,9 @@ subject to the following restrictions:
#ifndef BT_COLLISION_CONFIGURATION
#define BT_COLLISION_CONFIGURATION
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
@ -37,10 +37,12 @@ public:
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) = 0;
};
#endif //BT_COLLISION_CONFIGURATION

14
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
View file

@ -13,13 +13,13 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_CREATE_FUNC
#define COLLISION_CREATE_FUNC
#ifndef BT_COLLISION_CREATE_FUNC
#define BT_COLLISION_CREATE_FUNC
#include "LinearMath/btAlignedObjectArray.h"
class btCollisionAlgorithm;
class btCollisionObject;
struct btCollisionObjectWrapper;
struct btCollisionAlgorithmConstructionInfo;
///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
@ -33,13 +33,13 @@ struct btCollisionAlgorithmCreateFunc
}
virtual ~btCollisionAlgorithmCreateFunc(){};
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
return 0;
}
};
#endif //COLLISION_CREATE_FUNC
#endif //BT_COLLISION_CREATE_FUNC

106
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View file

@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btCollisionDispatcher.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
@ -25,6 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "LinearMath/btPoolAllocator.h"
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
int gNumManifold = 0;
@ -34,9 +35,7 @@ int gNumManifold = 0;
btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration):
m_count(0),
m_useIslands(true),
m_staticWarningReported(false),
m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD),
m_collisionConfiguration(collisionConfiguration)
{
int i;
@ -51,8 +50,10 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
{
for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
{
m_doubleDispatch[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
btAssert(m_doubleDispatch[i][j]);
m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j);
btAssert(m_doubleDispatchContactPoints[i][j]);
m_doubleDispatchClosestPoints[i][j] = m_collisionConfiguration->getClosestPointsAlgorithmCreateFunc(i, j);
}
}
@ -62,38 +63,47 @@ btCollisionDispatcher::btCollisionDispatcher (btCollisionConfiguration* collisio
void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
{
m_doubleDispatch[proxyType0][proxyType1] = createFunc;
m_doubleDispatchContactPoints[proxyType0][proxyType1] = createFunc;
}
void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc)
{
m_doubleDispatchClosestPoints[proxyType0][proxyType1] = createFunc;
}
btCollisionDispatcher::~btCollisionDispatcher()
{
}
btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1)
{
gNumManifold++;
//btAssert(gNumManifold < 65535);
btCollisionObject* body0 = (btCollisionObject*)b0;
btCollisionObject* body1 = (btCollisionObject*)b1;
//test for Bullet 2.74: use a relative contact breaking threshold without clamping against 'gContactBreakingThreshold'
//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
//optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance)
btScalar contactBreakingThreshold = (m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD) ?
btMin(body0->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold) , body1->getCollisionShape()->getContactBreakingThreshold(gContactBreakingThreshold))
: gContactBreakingThreshold ;
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
void* mem = 0;
if (m_persistentManifoldPoolAllocator->getFreeCount())
void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) );
if (NULL == mem)
{
mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold));
} else
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
//we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert.
if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0)
{
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
} else
{
btAssert(0);
//make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration
return 0;
}
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();
@ -135,14 +145,23 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold)
btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType)
{
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = this;
ci.m_manifold = sharedManifold;
btCollisionAlgorithm* algo = m_doubleDispatch[body0->getCollisionShape()->getShapeType()][body1->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0,body1);
btCollisionAlgorithm* algo = 0;
if (algoType == BT_CONTACT_POINT_ALGORITHMS)
{
algo = m_doubleDispatchContactPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
}
else
{
algo = m_doubleDispatchClosestPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap);
}
return algo;
}
@ -150,7 +169,7 @@ btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(btCollisionObject* bo
bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionObject* body1)
bool btCollisionDispatcher::needsResponse(const btCollisionObject* body0,const btCollisionObject* body1)
{
//here you can do filtering
bool hasResponse =
@ -161,7 +180,7 @@ bool btCollisionDispatcher::needsResponse(btCollisionObject* body0,btCollisionOb
return hasResponse;
}
bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionObject* body1)
bool btCollisionDispatcher::needsCollision(const btCollisionObject* body0,const btCollisionObject* body1)
{
btAssert(body0);
btAssert(body1);
@ -169,13 +188,12 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
bool needsCollision = true;
#ifdef BT_DEBUG
if (!m_staticWarningReported)
if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
{
//broadphase filtering already deals with this
if ((body0->isStaticObject() || body0->isKinematicObject()) &&
(body1->isStaticObject() || body1->isKinematicObject()))
if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
{
m_staticWarningReported = true;
m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
}
}
@ -183,7 +201,7 @@ bool btCollisionDispatcher::needsCollision(btCollisionObject* body0,btCollisionO
if ((!body0->isActive()) && (!body1->isActive()))
needsCollision = false;
else if (!body0->checkCollideWith(body1))
else if ((!body0->checkCollideWith(body1)) || (!body1->checkCollideWith(body0)))
needsCollision = false;
return needsCollision ;
@ -221,6 +239,8 @@ public:
virtual bool processOverlap(btBroadphasePair& pair)
{
BT_PROFILE("btCollisionDispatcher::processOverlap");
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
return false;
@ -243,7 +263,6 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
@ -252,20 +271,25 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair,
if (dispatcher.needsCollision(colObj0,colObj1))
{
btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
//dispatcher will keep algorithms persistent in the collision pair
if (!collisionPair.m_algorithm)
{
collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap,0, BT_CONTACT_POINT_ALGORITHMS);
}
if (collisionPair.m_algorithm)
{
btManifoldResult contactPointResult(colObj0,colObj1);
btManifoldResult contactPointResult(&obj0Wrap,&obj1Wrap);
if (dispatchInfo.m_dispatchFunc == btDispatcherInfo::DISPATCH_DISCRETE)
{
//discrete collision detection query
collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
collisionPair.m_algorithm->processCollision(&obj0Wrap,&obj1Wrap,dispatchInfo,&contactPointResult);
} else
{
//continuous collision detection query, time of impact (toi)
@ -282,13 +306,13 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair,
void* btCollisionDispatcher::allocateCollisionAlgorithm(int size)
{
if (m_collisionAlgorithmPoolAllocator->getFreeCount())
{
return m_collisionAlgorithmPoolAllocator->allocate(size);
}
//warn user for overflow?
return btAlignedAlloc(static_cast<size_t>(size), 16);
void* mem = m_collisionAlgorithmPoolAllocator->allocate( size );
if (NULL == mem)
{
//warn user for overflow?
return btAlignedAlloc(static_cast<size_t>(size), 16);
}
return mem;
}
void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr)

62
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION__DISPATCHER_H
#define COLLISION__DISPATCHER_H
#ifndef BT_COLLISION__DISPATCHER_H
#define BT_COLLISION__DISPATCHER_H
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@ -42,14 +42,13 @@ typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispa
///Time of Impact, Closest Points and Penetration Depth.
class btCollisionDispatcher : public btDispatcher
{
int m_count;
protected:
int m_dispatcherFlags;
btAlignedObjectArray<btPersistentManifold*> m_manifoldsPtr;
bool m_useIslands;
bool m_staticWarningReported;
btManifoldResult m_defaultManifoldResult;
btNearCallback m_nearCallback;
@ -58,17 +57,37 @@ class btCollisionDispatcher : public btDispatcher
btPoolAllocator* m_persistentManifoldPoolAllocator;
btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
btCollisionConfiguration* m_collisionConfiguration;
public:
enum DispatcherFlags
{
CD_STATIC_STATIC_REPORTED = 1,
CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
};
int getDispatcherFlags() const
{
return m_dispatcherFlags;
}
void setDispatcherFlags(int flags)
{
m_dispatcherFlags = flags;
}
///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc);
int getNumManifolds() const
{
return int( m_manifoldsPtr.size());
@ -76,7 +95,7 @@ public:
btPersistentManifold** getInternalManifoldPointer()
{
return &m_manifoldsPtr[0];
return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
}
btPersistentManifold* getManifoldByIndexInternal(int index)
@ -93,19 +112,18 @@ public:
virtual ~btCollisionDispatcher();
virtual btPersistentManifold* getNewManifold(void* b0,void* b1);
virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1);
virtual void releaseManifold(btPersistentManifold* manifold);
virtual void clearManifold(btPersistentManifold* manifold);
btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType);
virtual bool needsCollision(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1);
virtual bool needsResponse(btCollisionObject* body0,btCollisionObject* body1);
virtual bool needsResponse(const btCollisionObject* body0,const btCollisionObject* body1);
virtual void dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
@ -141,7 +159,17 @@ public:
m_collisionConfiguration = config;
}
virtual btPoolAllocator* getInternalManifoldPool()
{
return m_persistentManifoldPoolAllocator;
}
virtual const btPoolAllocator* getInternalManifoldPool() const
{
return m_persistentManifoldPoolAllocator;
}
};
#endif //COLLISION__DISPATCHER_H
#endif //BT_COLLISION__DISPATCHER_H

71
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View file

@ -4,8 +4,8 @@ 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,
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.
@ -15,6 +15,7 @@ subject to the following restrictions:
#include "btCollisionObject.h"
#include "LinearMath/btSerializer.h"
btCollisionObject::btCollisionObject()
: m_anisotropicFriction(1.f,1.f,1.f),
@ -22,20 +23,29 @@ btCollisionObject::btCollisionObject()
m_contactProcessingThreshold(BT_LARGE_FLOAT),
m_broadphaseHandle(0),
m_collisionShape(0),
m_extensionPointer(0),
m_rootCollisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
m_islandTag1(-1),
m_companionId(-1),
m_worldArrayIndex(-1),
m_activationState1(1),
m_deactivationTime(btScalar(0.)),
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
m_userObjectPointer(0),
m_rollingFriction(0.0f),
m_spinningFriction(0.f),
m_contactDamping(.1),
m_contactStiffness(1e4),
m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
m_userIndex2(-1),
m_userIndex(-1),
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
m_checkCollideWith(false),
m_updateRevision(0)
{
m_worldTransform.setIdentity();
}
@ -44,18 +54,18 @@ btCollisionObject::~btCollisionObject()
{
}
void btCollisionObject::setActivationState(int newState)
void btCollisionObject::setActivationState(int newState) const
{
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
m_activationState1 = newState;
}
void btCollisionObject::forceActivationState(int newState)
void btCollisionObject::forceActivationState(int newState) const
{
m_activationState1 = newState;
}
void btCollisionObject::activate(bool forceActivation)
void btCollisionObject::activate(bool forceActivation) const
{
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
{
@ -64,5 +74,52 @@ void btCollisionObject::activate(bool forceActivation)
}
}
const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
m_worldTransform.serialize(dataOut->m_worldTransform);
m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
dataOut->m_broadphaseHandle = 0;
dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
dataOut->m_rootCollisionShape = 0;//@todo
dataOut->m_collisionFlags = m_collisionFlags;
dataOut->m_islandTag1 = m_islandTag1;
dataOut->m_companionId = m_companionId;
dataOut->m_activationState1 = m_activationState1;
dataOut->m_deactivationTime = m_deactivationTime;
dataOut->m_friction = m_friction;
dataOut->m_rollingFriction = m_rollingFriction;
dataOut->m_contactDamping = m_contactDamping;
dataOut->m_contactStiffness = m_contactStiffness;
dataOut->m_restitution = m_restitution;
dataOut->m_internalType = m_internalType;
char* name = (char*) serializer->findNameForPointer(this);
dataOut->m_name = (char*)serializer->getUniquePointer(name);
if (dataOut->m_name)
{
serializer->serializeName(name);
}
dataOut->m_hitFraction = m_hitFraction;
dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_checkCollideWith = m_checkCollideWith;
return btCollisionObjectDataName;
}
void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
{
int len = calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
}

336
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef COLLISION_OBJECT_H
#define COLLISION_OBJECT_H
#ifndef BT_COLLISION_OBJECT_H
#define BT_COLLISION_OBJECT_H
#include "LinearMath/btTransform.h"
@ -27,13 +27,21 @@ subject to the following restrictions:
struct btBroadphaseProxy;
class btCollisionShape;
struct btCollisionShapeData;
#include "LinearMath/btMotionState.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btAlignedObjectArray.h"
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
#ifdef BT_USE_DOUBLE_PRECISION
#define btCollisionObjectData btCollisionObjectDoubleData
#define btCollisionObjectDataName "btCollisionObjectDoubleData"
#else
#define btCollisionObjectData btCollisionObjectFloatData
#define btCollisionObjectDataName "btCollisionObjectFloatData"
#endif
/// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@ -53,12 +61,14 @@ protected:
btVector3 m_interpolationLinearVelocity;
btVector3 m_interpolationAngularVelocity;
btVector3 m_anisotropicFriction;
bool m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
btVector3 m_anisotropicFriction;
int m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
///m_extensionPointer is used by some internal low-level Bullet extensions.
void* m_extensionPointer;
///m_rootCollisionShape is temporarily used to store the original collision shape
///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
@ -69,20 +79,32 @@ protected:
int m_islandTag1;
int m_companionId;
int m_worldArrayIndex; // index of object in world's collisionObjects array
int m_activationState1;
btScalar m_deactivationTime;
mutable int m_activationState1;
mutable btScalar m_deactivationTime;
btScalar m_friction;
btScalar m_restitution;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
btScalar m_rollingFriction;//torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
btScalar m_spinningFriction; // torsional friction around the contact normal (useful for grasping)
btScalar m_contactDamping;
btScalar m_contactStiffness;
///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
///do not assign your own m_internalType unless you write a new dynamics object class.
int m_internalType;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
int m_userIndex2;
int m_userIndex;
///time of impact calculation
btScalar m_hitFraction;
@ -93,14 +115,14 @@ protected:
btScalar m_ccdMotionThreshold;
/// If some object should have elaborate collision filtering by sub-classes
bool m_checkCollideWith;
int m_checkCollideWith;
char m_pad[7];
btAlignedObjectArray<const btCollisionObject*> m_objectsWithoutCollisionCheck;
virtual bool checkCollideWithOverride(btCollisionObject* /* co */)
{
return true;
}
///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
int m_updateRevision;
btVector3 m_customDebugColorRGB;
public:
@ -112,18 +134,31 @@ public:
CF_KINEMATIC_OBJECT= 2,
CF_NO_CONTACT_RESPONSE = 4,
CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
CF_CHARACTER_OBJECT = 16
CF_CHARACTER_OBJECT = 16,
CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing
CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
};
enum CollisionObjectTypes
{
CO_COLLISION_OBJECT =1,
CO_RIGID_BODY,
CO_RIGID_BODY=2,
///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
///It is useful for collision sensors, explosion objects, character controller etc.
CO_GHOST_OBJECT,
CO_SOFT_BODY,
CO_HF_FLUID
CO_GHOST_OBJECT=4,
CO_SOFT_BODY=8,
CO_HF_FLUID=16,
CO_USER_TYPE=32,
CO_FEATHERSTONE_LINK=64
};
enum AnisotropicFrictionFlags
{
CF_ANISOTROPIC_FRICTION_DISABLED=0,
CF_ANISOTROPIC_FRICTION = 1,
CF_ANISOTROPIC_ROLLING_FRICTION = 2
};
SIMD_FORCE_INLINE bool mergesSimulationIslands() const
@ -136,14 +171,15 @@ public:
{
return m_anisotropicFriction;
}
void setAnisotropicFriction(const btVector3& anisotropicFriction)
void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
{
m_anisotropicFriction = anisotropicFriction;
m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
m_hasAnisotropicFriction = isUnity?frictionMode : 0;
}
bool hasAnisotropicFriction() const
bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
{
return m_hasAnisotropicFriction;
return (m_hasAnisotropicFriction&frictionMode)!=0;
}
///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
@ -182,6 +218,7 @@ public:
virtual void setCollisionShape(btCollisionShape* collisionShape)
{
m_updateRevision++;
m_collisionShape = collisionShape;
m_rootCollisionShape = collisionShape;
}
@ -196,26 +233,53 @@ public:
return m_collisionShape;
}
SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const
void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
{
return m_rootCollisionShape;
if (ignoreCollisionCheck)
{
//We don't check for duplicates. Is it ok to leave that up to the user of this API?
//int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
//if (index == m_objectsWithoutCollisionCheck.size())
//{
m_objectsWithoutCollisionCheck.push_back(co);
//}
}
else
{
m_objectsWithoutCollisionCheck.remove(co);
}
m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
}
SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape()
virtual bool checkCollideWithOverride(const btCollisionObject* co) const
{
return m_rootCollisionShape;
int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
if (index < m_objectsWithoutCollisionCheck.size())
{
return false;
}
return true;
}
///Avoid using this internal API call
///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
void internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
///Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
void* internalGetExtensionPointer() const
{
m_collisionShape = collisionShape;
return m_extensionPointer;
}
///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
void internalSetExtensionPointer(void* pointer)
{
m_extensionPointer = pointer;
}
SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;}
void setActivationState(int newState);
void setActivationState(int newState) const;
void setDeactivationTime(btScalar time)
{
@ -226,9 +290,9 @@ public:
return m_deactivationTime;
}
void forceActivationState(int newState);
void forceActivationState(int newState) const;
void activate(bool forceActivation = false);
void activate(bool forceActivation = false) const;
SIMD_FORCE_INLINE bool isActive() const
{
@ -237,6 +301,7 @@ public:
void setRestitution(btScalar rest)
{
m_updateRevision++;
m_restitution = rest;
}
btScalar getRestitution() const
@ -245,6 +310,7 @@ public:
}
void setFriction(btScalar frict)
{
m_updateRevision++;
m_friction = frict;
}
btScalar getFriction() const
@ -252,6 +318,49 @@ public:
return m_friction;
}
void setRollingFriction(btScalar frict)
{
m_updateRevision++;
m_rollingFriction = frict;
}
btScalar getRollingFriction() const
{
return m_rollingFriction;
}
void setSpinningFriction(btScalar frict)
{
m_updateRevision++;
m_spinningFriction = frict;
}
btScalar getSpinningFriction() const
{
return m_spinningFriction;
}
void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
{
m_updateRevision++;
m_contactStiffness = stiffness;
m_contactDamping = damping;
m_collisionFlags |=CF_HAS_CONTACT_STIFFNESS_DAMPING;
//avoid divisions by zero...
if (m_contactStiffness< SIMD_EPSILON)
{
m_contactStiffness = SIMD_EPSILON;
}
}
btScalar getContactStiffness() const
{
return m_contactStiffness;
}
btScalar getContactDamping() const
{
return m_contactDamping;
}
///reserved for Bullet internal usage
int getInternalType() const
{
@ -270,6 +379,7 @@ public:
void setWorldTransform(const btTransform& worldTrans)
{
m_updateRevision++;
m_worldTransform = worldTrans;
}
@ -302,16 +412,19 @@ public:
void setInterpolationWorldTransform(const btTransform& trans)
{
m_updateRevision++;
m_interpolationWorldTransform = trans;
}
void setInterpolationLinearVelocity(const btVector3& linvel)
{
m_updateRevision++;
m_interpolationLinearVelocity = linvel;
}
void setInterpolationAngularVelocity(const btVector3& angvel)
{
m_updateRevision++;
m_interpolationAngularVelocity = angvel;
}
@ -345,7 +458,18 @@ public:
m_companionId = id;
}
SIMD_FORCE_INLINE btScalar getHitFraction() const
SIMD_FORCE_INLINE int getWorldArrayIndex() const
{
return m_worldArrayIndex;
}
// only should be called by CollisionWorld
void setWorldArrayIndex(int ix)
{
m_worldArrayIndex = ix;
}
SIMD_FORCE_INLINE btScalar getHitFraction() const
{
return m_hitFraction;
}
@ -401,6 +525,16 @@ public:
{
return m_userObjectPointer;
}
int getUserIndex() const
{
return m_userIndex;
}
int getUserIndex2() const
{
return m_userIndex2;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserPointer(void* userPointer)
@ -408,14 +542,136 @@ public:
m_userObjectPointer = userPointer;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserIndex(int index)
{
m_userIndex = index;
}
void setUserIndex2(int index)
{
m_userIndex2 = index;
}
inline bool checkCollideWith(btCollisionObject* co)
int getUpdateRevisionInternal() const
{
return m_updateRevision;
}
void setCustomDebugColor(const btVector3& colorRGB)
{
m_customDebugColorRGB = colorRGB;
m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
}
void removeCustomDebugColor()
{
m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
}
bool getCustomDebugColor(btVector3& colorRGB) const
{
bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
if (hasCustomColor)
{
colorRGB = m_customDebugColorRGB;
}
return hasCustomColor;
}
inline bool checkCollideWith(const btCollisionObject* co) const
{
if (m_checkCollideWith)
return checkCollideWithOverride(co);
return true;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
virtual void serializeSingleObject(class btSerializer* serializer) const;
};
#endif //COLLISION_OBJECT_H
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCollisionObjectDoubleData
{
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;
btTransformDoubleData m_worldTransform;
btTransformDoubleData m_interpolationWorldTransform;
btVector3DoubleData m_interpolationLinearVelocity;
btVector3DoubleData m_interpolationAngularVelocity;
btVector3DoubleData m_anisotropicFriction;
double m_contactProcessingThreshold;
double m_deactivationTime;
double m_friction;
double m_rollingFriction;
double m_contactDamping;
double m_contactStiffness;
double m_restitution;
double m_hitFraction;
double m_ccdSweptSphereRadius;
double m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btCollisionObjectFloatData
{
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;
btTransformFloatData m_worldTransform;
btTransformFloatData m_interpolationWorldTransform;
btVector3FloatData m_interpolationLinearVelocity;
btVector3FloatData m_interpolationAngularVelocity;
btVector3FloatData m_anisotropicFriction;
float m_contactProcessingThreshold;
float m_deactivationTime;
float m_friction;
float m_rollingFriction;
float m_contactDamping;
float m_contactStiffness;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;
float m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
};
SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
{
return sizeof(btCollisionObjectData);
}
#endif //BT_COLLISION_OBJECT_H

43
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h Normal file
View file

@ -0,0 +1,43 @@
#ifndef BT_COLLISION_OBJECT_WRAPPER_H
#define BT_COLLISION_OBJECT_WRAPPER_H
///btCollisionObjectWrapperis an internal data structure.
///Most users can ignore this and use btCollisionObject and btCollisionShape instead
class btCollisionShape;
class btCollisionObject;
class btTransform;
#include "LinearMath/btScalar.h" // for SIMD_FORCE_INLINE definition
#define BT_DECLARE_STACK_ONLY_OBJECT \
private: \
void* operator new(size_t size); \
void operator delete(void*);
struct btCollisionObjectWrapper;
struct btCollisionObjectWrapper
{
BT_DECLARE_STACK_ONLY_OBJECT
private:
btCollisionObjectWrapper(const btCollisionObjectWrapper&); // not implemented. Not allowed.
btCollisionObjectWrapper* operator=(const btCollisionObjectWrapper&);
public:
const btCollisionObjectWrapper* m_parent;
const btCollisionShape* m_shape;
const btCollisionObject* m_collisionObject;
const btTransform& m_worldTransform;
int m_partId;
int m_index;
btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform),
m_partId(partId), m_index(index)
{}
SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }
SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const { return m_shape; }
};
#endif //BT_COLLISION_OBJECT_WRAPPER_H

1206
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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File diff suppressed because it is too large Load diff

172
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View file

@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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.
@ -18,25 +18,35 @@ subject to the following restrictions:
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
* Please visit http://www.bulletphysics.org
*
* @section install_sec Installation
*
* @subsection step1 Step 1: Download
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
* You can download the Bullet Physics Library from the github repository: https://github.com/bulletphysics/bullet3/releases
*
* @subsection step2 Step 2: Building
* Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
* The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
* Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms.
* Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux.
* Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects.
* On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects:
* cd Bullet/build
* ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4
* cd Bullet/build/gmake
* make
*
* Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
* So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
* Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
* If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
* An alternative to premake is cmake. You can download cmake from http://www.cmake.org
* cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
* The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
* You can also use cmake in the command-line. Here are some examples for various platforms:
* cmake . -G "Visual Studio 9 2008"
* cmake . -G Xcode
* cmake . -G "Unix Makefiles"
* Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
*
* @subsection step3 Step 3: Testing demos
* Try to run and experiment with BasicDemo executable as a starting point.
@ -53,21 +63,20 @@ subject to the following restrictions:
* Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
*
* @section copyright Copyright
* Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
* Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
* Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
* For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
*
*/
#ifndef COLLISION_WORLD_H
#define COLLISION_WORLD_H
#ifndef BT_COLLISION_WORLD_H
#define BT_COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
class btSerializer;
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btCollisionObject.h"
@ -88,8 +97,6 @@ protected:
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;
@ -98,6 +105,8 @@ protected:
///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
bool m_forceUpdateAllAabbs;
void serializeCollisionObjects(btSerializer* serializer);
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
@ -139,6 +148,11 @@ public:
void updateSingleAabb(btCollisionObject* colObj);
virtual void updateAabbs();
///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation)
///it can be useful to use if you perform ray tests without collision detection/simulation
virtual void computeOverlappingPairs();
virtual void setDebugDrawer(btIDebugDraw* debugDrawer)
{
@ -150,6 +164,10 @@ public:
return m_debugDrawer;
}
virtual void debugDrawWorld();
virtual void debugDrawObject(const btTransform& worldTransform, const btCollisionShape* shape, const btVector3& color);
///LocalShapeInfo gives extra information for complex shapes
///Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart
@ -164,7 +182,7 @@ public:
struct LocalRayResult
{
LocalRayResult(btCollisionObject* collisionObject,
LocalRayResult(const btCollisionObject* collisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
btScalar hitFraction)
@ -175,7 +193,7 @@ public:
{
}
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btScalar m_hitFraction;
@ -186,11 +204,11 @@ public:
struct RayResultCallback
{
btScalar m_closestHitFraction;
btCollisionObject* m_collisionObject;
const btCollisionObject* m_collisionObject;
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback
unsigned int m_flags;
//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
unsigned int m_flags;
virtual ~RayResultCallback()
{
@ -205,8 +223,8 @@ public:
m_collisionObject(0),
m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter),
//@BP Mod
m_flags(0)
//@BP Mod
m_flags(0)
{
}
@ -255,10 +273,49 @@ public:
}
};
struct AllHitsRayResultCallback : public RayResultCallback
{
AllHitsRayResultCallback(const btVector3& rayFromWorld,const btVector3& rayToWorld)
:m_rayFromWorld(rayFromWorld),
m_rayToWorld(rayToWorld)
{
}
btAlignedObjectArray<const btCollisionObject*> m_collisionObjects;
btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
btVector3 m_rayToWorld;
btAlignedObjectArray<btVector3> m_hitNormalWorld;
btAlignedObjectArray<btVector3> m_hitPointWorld;
btAlignedObjectArray<btScalar> m_hitFractions;
virtual btScalar addSingleResult(LocalRayResult& rayResult,bool normalInWorldSpace)
{
m_collisionObject = rayResult.m_collisionObject;
m_collisionObjects.push_back(rayResult.m_collisionObject);
btVector3 hitNormalWorld;
if (normalInWorldSpace)
{
hitNormalWorld = rayResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
hitNormalWorld = m_collisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
}
m_hitNormalWorld.push_back(hitNormalWorld);
btVector3 hitPointWorld;
hitPointWorld.setInterpolate3(m_rayFromWorld,m_rayToWorld,rayResult.m_hitFraction);
m_hitPointWorld.push_back(hitPointWorld);
m_hitFractions.push_back(rayResult.m_hitFraction);
return m_closestHitFraction;
}
};
struct LocalConvexResult
{
LocalConvexResult(btCollisionObject* hitCollisionObject,
LocalConvexResult(const btCollisionObject* hitCollisionObject,
LocalShapeInfo* localShapeInfo,
const btVector3& hitNormalLocal,
const btVector3& hitPointLocal,
@ -272,7 +329,7 @@ public:
{
}
btCollisionObject* m_hitCollisionObject;
const btCollisionObject* m_hitCollisionObject;
LocalShapeInfo* m_localShapeInfo;
btVector3 m_hitNormalLocal;
btVector3 m_hitPointLocal;
@ -328,7 +385,7 @@ public:
btVector3 m_hitNormalWorld;
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
const btCollisionObject* m_hitCollisionObject;
virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
@ -350,6 +407,36 @@ public:
}
};
///ContactResultCallback is used to report contact points
struct ContactResultCallback
{
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
btScalar m_closestDistanceThreshold;
ContactResultCallback()
:m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter),
m_closestDistanceThreshold(0)
{
}
virtual ~ContactResultCallback()
{
}
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
{
bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0;
};
int getNumCollisionObjects() const
{
return int(m_collisionObjects.size());
@ -357,12 +444,20 @@ public:
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
/// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
///contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
///it reports one or more contact points (including the one with deepest penetration)
void contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.
@ -373,6 +468,10 @@ public:
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback);
static void rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans,
const btCollisionObjectWrapper* collisionObjectWrap,
RayResultCallback& resultCallback);
/// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans,
btCollisionObject* collisionObject,
@ -380,6 +479,10 @@ public:
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
static void objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans,
const btCollisionObjectWrapper* colObjWrap,
ConvexResultCallback& resultCallback, btScalar allowedPenetration);
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter);
btCollisionObjectArray& getCollisionObjectArray()
@ -416,7 +519,10 @@ public:
m_forceUpdateAllAabbs = forceUpdateAllAabbs;
}
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
virtual void serialize(btSerializer* serializer);
};
#endif //COLLISION_WORLD_H
#endif //BT_COLLISION_WORLD_H

1147
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp Normal file
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File diff suppressed because it is too large Load diff

190
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h Normal file
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@ -0,0 +1,190 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2014 Erwin Coumans http://bulletphysics.org
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.
*/
#ifndef BT_COLLISION_WORLD_IMPORTER_H
#define BT_COLLISION_WORLD_IMPORTER_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
class btCollisionShape;
class btCollisionObject;
struct btBulletSerializedArrays;
struct ConstraintInput;
class btCollisionWorld;
struct btCollisionShapeData;
class btTriangleIndexVertexArray;
class btStridingMeshInterface;
struct btStridingMeshInterfaceData;
class btGImpactMeshShape;
class btOptimizedBvh;
struct btTriangleInfoMap;
class btBvhTriangleMeshShape;
class btPoint2PointConstraint;
class btHingeConstraint;
class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btSliderConstraint;
class btGearConstraint;
struct btContactSolverInfo;
class btCollisionWorldImporter
{
protected:
btCollisionWorld* m_collisionWorld;
int m_verboseMode;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
btAlignedObjectArray<btCollisionObject*> m_allocatedCollisionObjects;
btAlignedObjectArray<char*> m_allocatedNames;
btAlignedObjectArray<int*> m_indexArrays;
btAlignedObjectArray<short int*> m_shortIndexArrays;
btAlignedObjectArray<unsigned char*> m_charIndexArrays;
btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
btHashMap<btHashPtr,btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr,btTriangleInfoMap*> m_timMap;
btHashMap<btHashString,btCollisionShape*> m_nameShapeMap;
btHashMap<btHashString,btCollisionObject*> m_nameColObjMap;
btHashMap<btHashPtr,const char*> m_objectNameMap;
btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
//methods
char* duplicateName(const char* name);
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
public:
btCollisionWorldImporter(btCollisionWorld* world);
virtual ~btCollisionWorldImporter();
bool convertAllObjects( btBulletSerializedArrays* arrays);
///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
///make sure you don't use the dynamics world containing objects after you call this method
virtual void deleteAllData();
void setVerboseMode(int verboseMode)
{
m_verboseMode = verboseMode;
}
int getVerboseMode() const
{
return m_verboseMode;
}
// query for data
int getNumCollisionShapes() const;
btCollisionShape* getCollisionShapeByIndex(int index);
int getNumRigidBodies() const;
btCollisionObject* getRigidBodyByIndex(int index) const;
int getNumConstraints() const;
int getNumBvhs() const;
btOptimizedBvh* getBvhByIndex(int index) const;
int getNumTriangleInfoMaps() const;
btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
// queris involving named objects
btCollisionShape* getCollisionShapeByName(const char* name);
btCollisionObject* getCollisionObjectByName(const char* name);
const char* getNameForPointer(const void* ptr) const;
///those virtuals are called by load and can be overridden by the user
//bodies
virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
///shapes
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
virtual btCollisionShape* createSphereShape(btScalar radius);
virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
virtual class btConvexHullShape* createConvexHullShape();
virtual class btCompoundShape* createCompoundShape();
virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
///acceleration and connectivity structures
virtual btOptimizedBvh* createOptimizedBvh();
virtual btTriangleInfoMap* createTriangleInfoMap();
};
#endif //BT_WORLD_IMPORTER_H

221
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View file

@ -11,6 +11,7 @@ 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 "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
@ -20,30 +21,34 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btAabbUtil2.h"
#include "btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0,body1),
btShapePairCallback gCompoundChildShapePairCallback = 0;
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
m_sharedManifold(ci.m_manifold)
{
m_ownsManifold = false;
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btAssert (colObj->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
btAssert (colObjWrap->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
m_compoundShapeRevision = compoundShape->getUpdateRevision();
preallocateChildAlgorithms(body0,body1);
preallocateChildAlgorithms(body0Wrap,body1Wrap);
}
void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
btAssert (colObj->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btAssert (colObjWrap->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
int numChildren = compoundShape->getNumChildShapes();
int i;
@ -56,11 +61,17 @@ void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject*
m_childCollisionAlgorithms[i] = 0;
} else
{
btCollisionShape* tmpShape = colObj->getCollisionShape();
btCollisionShape* childShape = compoundShape->getChildShape(i);
colObj->internalSetTemporaryCollisionShape( childShape );
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
colObj->internalSetTemporaryCollisionShape( tmpShape );
const btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully)
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsContact;
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithmsClosestPoints;
}
}
}
@ -92,19 +103,16 @@ struct btCompoundLeafCallback : btDbvt::ICollide
public:
btCollisionObject* m_compoundColObj;
btCollisionObject* m_otherObj;
const btCollisionObjectWrapper* m_compoundColObjWrap;
const btCollisionObjectWrapper* m_otherObjWrap;
btDispatcher* m_dispatcher;
const btDispatcherInfo& m_dispatchInfo;
btManifoldResult* m_resultOut;
btCollisionAlgorithm** m_childCollisionAlgorithms;
btPersistentManifold* m_sharedManifold;
btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
:m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
btCompoundLeafCallback (const btCollisionObjectWrapper* compoundObjWrap,const btCollisionObjectWrapper* otherObjWrap,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
:m_compoundColObjWrap(compoundObjWrap),m_otherObjWrap(otherObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithms(childCollisionAlgorithms),
m_sharedManifold(sharedManifold)
{
@ -112,72 +120,110 @@ public:
}
void ProcessChildShape(btCollisionShape* childShape,int index)
void ProcessChildShape(const btCollisionShape* childShape,int index)
{
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
btAssert(index>=0);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
btAssert(index<compoundShape->getNumChildShapes());
//backup
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
btVector3 aabbMin0,aabbMax0;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
aabbMin0 -= extendAabb;
aabbMax0 += extendAabb;
btVector3 aabbMin1, aabbMax1;
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
m_compoundColObj->setWorldTransform( newChildWorldTrans);
m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
btCollisionAlgorithm* algo = 0;
//the contactpoint is still projected back using the original inverted worldtrans
btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
}
else
{
//the contactpoint is still projected back using the original inverted worldtrans
if (!m_childCollisionAlgorithms[index])
{
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
}
algo = m_childCollisionAlgorithms[index];
}
const btCollisionObjectWrapper* tmpWrap = 0;
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj)
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&compoundWrap);
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&compoundWrap);
m_resultOut->setShapeIdentifiersB(-1,index);
}
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
algo->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut);
#if 0
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
}
#endif
if (m_resultOut->getBody0Internal() == m_compoundColObjWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
} else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
//revert back transform
m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
m_compoundColObj->setWorldTransform( orgTrans );
m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
}
void Process(const btDbvtNode* leaf)
{
int index = leaf->dataAsInt;
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
btCollisionShape* childShape = compoundShape->getChildShape(index);
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(m_compoundColObjWrap->getCollisionShape());
const btCollisionShape* childShape = compoundShape->getChildShape(index);
#if 0
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgTrans = m_compoundColObjWrap->getWorldTransform();
btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
}
#endif
ProcessChildShape(childShape,index);
}
@ -188,15 +234,13 @@ public:
void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
const btCollisionObjectWrapper* colObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* otherObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btAssert (colObj->getCollisionShape()->isCompound());
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
btAssert (colObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(colObjWrap->getCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
@ -205,20 +249,23 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
///clear and update all
removeChildAlgorithms();
preallocateChildAlgorithms(body0,body1);
preallocateChildAlgorithms(body0Wrap,body1Wrap);
m_compoundShapeRevision = compoundShape->getUpdateRevision();
}
btDbvt* tree = compoundShape->getDynamicAabbTree();
if (m_childCollisionAlgorithms.size()==0)
return;
const btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
int i;
btManifoldArray manifoldArray;
manifoldArray.resize(0);
for (i=0;i<m_childCollisionAlgorithms.size();i++)
{
if (m_childCollisionAlgorithms[i])
@ -233,7 +280,7 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
resultOut->setPersistentManifold(0);//??necessary?
}
}
manifoldArray.clear();
manifoldArray.resize(0);
}
}
}
@ -243,12 +290,15 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
btVector3 localAabbMin,localAabbMax;
btTransform otherInCompoundSpace;
otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform();
otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform();
otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
localAabbMin -= extraExtends;
localAabbMax += extraExtends;
const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
//process all children, that overlap with the given AABB bounds
tree->collideTV(tree->m_root,bounds,callback);
tree->collideTVNoStackAlloc(tree->m_root,bounds,stack2,callback);
} else
{
@ -265,23 +315,27 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
//iterate over all children, perform an AABB check inside ProcessChildShape
int numChildren = m_childCollisionAlgorithms.size();
int i;
btManifoldArray manifoldArray;
manifoldArray.resize(0);
const btCollisionShape* childShape = 0;
btTransform orgTrans;
btTransform newChildWorldTrans;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<numChildren;i++)
{
if (m_childCollisionAlgorithms[i])
{
btCollisionShape* childShape = compoundShape->getChildShape(i);
childShape = compoundShape->getChildShape(i);
//if not longer overlapping, remove the algorithm
btTransform orgTrans = colObj->getWorldTransform();
btTransform orgInterpolationTrans = colObj->getInterpolationWorldTransform();
orgTrans = colObjWrap->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
btTransform newChildWorldTrans = orgTrans*childTrans ;
newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
otherObjWrap->getCollisionShape()->getAabb(otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
@ -289,19 +343,15 @@ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,bt
m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
m_childCollisionAlgorithms[i] = 0;
}
}
}
}
}
btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
//needs to be fixed, using btCollisionObjectWrapper and NOT modifying internal data structures
btCollisionObject* colObj = m_isSwapped? body1 : body0;
btCollisionObject* otherObj = m_isSwapped? body0 : body1;
@ -320,27 +370,28 @@ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
int numChildren = m_childCollisionAlgorithms.size();
int i;
btTransform orgTrans;
btScalar frac;
for (i=0;i<numChildren;i++)
{
//temporarily exchange parent btCollisionShape with childShape, and recurse
btCollisionShape* childShape = compoundShape->getChildShape(i);
//btCollisionShape* childShape = compoundShape->getChildShape(i);
//backup
btTransform orgTrans = colObj->getWorldTransform();
orgTrans = colObj->getWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(i);
//btTransform newChildWorldTrans = orgTrans*childTrans ;
colObj->setWorldTransform( orgTrans*childTrans );
btCollisionShape* tmpShape = colObj->getCollisionShape();
colObj->internalSetTemporaryCollisionShape( childShape );
btScalar frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
//btCollisionShape* tmpShape = colObj->getCollisionShape();
//colObj->internalSetTemporaryCollisionShape( childShape );
frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
if (frac<hitFraction)
{
hitFraction = frac;
}
//revert back
colObj->internalSetTemporaryCollisionShape( tmpShape);
//colObj->internalSetTemporaryCollisionShape( tmpShape);
colObj->setWorldTransform( orgTrans);
}
return hitFraction;

38
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View file

@ -11,10 +11,11 @@ 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.
*/
#ifndef COMPOUND_COLLISION_ALGORITHM_H
#define COMPOUND_COLLISION_ALGORITHM_H
#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@ -25,31 +26,47 @@ class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundChildShapePairCallback;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
btNodeStack stack2;
btManifoldArray manifoldArray;
protected:
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
bool m_isSwapped;
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
void removeChildAlgorithms();
void preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
public:
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btCompoundCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btCollisionAlgorithm* getChildAlgorithm (int n) const
{
return m_childCollisionAlgorithms[n];
}
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -63,24 +80,25 @@ public:
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
return new(mem) btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};
};
#endif //COMPOUND_COLLISION_ALGORITHM_H
#endif //BT_COMPOUND_COLLISION_ALGORITHM_H

445
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp Normal file
View file

@ -0,0 +1,445 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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 "btCompoundCompoundCollisionAlgorithm.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,isSwapped)
{
void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
btAssert (col0ObjWrap->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
btAssert (col1ObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
}
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
{
removeChildAlgorithms();
m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
btAlignedFree(m_childCollisionAlgorithmCache);
}
void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
{
int i;
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
}
}
}
void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
{
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
int numChildren = pairs.size();
int i;
for (i=0;i<numChildren;i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
}
}
m_childCollisionAlgorithmCache->removeAllPairs();
}
struct btCompoundCompoundLeafCallback : btDbvt::ICollide
{
int m_numOverlapPairs;
const btCollisionObjectWrapper* m_compound0ColObjWrap;
const btCollisionObjectWrapper* m_compound1ColObjWrap;
btDispatcher* m_dispatcher;
const btDispatcherInfo& m_dispatchInfo;
btManifoldResult* m_resultOut;
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btPersistentManifold* m_sharedManifold;
btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap,
const btCollisionObjectWrapper* compound0ObjWrap,
btDispatcher* dispatcher,
const btDispatcherInfo& dispatchInfo,
btManifoldResult* resultOut,
btHashedSimplePairCache* childAlgorithmsCache,
btPersistentManifold* sharedManifold)
:m_numOverlapPairs(0),m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithmCache(childAlgorithmsCache),
m_sharedManifold(sharedManifold)
{
}
void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
{
BT_PROFILE("btCompoundCompoundLeafCallback::Process");
m_numOverlapPairs++;
int childIndex0 = leaf0->dataAsInt;
int childIndex1 = leaf1->dataAsInt;
btAssert(childIndex0>=0);
btAssert(childIndex1>=0);
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
btAssert(childIndex0<compoundShape0->getNumChildShapes());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
btAssert(childIndex1<compoundShape1->getNumChildShapes());
const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
//backup
btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ;
btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold);
aabbMin0 -= thresholdVec;
aabbMax0 += thresholdVec;
if (gCompoundCompoundChildShapePairCallback)
{
if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0);
btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1);
btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
btCollisionAlgorithm* colAlgo = 0;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
}
else
{
if (pair)
{
colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
}
else
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1);
btAssert(pair);
pair->m_userPointer = colAlgo;
}
}
btAssert(colAlgo);
const btCollisionObjectWrapper* tmpWrap0 = 0;
const btCollisionObjectWrapper* tmpWrap1 = 0;
tmpWrap0 = m_resultOut->getBody0Wrap();
tmpWrap1 = m_resultOut->getBody1Wrap();
m_resultOut->setBody0Wrap(&compoundWrap0);
m_resultOut->setBody1Wrap(&compoundWrap1);
m_resultOut->setShapeIdentifiersA(-1,childIndex0);
m_resultOut->setShapeIdentifiersB(-1,childIndex1);
colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
m_resultOut->setBody0Wrap(tmpWrap0);
m_resultOut->setBody1Wrap(tmpWrap1);
}
}
};
static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
{
btVector3 newmin,newmax;
btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax);
newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax);
return Intersect(a,newb);
}
static inline void MycollideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
const btTransform& xform,
btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold)
{
if(root0&&root1)
{
int depth=1;
int treshold=btDbvt::DOUBLE_STACKSIZE-4;
btAlignedObjectArray<btDbvt::sStkNN> stkStack;
stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
stkStack[0]=btDbvt::sStkNN(root0,root1);
do {
btDbvt::sStkNN p=stkStack[--depth];
if(MyIntersect(p.a->volume,p.b->volume,xform, distanceThreshold))
{
if(depth>treshold)
{
stkStack.resize(stkStack.size()*2);
treshold=stkStack.size()-4;
}
if(p.a->isinternal())
{
if(p.b->isinternal())
{
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]);
}
else
{
callback->Process(p.a,p.b);
}
}
}
} while(depth);
}
}
void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
const btCollisionObjectWrapper* col1ObjWrap= body1Wrap;
btAssert (col0ObjWrap->getCollisionShape()->isCompound());
btAssert (col1ObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
if (!tree0 || !tree1)
{
return btCompoundCollisionAlgorithm::processCollision(body0Wrap,body1Wrap,dispatchInfo,resultOut);
}
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
{
///clear all
removeChildAlgorithms();
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
}
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
int i;
btManifoldArray manifoldArray;
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
algo->getAllContactManifolds(manifoldArray);
for (int m=0;m<manifoldArray.size();m++)
{
if (manifoldArray[m]->getNumContacts())
{
resultOut->setPersistentManifold(manifoldArray[m]);
resultOut->refreshContactPoints();
resultOut->setPersistentManifold(0);
}
}
manifoldArray.resize(0);
}
}
}
btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform();
MycollideTT(tree0->m_root,tree1->m_root,xform,&callback, resultOut->m_closestPointDistanceThreshold);
//printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs);
//remove non-overlapping child pairs
{
btAssert(m_removePairs.size()==0);
//iterate over all children, perform an AABB check inside ProcessChildShape
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
int i;
btManifoldArray manifoldArray;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
{
btTransform orgTrans0;
const btCollisionShape* childShape0 = 0;
btTransform newChildWorldTrans0;
btTransform orgInterpolationTrans0;
childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
orgTrans0 = col0ObjWrap->getWorldTransform();
orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
newChildWorldTrans0 = orgTrans0*childTrans0 ;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
}
btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
aabbMin0 -= thresholdVec;
aabbMax0 += thresholdVec;
{
btTransform orgInterpolationTrans1;
const btCollisionShape* childShape1 = 0;
btTransform orgTrans1;
btTransform newChildWorldTrans1;
childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
orgTrans1 = col1ObjWrap->getWorldTransform();
orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
newChildWorldTrans1 = orgTrans1*childTrans1 ;
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
}
aabbMin1 -= thresholdVec;
aabbMax1 += thresholdVec;
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB));
}
}
}
for (int i=0;i<m_removePairs.size();i++)
{
m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB);
}
m_removePairs.clear();
}
}
btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
return 0.f;
}

89
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h Normal file
View file

@ -0,0 +1,89 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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.
*/
#ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#include "btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
class btCompoundCompoundCollisionAlgorithm : public btCompoundCollisionAlgorithm
{
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btSimplePairArray m_removePairs;
int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated
int m_compoundShapeRevision1;
void removeChildAlgorithms();
// void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
public:
btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btCompoundCompoundCollisionAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};
};
#endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H

29
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
View file

@ -43,12 +43,10 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
{
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
@ -57,18 +55,16 @@ btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int /* numPerturbationIterations */, int /* minimumPointsPerturbationThreshold */)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_simplexSolver(simplexSolver),
m_pdSolver(pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
m_lowLevelOfDetail(false),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
m_lowLevelOfDetail(false)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
}
@ -96,13 +92,13 @@ extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@ -111,8 +107,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
@ -132,9 +128,8 @@ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,bt
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);

17
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_2D_CONVEX_2D_ALGORITHM_H
#define CONVEX_2D_CONVEX_2D_ALGORITHM_H
#ifndef BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@ -40,17 +40,14 @@ class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
btPersistentManifold* m_manifoldPtr;
bool m_lowLevelOfDetail;
int m_numPerturbationIterations;
int m_minimumPointsPerturbationThreshold;
public:
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
virtual ~btConvex2dConvex2dAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -82,14 +79,14 @@ public:
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
};
};
#endif //CONVEX_2D_CONVEX_2D_ALGORITHM_H
#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H

135
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View file

@ -15,6 +15,7 @@ subject to the following restrictions:
#include "btConvexConcaveCollisionAlgorithm.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -25,11 +26,12 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0,body1),
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
m_btConvexTriangleCallback(ci.m_dispatcher1,body0,body1,isSwapped)
m_btConvexTriangleCallback(ci.m_dispatcher1,body0Wrap,body1Wrap,isSwapped)
{
}
@ -46,17 +48,17 @@ void btConvexConcaveCollisionAlgorithm::getAllContactManifolds(btManifoldArray&
}
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped):
btConvexTriangleCallback::btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped):
m_dispatcher(dispatcher),
m_dispatchInfoPtr(0)
{
m_convexBody = isSwapped? body1:body0;
m_triBody = isSwapped? body0:body1;
m_convexBodyWrap = isSwapped? body1Wrap:body0Wrap;
m_triBodyWrap = isSwapped? body0Wrap:body1Wrap;
//
// create the manifold from the dispatcher 'manifold pool'
//
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBody,m_triBody);
m_manifoldPtr = m_dispatcher->getNewManifold(m_convexBodyWrap->getCollisionObject(),m_triBodyWrap->getCollisionObject());
clearCache();
}
@ -75,82 +77,109 @@ void btConvexTriangleCallback::clearCache()
}
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
BT_PROFILE("btConvexTriangleCallback::processTriangle");
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
return;
}
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
//aabb filter is already applied!
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBody);
#if 0
///debug drawing of the overlapping triangles
if (m_dispatchInfoPtr && m_dispatchInfoPtr->m_debugDraw && (m_dispatchInfoPtr->m_debugDraw->getDebugMode() &btIDebugDraw::DBG_DrawWireframe ))
{
btVector3 color(255,255,0);
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btVector3 color(1,1,0);
btTransform& tr = ob->getWorldTransform();
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(triangle[1]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(triangle[2]),color);
m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(triangle[0]),color);
//btVector3 center = triangle[0] + triangle[1]+triangle[2];
//center *= btScalar(0.333333);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[0]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[1]),tr(center),color);
//m_dispatchInfoPtr->m_debugDraw->drawLine(tr(triangle[2]),tr(center),color);
}
//btCollisionObject* colObj = static_cast<btCollisionObject*>(m_convexProxy->m_clientObject);
#endif
if (m_convexBody->getCollisionShape()->isConvex())
if (m_convexBodyWrap->getCollisionShape()->isConvex())
{
btTriangleShape tm(triangle[0],triangle[1],triangle[2]);
tm.setMargin(m_collisionMarginTriangle);
btCollisionShape* tmpShape = ob->getCollisionShape();
ob->internalSetTemporaryCollisionShape( &tm );
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBody,m_triBody,m_manifoldPtr);
///this should use the btDispatcher, so the actual registered algorithm is used
// btConvexConvexAlgorithm cvxcvxalgo(m_manifoldPtr,ci,m_convexBody,m_triBody);
btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
btCollisionAlgorithm* colAlgo = 0;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
}
else
{
colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr, BT_CONTACT_POINT_ALGORITHMS);
}
const btCollisionObjectWrapper* tmpWrap = 0;
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
tmpWrap = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersA(partId,triangleIndex);
}
else
{
tmpWrap = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&triObWrap);
m_resultOut->setShapeIdentifiersB(partId,triangleIndex);
}
// cvxcvxalgo.processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBody,m_triBody,*m_dispatchInfoPtr,m_resultOut);
colAlgo->processCollision(m_convexBodyWrap,&triObWrap,*m_dispatchInfoPtr,m_resultOut);
if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject())
{
m_resultOut->setBody0Wrap(tmpWrap);
} else
{
m_resultOut->setBody1Wrap(tmpWrap);
}
colAlgo->~btCollisionAlgorithm();
ci.m_dispatcher1->freeCollisionAlgorithm(colAlgo);
ob->internalSetTemporaryCollisionShape( tmpShape);
}
}
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
{
m_convexBodyWrap = convexBodyWrap;
m_triBodyWrap = triBodyWrap;
m_dispatchInfoPtr = &dispatchInfo;
m_collisionMarginTriangle = collisionMarginTriangle;
m_resultOut = resultOut;
//recalc aabbs
btTransform convexInTriangleSpace;
convexInTriangleSpace = m_triBody->getWorldTransform().inverse() * m_convexBody->getWorldTransform();
btCollisionShape* convexShape = static_cast<btCollisionShape*>(m_convexBody->getCollisionShape());
convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
btScalar extraMargin = collisionMarginTriangle;
btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold;
btVector3 extra(extraMargin,extraMargin,extraMargin);
m_aabbMax += extra;
@ -164,35 +193,34 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
}
void btConvexConcaveCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
btCollisionObject* convexBody = m_isSwapped ? body1 : body0;
btCollisionObject* triBody = m_isSwapped ? body0 : body1;
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
if (triBody->getCollisionShape()->isConcave())
if (triBodyWrap->getCollisionShape()->isConcave())
{
btCollisionObject* triOb = triBody;
btConcaveShape* concaveShape = static_cast<btConcaveShape*>( triOb->getCollisionShape());
if (convexBody->getCollisionShape()->isConvex())
const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
if (convexBodyWrap->getCollisionShape()->isConvex())
{
btScalar collisionMarginTriangle = concaveShape->getMargin();
resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,resultOut);
m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
//Disable persistency. previously, some older algorithm calculated all contacts in one go, so you can clear it here.
//m_dispatcher->clearManifold(m_btConvexTriangleCallback.m_manifoldPtr);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBody,triBody);
m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
resultOut->refreshContactPoints();
m_btConvexTriangleCallback.clearWrapperData();
}
@ -248,6 +276,7 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
BT_PROFILE("processTriangle");
(void)partId;
(void)triangleIndex;
//do a swept sphere for now

45
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
@ -26,14 +26,16 @@ class btDispatcher;
#include "btCollisionCreateFunc.h"
///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
class btConvexTriangleCallback : public btTriangleCallback
ATTRIBUTE_ALIGNED16(class) btConvexTriangleCallback : public btTriangleCallback
{
btCollisionObject* m_convexBody;
btCollisionObject* m_triBody;
btVector3 m_aabbMin;
btVector3 m_aabbMax ;
const btCollisionObjectWrapper* m_convexBodyWrap;
const btCollisionObjectWrapper* m_triBodyWrap;
btManifoldResult* m_resultOut;
btDispatcher* m_dispatcher;
@ -41,14 +43,21 @@ class btConvexTriangleCallback : public btTriangleCallback
btScalar m_collisionMarginTriangle;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
int m_triangleCount;
btPersistentManifold* m_manifoldPtr;
btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
void clearWrapperData()
{
m_convexBodyWrap = 0;
m_triBodyWrap = 0;
}
virtual ~btConvexTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
@ -70,22 +79,24 @@ int m_triangleCount;
/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
ATTRIBUTE_ALIGNED16(class) btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
bool m_isSwapped;
btConvexTriangleCallback m_btConvexTriangleCallback;
bool m_isSwapped;
public:
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
BT_DECLARE_ALIGNED_ALLOCATOR();
btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btConvexConcaveCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -95,22 +106,22 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};
};
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H

373
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View file

@ -17,6 +17,7 @@ subject to the following restrictions:
///If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums
///with reproduction case
//define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER 1
//#define ZERO_MARGIN
#include "btConvexConvexAlgorithm.h"
@ -26,6 +27,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@ -48,8 +51,8 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
///////////
@ -176,11 +179,10 @@ static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance(
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver)
{
m_numPerturbationIterations = 0;
m_minimumPointsPerturbationThreshold = 3;
m_simplexSolver = simplexSolver;
m_pdSolver = pdSolver;
}
@ -188,9 +190,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc()
{
}
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0,body1),
m_simplexSolver(simplexSolver),
btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_pdSolver(pdSolver),
m_ownManifold (false),
m_manifoldPtr(mf),
@ -202,8 +203,8 @@ m_sepDistance((static_cast<btConvexShape*>(body0->getCollisionShape()))->getAngu
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
(void)body0;
(void)body1;
(void)body0Wrap;
(void)body1Wrap;
}
@ -238,8 +239,8 @@ struct btPerturbedContactResult : public btManifoldResult
:m_originalManifoldResult(originalResult),
m_transformA(transformA),
m_transformB(transformB),
m_perturbA(perturbA),
m_unPerturbedTransform(unPerturbedTransform),
m_perturbA(perturbA),
m_debugDrawer(debugDrawer)
{
}
@ -286,13 +287,13 @@ extern btScalar gContactBreakingThreshold;
//
// Convex-Convex collision algorithm
//
void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
if (!m_manifoldPtr)
{
//swapped?
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
m_ownManifold = true;
}
resultOut->setPersistentManifold(m_manifoldPtr);
@ -301,8 +302,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
//resultOut->getPersistentManifold()->clearManifold();
btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
const btConvexShape* min0 = static_cast<const btConvexShape*>(body0Wrap->getCollisionShape());
const btConvexShape* min1 = static_cast<const btConvexShape*>(body1Wrap->getCollisionShape());
btVector3 normalOnB;
btVector3 pointOnBWorld;
@ -311,14 +312,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
btCapsuleShape* capsuleA = (btCapsuleShape*) min0;
btCapsuleShape* capsuleB = (btCapsuleShape*) min1;
btVector3 localScalingA = capsuleA->getLocalScaling();
btVector3 localScalingB = capsuleB->getLocalScaling();
// btVector3 localScalingA = capsuleA->getLocalScaling();
// btVector3 localScalingB = capsuleB->getLocalScaling();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar dist = capsuleCapsuleDistance(normalOnB, pointOnBWorld,capsuleA->getHalfHeight(),capsuleA->getRadius(),
capsuleB->getHalfHeight(),capsuleB->getRadius(),capsuleA->getUpAxis(),capsuleB->getUpAxis(),
body0->getWorldTransform(),body1->getWorldTransform(),threshold);
body0Wrap->getWorldTransform(),body1Wrap->getWorldTransform(),threshold);
if (dist<threshold)
{
@ -331,8 +332,14 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
#endif //BT_DISABLE_CAPSULE_CAPSULE_COLLIDER
#ifdef USE_SEPDISTANCE_UTIL2
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
@ -340,8 +347,8 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
btGjkPairDetector::ClosestPointInput input;
btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
btVoronoiSimplexSolver simplexSolver;
btGjkPairDetector gjkPairDetector( min0, min1, &simplexSolver, m_pdSolver );
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.setMinkowskiA(min0);
gjkPairDetector.setMinkowskiB(min1);
@ -353,18 +360,22 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
} else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
//if (dispatchInfo.m_convexMaxDistanceUseCPT)
//{
// input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold();
//} else
//{
input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold()+resultOut->m_closestPointDistanceThreshold;
// }
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
#ifdef USE_SEPDISTANCE_UTIL2
@ -376,73 +387,281 @@ void btConvexConvexAlgorithm ::processCollision (btCollisionObject* body0,btColl
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
}
}
#endif //USE_SEPDISTANCE_UTIL2
if (min0->isPolyhedral() && min1->isPolyhedral())
{
struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
{
virtual void setShapeIdentifiersA(int partId0,int index0){}
virtual void setShapeIdentifiersB(int partId1,int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
}
};
struct btWithoutMarginResult : public btDiscreteCollisionDetectorInterface::Result
{
btDiscreteCollisionDetectorInterface::Result* m_originalResult;
btVector3 m_reportedNormalOnWorld;
btScalar m_marginOnA;
btScalar m_marginOnB;
btScalar m_reportedDistance;
bool m_foundResult;
btWithoutMarginResult(btDiscreteCollisionDetectorInterface::Result* result, btScalar marginOnA, btScalar marginOnB)
:m_originalResult(result),
m_marginOnA(marginOnA),
m_marginOnB(marginOnB),
m_foundResult(false)
{
}
virtual void setShapeIdentifiersA(int partId0,int index0){}
virtual void setShapeIdentifiersB(int partId1,int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorldOrg,btScalar depthOrg)
{
m_reportedDistance = depthOrg;
m_reportedNormalOnWorld = normalOnBInWorld;
btVector3 adjustedPointB = pointInWorldOrg - normalOnBInWorld*m_marginOnB;
m_reportedDistance = depthOrg+(m_marginOnA+m_marginOnB);
if (m_reportedDistance<0.f)
{
m_foundResult = true;
}
m_originalResult->addContactPoint(normalOnBInWorld,adjustedPointB,m_reportedDistance);
}
};
btDummyResult dummy;
///btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
btScalar min0Margin = min0->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min0->getMargin();
btScalar min1Margin = min1->getShapeType()==BOX_SHAPE_PROXYTYPE? 0.f : min1->getMargin();
btWithoutMarginResult withoutMargin(resultOut, min0Margin,min1Margin);
btPolyhedralConvexShape* polyhedronA = (btPolyhedralConvexShape*) min0;
btPolyhedralConvexShape* polyhedronB = (btPolyhedralConvexShape*) min1;
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getConvexPolyhedron())
{
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btScalar minDist = -1e30f;
btVector3 sepNormalWorldSpace;
bool foundSepAxis = true;
if (dispatchInfo.m_enableSatConvex)
{
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace,*resultOut);
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
gjkPairDetector.getClosestPoints(input,withoutMargin,dispatchInfo.m_debugDraw);
//gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif //ZERO_MARGIN
//btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
//if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = withoutMargin.m_reportedNormalOnWorld;//gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = -1e30f;//gjkPairDetector.getCachedSeparatingDistance();
minDist = withoutMargin.m_reportedDistance;//gjkPairDetector.getCachedSeparatingDistance()+min0->getMargin()+min1->getMargin();
#ifdef ZERO_MARGIN
foundSepAxis = true;//gjkPairDetector.getCachedSeparatingDistance()<0.f;
#else
foundSepAxis = withoutMargin.m_foundResult && minDist<0;//-(min0->getMargin()+min1->getMargin());
#endif
}
}
if (foundSepAxis)
{
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
worldVertsB1.resize(0);
btPolyhedralContactClipping::clipHullAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(), minDist-threshold, threshold, worldVertsB1,worldVertsB2,
*resultOut);
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
} else
{
//we can also deal with convex versus triangle (without connectivity data)
if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
btVertexArray vertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
btScalar threshold = m_manifoldPtr->getContactBreakingThreshold();
btVector3 sepNormalWorldSpace;
btScalar minDist =-1e30f;
btScalar maxDist = threshold;
bool foundSepAxis = false;
if (0)
{
polyhedronB->initializePolyhedralFeatures();
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
*polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
body0Wrap->getWorldTransform(),
body1Wrap->getWorldTransform(),
sepNormalWorldSpace,*resultOut);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
} else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#else
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
//minDist = gjkPairDetector.getCachedSeparatingDistance();
//maxDist = threshold;
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
foundSepAxis = true;
}
}
if (foundSepAxis)
{
worldVertsB2.resize(0);
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut);
}
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
return;
}
}
}
gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
if (m_numPerturbationIterations && resultOut->getPersistentManifold()->getNumContacts() < m_minimumPointsPerturbationThreshold)
{
int i;
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
btVector3 v0,v1;
btVector3 sepNormalWorldSpace;
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
for ( i=0;i<m_numPerturbationIterations;i++)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis()*(1.f/l2);
if (perturbeA)
btPlaneSpace1(sepNormalWorldSpace,v0,v1);
bool perturbeA = true;
const btScalar angleLimit = 0.125f * SIMD_PI;
btScalar perturbeAngle;
btScalar radiusA = min0->getAngularMotionDisc();
btScalar radiusB = min1->getAngularMotionDisc();
if (radiusA < radiusB)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0->getWorldTransform().getBasis());
input.m_transformB = body1->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
perturbeAngle = gContactBreakingThreshold /radiusA;
perturbeA = true;
} else
{
input.m_transformA = body0->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
perturbeAngle = gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if ( perturbeAngle > angleLimit )
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
} else
{
unPerturbedTransform = input.m_transformB;
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
for ( i=0;i<m_numPerturbationIterations;i++)
{
if (v0.length2()>SIMD_EPSILON)
{
btQuaternion perturbeRot(v0,perturbeAngle);
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(sepNormalWorldSpace,iterationAngle);
if (perturbeA)
{
input.m_transformA.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body0Wrap->getWorldTransform().getBasis());
input.m_transformB = body1Wrap->getWorldTransform();
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformA,10.0);
#endif //DEBUG_CONTACTS
} else
{
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB.setBasis( btMatrix3x3(rotq.inverse()*perturbeRot*rotq)*body1Wrap->getWorldTransform().getBasis());
#ifdef DEBUG_CONTACTS
dispatchInfo.m_debugDraw->drawTransform(input.m_transformB,10.0);
#endif
}
btPerturbedContactResult perturbedResultOut(resultOut,input.m_transformA,input.m_transformB,unPerturbedTransform,perturbeA,dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(input,perturbedResultOut,dispatchInfo.m_debugDraw);
}
}
}
}

24
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_CONVEX_ALGORITHM_H
#define CONVEX_CONVEX_ALGORITHM_H
#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
#define BT_CONVEX_CONVEX_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
@ -24,6 +24,7 @@ subject to the following restrictions:
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
#include "BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h"
class btConvexPenetrationDepthSolver;
@ -32,7 +33,7 @@ class btConvexPenetrationDepthSolver;
///Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util
///for certain pairs that have a small size ratio
#define USE_SEPDISTANCE_UTIL2 1
//#define USE_SEPDISTANCE_UTIL2 1
///The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects.
///Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal.
@ -42,9 +43,10 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
#ifdef USE_SEPDISTANCE_UTIL2
btConvexSeparatingDistanceUtil m_sepDistance;
#endif
btSimplexSolverInterface* m_simplexSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
btVertexArray worldVertsB1;
btVertexArray worldVertsB2;
bool m_ownManifold;
btPersistentManifold* m_manifoldPtr;
@ -59,12 +61,11 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
public:
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
virtual ~btConvexConvexAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -88,22 +89,21 @@ public:
{
btConvexPenetrationDepthSolver* m_pdSolver;
btSimplexSolverInterface* m_simplexSolver;
int m_numPerturbationIterations;
int m_minimumPointsPerturbationThreshold;
CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
CreateFunc(btConvexPenetrationDepthSolver* pdSolver);
virtual ~CreateFunc();
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0,body1,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
};
};
#endif //CONVEX_CONVEX_ALGORITHM_H
#endif //BT_CONVEX_CONVEX_ALGORITHM_H

73
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
View file

@ -19,10 +19,11 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#include <stdio.h>
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold)
: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf),
@ -30,12 +31,12 @@ m_isSwapped(isSwapped),
m_numPerturbationIterations(numPerturbationIterations),
m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
{
btCollisionObject* convexObj = m_isSwapped? col1 : col0;
btCollisionObject* planeObj = m_isSwapped? col0 : col1;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap;
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject());
m_ownManifold = true;
}
}
@ -50,25 +51,25 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
}
}
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform convexWorldTransform = convexObj->getWorldTransform();
btTransform convexWorldTransform = convexObjWrap->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform;
convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform;
//now perturbe the convex-world transform
convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot);
btTransform planeInConvex;
planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform();
planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform();
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
@ -76,43 +77,61 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion&
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
}
void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
if (!m_manifoldPtr)
return;
btCollisionObject* convexObj = m_isSwapped? body1 : body0;
btCollisionObject* planeObj = m_isSwapped? body0: body1;
const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap;
btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape();
btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape();
bool hasCollision = false;
const btVector3& planeNormal = planeShape->getPlaneNormal();
//const btScalar& planeConstant = planeShape->getPlaneConstant();
const btScalar& planeConstant = planeShape->getPlaneConstant();
btTransform planeInConvex;
planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform();
btTransform convexInPlaneTrans;
convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->getWorldTransform();
//first perform a collision query with the non-perturbated collision objects
btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
btVector3 vtxInPlane = convexInPlaneTrans(vtx);
btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
btVector3 vtxInPlaneWorld = planeObjWrap->getWorldTransform() * vtxInPlaneProjected;
hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (hasCollision)
{
btQuaternion rotq(0,0,0,1);
collideSingleContact(rotq,body0,body1,dispatchInfo,resultOut);
/// report a contact. internally this will be kept persistent, and contact reduction is done
btVector3 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal;
btVector3 pOnB = vtxInPlaneWorld;
resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
}
if (resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
//the perturbation algorithm doesn't work well with implicit surfaces such as spheres, cylinder and cones:
//they keep on rolling forever because of the additional off-center contact points
//so only enable the feature for polyhedral shapes (btBoxShape, btConvexHullShape etc)
if (convexShape->isPolyhedral() && resultOut->getPersistentManifold()->getNumContacts()<m_minimumPointsPerturbationThreshold)
{
btVector3 v0,v1;
btPlaneSpace1(planeNormal,v0,v1);
@ -130,7 +149,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0
{
btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations));
btQuaternion rotq(planeNormal,iterationAngle);
collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut);
collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut);
}
}

20
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_PLANE_COLLISION_ALGORITHM_H
#define CONVEX_PLANE_COLLISION_ALGORITHM_H
#ifndef BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
#define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -36,13 +36,13 @@ class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
public:
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
virtual ~btConvexPlaneCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -61,24 +61,24 @@ public:
CreateFunc()
: m_numPerturbationIterations(1),
m_minimumPointsPerturbationThreshold(1)
m_minimumPointsPerturbationThreshold(0)
{
}
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
} else
{
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0,body1,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
}
}
};
};
#endif //CONVEX_PLANE_COLLISION_ALGORITHM_H
#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H

139
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
View file

@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
@ -32,7 +34,6 @@ subject to the following restrictions:
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
@ -43,9 +44,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
m_simplexSolver = new (mem)btVoronoiSimplexSolver();
void* mem = NULL;
if (constructionInfo.m_useEpaPenetrationAlgorithm)
{
mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
@ -58,13 +57,17 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
//default CreationFunctions, filling the m_doubleDispatch table
mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver);
mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
@ -100,22 +103,12 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
int maxSize = sizeof(btConvexConvexAlgorithm);
int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
int sl = sizeof(btConvexSeparatingDistanceUtil);
sl = sizeof(btGjkPairDetector);
int maxSize4 = sizeof(btCompoundCompoundCollisionAlgorithm);
int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = constructionInfo.m_stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
}
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
if (constructionInfo.m_persistentManifoldPool)
{
@ -128,6 +121,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
}
collisionAlgorithmMaxElementSize = (collisionAlgorithmMaxElementSize+16)&0xffffffffffff0;
if (constructionInfo.m_collisionAlgorithmPool)
{
m_ownsCollisionAlgorithmPool = false;
@ -144,12 +138,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
m_stackAlloc->~btStackAlloc();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
m_collisionAlgorithmPool->~btPoolAllocator();
@ -172,6 +160,9 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_compoundCreateFunc);
m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_compoundCompoundCreateFunc);
m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedCompoundCreateFunc);
@ -200,9 +191,6 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_planeConvexCF);
m_simplexSolver->~btVoronoiSimplexSolver();
btAlignedFree(m_simplexSolver);
m_pdSolver->~btConvexPenetrationDepthSolver();
btAlignedFree(m_pdSolver);
@ -210,6 +198,86 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
}
btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1)
{
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
{
return m_sphereSphereCF;
}
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
{
return m_sphereBoxCF;
}
if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
{
return m_boxSphereCF;
}
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE))
{
return m_sphereTriangleCF;
}
if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
{
return m_triangleSphereCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
{
return m_convexPlaneCF;
}
if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
{
return m_planeConvexCF;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
{
return m_convexConvexCreateFunc;
}
if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
{
return m_convexConcaveCreateFunc;
}
if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
{
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
{
return m_compoundCompoundCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;
}
else
{
if (btBroadphaseProxy::isCompound(proxyType1))
{
return m_swappedCompoundCreateFunc;
}
}
//failed to find an algorithm
return m_emptyCreateFunc;
}
btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{
@ -275,6 +343,12 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
{
return m_compoundCompoundCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;
@ -296,3 +370,14 @@ void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int nu
convexConvex->m_numPerturbationIterations = numPerturbationIterations;
convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}
void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
{
btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF;
cpCF->m_numPerturbationIterations = numPerturbationIterations;
cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
pcCF->m_numPerturbationIterations = numPerturbationIterations;
pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
}

24
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
View file

@ -22,23 +22,19 @@ class btConvexPenetrationDepthSolver;
struct btDefaultCollisionConstructionInfo
{
btStackAlloc* m_stackAlloc;
btPoolAllocator* m_persistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_customCollisionAlgorithmMaxElementSize;
int m_defaultStackAllocatorSize;
int m_useEpaPenetrationAlgorithm;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
m_persistentManifoldPool(0),
:m_persistentManifoldPool(0),
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(4096),
m_defaultMaxCollisionAlgorithmPoolSize(4096),
m_customCollisionAlgorithmMaxElementSize(0),
m_defaultStackAllocatorSize(0),
m_useEpaPenetrationAlgorithm(true)
{
}
@ -56,8 +52,6 @@ protected:
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
@ -66,8 +60,7 @@ protected:
btPoolAllocator* m_collisionAlgorithmPool;
bool m_ownsCollisionAlgorithmPool;
//default simplex/penetration depth solvers
btVoronoiSimplexSolver* m_simplexSolver;
//default penetration depth solver
btConvexPenetrationDepthSolver* m_pdSolver;
//default CreationFunctions, filling the m_doubleDispatch table
@ -75,13 +68,13 @@ protected:
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_sphereBoxCF;
btCollisionAlgorithmCreateFunc* m_boxSphereCF;
#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
btCollisionAlgorithmCreateFunc* m_boxBoxCF;
btCollisionAlgorithmCreateFunc* m_sphereTriangleCF;
@ -107,14 +100,11 @@ public:
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1);
virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1);
///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm.
///By default, this feature is disabled for best performance.
///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature.
@ -124,6 +114,8 @@ public:
///@todo we could add a per-object setting of those parameters, for level-of-detail collision detection.
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold = 3);
};
#endif //BT_DEFAULT_COLLISION_CONFIGURATION

2
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
View file

@ -22,7 +22,7 @@ btEmptyAlgorithm::btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& c
{
}
void btEmptyAlgorithm::processCollision (btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
void btEmptyAlgorithm::processCollision (const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* ,const btDispatcherInfo& ,btManifoldResult* )
{
}

16
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EMPTY_ALGORITH
#define EMPTY_ALGORITH
#ifndef BT_EMPTY_ALGORITH
#define BT_EMPTY_ALGORITH
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "btCollisionCreateFunc.h"
#include "btCollisionDispatcher.h"
@ -30,7 +30,7 @@ public:
btEmptyAlgorithm(const btCollisionAlgorithmConstructionInfo& ci);
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -40,10 +40,10 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
{
(void)body0;
(void)body1;
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
(void)body0Wrap;
(void)body1Wrap;
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btEmptyAlgorithm));
return new(mem) btEmptyAlgorithm(ci);
}
@ -51,4 +51,4 @@ public:
} ATTRIBUTE_ALIGNED(16);
#endif //EMPTY_ALGORITH
#endif //BT_EMPTY_ALGORITH

5
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h
View file

@ -160,7 +160,7 @@ public:
return 0;
}
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
{
btAssert(0);
//need to keep track of all ghost objects and call them here
@ -171,4 +171,5 @@ public:
};
#endif
#endif

276
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp Normal file
View file

@ -0,0 +1,276 @@
/*
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 "btHashedSimplePairCache.h"
#include <stdio.h>
int gOverlappingSimplePairs = 0;
int gRemoveSimplePairs =0;
int gAddedSimplePairs =0;
int gFindSimplePairs =0;
btHashedSimplePairCache::btHashedSimplePairCache() {
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
growTables();
}
btHashedSimplePairCache::~btHashedSimplePairCache()
{
}
void btHashedSimplePairCache::removeAllPairs()
{
m_overlappingPairArray.clear();
m_hashTable.clear();
m_next.clear();
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
growTables();
}
btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
{
gFindSimplePairs++;
/*if (indexA > indexB)
btSwap(indexA, indexB);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
if (hash >= m_hashTable.size())
{
return NULL;
}
int index = m_hashTable[hash];
while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], indexA, indexB) == false)
{
index = m_next[index];
}
if (index == BT_SIMPLE_NULL_PAIR)
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
//#include <stdio.h>
void btHashedSimplePairCache::growTables()
{
int newCapacity = m_overlappingPairArray.capacity();
if (m_hashTable.size() < newCapacity)
{
//grow hashtable and next table
int curHashtableSize = m_hashTable.size();
m_hashTable.resize(newCapacity);
m_next.resize(newCapacity);
int i;
for (i= 0; i < newCapacity; ++i)
{
m_hashTable[i] = BT_SIMPLE_NULL_PAIR;
}
for (i = 0; i < newCapacity; ++i)
{
m_next[i] = BT_SIMPLE_NULL_PAIR;
}
for(i=0;i<curHashtableSize;i++)
{
const btSimplePair& pair = m_overlappingPairArray[i];
int indexA = pair.m_indexA;
int indexB = pair.m_indexB;
int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
}
}
}
btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
{
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
btSimplePair* pair = internalFindPair(indexA, indexB, hash);
if (pair != NULL)
{
return pair;
}
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expandNonInitializing();
int newCapacity = m_overlappingPairArray.capacity();
if (oldCapacity < newCapacity)
{
growTables();
//hash with new capacity
hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
}
pair = new (mem) btSimplePair(indexA,indexB);
pair->m_userPointer = 0;
m_next[count] = m_hashTable[hash];
m_hashTable[hash] = count;
return pair;
}
void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
{
gRemoveSimplePairs++;
/*if (indexA > indexB)
btSwap(indexA, indexB);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
btSimplePair* pair = internalFindPair(indexA, indexB, hash);
if (pair == NULL)
{
return 0;
}
void* userData = pair->m_userPointer;
int pairIndex = int(pair - &m_overlappingPairArray[0]);
btAssert(pairIndex < m_overlappingPairArray.size());
// Remove the pair from the hash table.
int index = m_hashTable[hash];
btAssert(index != BT_SIMPLE_NULL_PAIR);
int previous = BT_SIMPLE_NULL_PAIR;
while (index != pairIndex)
{
previous = index;
index = m_next[index];
}
if (previous != BT_SIMPLE_NULL_PAIR)
{
btAssert(m_next[previous] == pairIndex);
m_next[previous] = m_next[pairIndex];
}
else
{
m_hashTable[hash] = m_next[pairIndex];
}
// We now move the last pair into spot of the
// pair being removed. We need to fix the hash
// table indices to support the move.
int lastPairIndex = m_overlappingPairArray.size() - 1;
// If the removed pair is the last pair, we are done.
if (lastPairIndex == pairIndex)
{
m_overlappingPairArray.pop_back();
return userData;
}
// Remove the last pair from the hash table.
const btSimplePair* last = &m_overlappingPairArray[lastPairIndex];
/* missing swap here too, Nat. */
int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity()-1));
index = m_hashTable[lastHash];
btAssert(index != BT_SIMPLE_NULL_PAIR);
previous = BT_SIMPLE_NULL_PAIR;
while (index != lastPairIndex)
{
previous = index;
index = m_next[index];
}
if (previous != BT_SIMPLE_NULL_PAIR)
{
btAssert(m_next[previous] == lastPairIndex);
m_next[previous] = m_next[lastPairIndex];
}
else
{
m_hashTable[lastHash] = m_next[lastPairIndex];
}
// Copy the last pair into the remove pair's spot.
m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
// Insert the last pair into the hash table
m_next[pairIndex] = m_hashTable[lastHash];
m_hashTable[lastHash] = pairIndex;
m_overlappingPairArray.pop_back();
return userData;
}
//#include <stdio.h>

172
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h Normal file
View file

@ -0,0 +1,172 @@
/*
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.
*/
#ifndef BT_HASHED_SIMPLE_PAIR_CACHE_H
#define BT_HASHED_SIMPLE_PAIR_CACHE_H
#include "LinearMath/btAlignedObjectArray.h"
const int BT_SIMPLE_NULL_PAIR=0xffffffff;
struct btSimplePair
{
btSimplePair(int indexA,int indexB)
:m_indexA(indexA),
m_indexB(indexB),
m_userPointer(0)
{
}
int m_indexA;
int m_indexB;
union
{
void* m_userPointer;
int m_userValue;
};
};
typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
extern int gOverlappingSimplePairs;
extern int gRemoveSimplePairs;
extern int gAddedSimplePairs;
extern int gFindSimplePairs;
class btHashedSimplePairCache
{
btSimplePairArray m_overlappingPairArray;
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
public:
btHashedSimplePairCache();
virtual ~btHashedSimplePairCache();
void removeAllPairs();
virtual void* removeOverlappingPair(int indexA,int indexB);
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
virtual btSimplePair* addOverlappingPair(int indexA,int indexB)
{
gAddedSimplePairs++;
return internalAddPair(indexA,indexB);
}
virtual btSimplePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btSimplePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btSimplePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btSimplePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
btSimplePair* findPair(int indexA,int indexB);
int GetCount() const { return m_overlappingPairArray.size(); }
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
private:
btSimplePair* internalAddPair(int indexA, int indexB);
void growTables();
SIMD_FORCE_INLINE bool equalsPair(const btSimplePair& pair, int indexA, int indexB)
{
return pair.m_indexA == indexA && pair.m_indexB == indexB;
}
SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
{
int key = static_cast<int>(((unsigned int)indexA) | (((unsigned int)indexB) <<16));
// Thomas Wang's hash
key += ~(key << 15);
key ^= (key >> 10);
key += (key << 3);
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return static_cast<unsigned int>(key);
}
SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA , int proxyIdB, int hash)
{
int index = m_hashTable[hash];
while( index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false)
{
index = m_next[index];
}
if ( index == BT_SIMPLE_NULL_PAIR )
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
};
#endif //BT_HASHED_SIMPLE_PAIR_CACHE_H

838
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp Normal file
View file

@ -0,0 +1,838 @@
#include "btInternalEdgeUtility.h"
#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#define DEBUG_INTERNAL_EDGE
#ifdef DEBUG_INTERNAL_EDGE
#include <stdio.h>
#endif //DEBUG_INTERNAL_EDGE
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
static btIDebugDraw* gDebugDrawer = 0;
void btSetDebugDrawer(btIDebugDraw* debugDrawer)
{
gDebugDrawer = debugDrawer;
}
static void btDebugDrawLine(const btVector3& from,const btVector3& to, const btVector3& color)
{
if (gDebugDrawer)
gDebugDrawer->drawLine(from,to,color);
}
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
static int btGetHash(int partId, int triangleIndex)
{
int hash = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
return hash;
}
static btScalar btGetAngle(const btVector3& edgeA, const btVector3& normalA,const btVector3& normalB)
{
const btVector3 refAxis0 = edgeA;
const btVector3 refAxis1 = normalA;
const btVector3 swingAxis = normalB;
btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
return angle;
}
struct btConnectivityProcessor : public btTriangleCallback
{
int m_partIdA;
int m_triangleIndexA;
btVector3* m_triangleVerticesA;
btTriangleInfoMap* m_triangleInfoMap;
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
//skip self-collisions
if ((m_partIdA == partId) && (m_triangleIndexA == triangleIndex))
return;
//skip duplicates (disabled for now)
//if ((m_partIdA <= partId) && (m_triangleIndexA <= triangleIndex))
// return;
//search for shared vertices and edges
int numshared = 0;
int sharedVertsA[3]={-1,-1,-1};
int sharedVertsB[3]={-1,-1,-1};
///skip degenerate triangles
btScalar crossBSqr = ((triangle[1]-triangle[0]).cross(triangle[2]-triangle[0])).length2();
if (crossBSqr < m_triangleInfoMap->m_equalVertexThreshold)
return;
btScalar crossASqr = ((m_triangleVerticesA[1]-m_triangleVerticesA[0]).cross(m_triangleVerticesA[2]-m_triangleVerticesA[0])).length2();
///skip degenerate triangles
if (crossASqr< m_triangleInfoMap->m_equalVertexThreshold)
return;
#if 0
printf("triangle A[0] = (%f,%f,%f)\ntriangle A[1] = (%f,%f,%f)\ntriangle A[2] = (%f,%f,%f)\n",
m_triangleVerticesA[0].getX(),m_triangleVerticesA[0].getY(),m_triangleVerticesA[0].getZ(),
m_triangleVerticesA[1].getX(),m_triangleVerticesA[1].getY(),m_triangleVerticesA[1].getZ(),
m_triangleVerticesA[2].getX(),m_triangleVerticesA[2].getY(),m_triangleVerticesA[2].getZ());
printf("partId=%d, triangleIndex=%d\n",partId,triangleIndex);
printf("triangle B[0] = (%f,%f,%f)\ntriangle B[1] = (%f,%f,%f)\ntriangle B[2] = (%f,%f,%f)\n",
triangle[0].getX(),triangle[0].getY(),triangle[0].getZ(),
triangle[1].getX(),triangle[1].getY(),triangle[1].getZ(),
triangle[2].getX(),triangle[2].getY(),triangle[2].getZ());
#endif
for (int i=0;i<3;i++)
{
for (int j=0;j<3;j++)
{
if ( (m_triangleVerticesA[i]-triangle[j]).length2() < m_triangleInfoMap->m_equalVertexThreshold)
{
sharedVertsA[numshared] = i;
sharedVertsB[numshared] = j;
numshared++;
///degenerate case
if(numshared >= 3)
return;
}
}
///degenerate case
if(numshared >= 3)
return;
}
switch (numshared)
{
case 0:
{
break;
}
case 1:
{
//shared vertex
break;
}
case 2:
{
//shared edge
//we need to make sure the edge is in the order V2V0 and not V0V2 so that the signs are correct
if (sharedVertsA[0] == 0 && sharedVertsA[1] == 2)
{
sharedVertsA[0] = 2;
sharedVertsA[1] = 0;
int tmp = sharedVertsB[1];
sharedVertsB[1] = sharedVertsB[0];
sharedVertsB[0] = tmp;
}
int hash = btGetHash(m_partIdA,m_triangleIndexA);
btTriangleInfo* info = m_triangleInfoMap->find(hash);
if (!info)
{
btTriangleInfo tmp;
m_triangleInfoMap->insert(hash,tmp);
info = m_triangleInfoMap->find(hash);
}
int sumvertsA = sharedVertsA[0]+sharedVertsA[1];
int otherIndexA = 3-sumvertsA;
btVector3 edge(m_triangleVerticesA[sharedVertsA[1]]-m_triangleVerticesA[sharedVertsA[0]]);
btTriangleShape tA(m_triangleVerticesA[0],m_triangleVerticesA[1],m_triangleVerticesA[2]);
int otherIndexB = 3-(sharedVertsB[0]+sharedVertsB[1]);
btTriangleShape tB(triangle[sharedVertsB[1]],triangle[sharedVertsB[0]],triangle[otherIndexB]);
//btTriangleShape tB(triangle[0],triangle[1],triangle[2]);
btVector3 normalA;
btVector3 normalB;
tA.calcNormal(normalA);
tB.calcNormal(normalB);
edge.normalize();
btVector3 edgeCrossA = edge.cross(normalA).normalize();
{
btVector3 tmp = m_triangleVerticesA[otherIndexA]-m_triangleVerticesA[sharedVertsA[0]];
if (edgeCrossA.dot(tmp) < 0)
{
edgeCrossA*=-1;
}
}
btVector3 edgeCrossB = edge.cross(normalB).normalize();
{
btVector3 tmp = triangle[otherIndexB]-triangle[sharedVertsB[0]];
if (edgeCrossB.dot(tmp) < 0)
{
edgeCrossB*=-1;
}
}
btScalar angle2 = 0;
btScalar ang4 = 0.f;
btVector3 calculatedEdge = edgeCrossA.cross(edgeCrossB);
btScalar len2 = calculatedEdge.length2();
btScalar correctedAngle(0);
//btVector3 calculatedNormalB = normalA;
bool isConvex = false;
if (len2<m_triangleInfoMap->m_planarEpsilon)
{
angle2 = 0.f;
ang4 = 0.f;
} else
{
calculatedEdge.normalize();
btVector3 calculatedNormalA = calculatedEdge.cross(edgeCrossA);
calculatedNormalA.normalize();
angle2 = btGetAngle(calculatedNormalA,edgeCrossA,edgeCrossB);
ang4 = SIMD_PI-angle2;
btScalar dotA = normalA.dot(edgeCrossB);
///@todo: check if we need some epsilon, due to floating point imprecision
isConvex = (dotA<0.);
correctedAngle = isConvex ? ang4 : -ang4;
}
//alternatively use
//btVector3 calculatedNormalB2 = quatRotate(orn,normalA);
switch (sumvertsA)
{
case 1:
{
btVector3 edge = m_triangleVerticesA[0]-m_triangleVerticesA[1];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
btScalar bla = computedNormalB.dot(normalB);
if (bla<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V0V1_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif//DEBUG_INTERNAL_EDGE
info->m_edgeV0V1Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V0V1_CONVEX;
break;
}
case 2:
{
btVector3 edge = m_triangleVerticesA[2]-m_triangleVerticesA[0];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(normalB)<0)
{
computedNormalB*=-1;
info->m_flags |= TRI_INFO_V2V0_SWAP_NORMALB;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV2V0Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V2V0_CONVEX;
break;
}
case 3:
{
btVector3 edge = m_triangleVerticesA[1]-m_triangleVerticesA[2];
btQuaternion orn(edge,-correctedAngle);
btVector3 computedNormalB = quatRotate(orn,normalA);
if (computedNormalB.dot(normalB)<0)
{
info->m_flags |= TRI_INFO_V1V2_SWAP_NORMALB;
computedNormalB*=-1;
}
#ifdef DEBUG_INTERNAL_EDGE
if ((computedNormalB-normalB).length()>0.0001)
{
printf("warning: normals not identical\n");
}
#endif //DEBUG_INTERNAL_EDGE
info->m_edgeV1V2Angle = -correctedAngle;
if (isConvex)
info->m_flags |= TRI_INFO_V1V2_CONVEX;
break;
}
}
break;
}
default:
{
// printf("warning: duplicate triangle\n");
}
}
}
};
/////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap)
{
//the user pointer shouldn't already be used for other purposes, we intend to store connectivity info there!
if (trimeshShape->getTriangleInfoMap())
return;
trimeshShape->setTriangleInfoMap(triangleInfoMap);
btStridingMeshInterface* meshInterface = trimeshShape->getMeshInterface();
const btVector3& meshScaling = meshInterface->getScaling();
for (int partId = 0; partId< meshInterface->getNumSubParts();partId++)
{
const unsigned char *vertexbase = 0;
int numverts = 0;
PHY_ScalarType type = PHY_INTEGER;
int stride = 0;
const unsigned char *indexbase = 0;
int indexstride = 0;
int numfaces = 0;
PHY_ScalarType indicestype = PHY_INTEGER;
//PHY_ScalarType indexType=0;
btVector3 triangleVerts[3];
meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,partId);
btVector3 aabbMin,aabbMax;
for (int triangleIndex = 0 ; triangleIndex < numfaces;triangleIndex++)
{
unsigned int* gfxbase = (unsigned int*)(indexbase+triangleIndex*indexstride);
for (int j=2;j>=0;j--)
{
int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
if (type == PHY_FLOAT)
{
float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3(
graphicsbase[0]*meshScaling.getX(),
graphicsbase[1]*meshScaling.getY(),
graphicsbase[2]*meshScaling.getZ());
}
else
{
double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
}
}
aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
aabbMin.setMin(triangleVerts[0]);
aabbMax.setMax(triangleVerts[0]);
aabbMin.setMin(triangleVerts[1]);
aabbMax.setMax(triangleVerts[1]);
aabbMin.setMin(triangleVerts[2]);
aabbMax.setMax(triangleVerts[2]);
btConnectivityProcessor connectivityProcessor;
connectivityProcessor.m_partIdA = partId;
connectivityProcessor.m_triangleIndexA = triangleIndex;
connectivityProcessor.m_triangleVerticesA = &triangleVerts[0];
connectivityProcessor.m_triangleInfoMap = triangleInfoMap;
trimeshShape->processAllTriangles(&connectivityProcessor,aabbMin,aabbMax);
}
}
}
// Given a point and a line segment (defined by two points), compute the closest point
// in the line. Cap the point at the endpoints of the line segment.
void btNearestPointInLineSegment(const btVector3 &point, const btVector3& line0, const btVector3& line1, btVector3& nearestPoint)
{
btVector3 lineDelta = line1 - line0;
// Handle degenerate lines
if ( lineDelta.fuzzyZero())
{
nearestPoint = line0;
}
else
{
btScalar delta = (point-line0).dot(lineDelta) / (lineDelta).dot(lineDelta);
// Clamp the point to conform to the segment's endpoints
if ( delta < 0 )
delta = 0;
else if ( delta > 1 )
delta = 1;
nearestPoint = line0 + lineDelta*delta;
}
}
bool btClampNormal(const btVector3& edge,const btVector3& tri_normal_org,const btVector3& localContactNormalOnB, btScalar correctedEdgeAngle, btVector3 & clampedLocalNormal)
{
btVector3 tri_normal = tri_normal_org;
//we only have a local triangle normal, not a local contact normal -> only normal in world space...
//either compute the current angle all in local space, or all in world space
btVector3 edgeCross = edge.cross(tri_normal).normalize();
btScalar curAngle = btGetAngle(edgeCross,tri_normal,localContactNormalOnB);
if (correctedEdgeAngle<0)
{
if (curAngle < correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
if (correctedEdgeAngle>=0)
{
if (curAngle > correctedEdgeAngle)
{
btScalar diffAngle = correctedEdgeAngle-curAngle;
btQuaternion rotation(edge,diffAngle );
clampedLocalNormal = btMatrix3x3(rotation)*localContactNormalOnB;
return true;
}
}
return false;
}
/// Changes a btManifoldPoint collision normal to the normal from the mesh.
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,const btCollisionObjectWrapper* colObj1Wrap, int partId0, int index0, int normalAdjustFlags)
{
//btAssert(colObj0->getCollisionShape()->getShapeType() == TRIANGLE_SHAPE_PROXYTYPE);
if (colObj0Wrap->getCollisionShape()->getShapeType() != TRIANGLE_SHAPE_PROXYTYPE)
return;
btBvhTriangleMeshShape* trimesh = 0;
if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
else
trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
int hash = btGetHash(partId0,index0);
btTriangleInfo* info = triangleInfoMapPtr->find(hash);
if (!info)
return;
btScalar frontFacing = (normalAdjustFlags & BT_TRIANGLE_CONVEX_BACKFACE_MODE)==0? 1.f : -1.f;
const btTriangleShape* tri_shape = static_cast<const btTriangleShape*>(colObj0Wrap->getCollisionShape());
btVector3 v0,v1,v2;
tri_shape->getVertex(0,v0);
tri_shape->getVertex(1,v1);
tri_shape->getVertex(2,v2);
//btVector3 center = (v0+v1+v2)*btScalar(1./3.);
btVector3 red(1,0,0), green(0,1,0),blue(0,0,1),white(1,1,1),black(0,0,0);
btVector3 tri_normal;
tri_shape->calcNormal(tri_normal);
//btScalar dot = tri_normal.dot(cp.m_normalWorldOnB);
btVector3 nearest;
btNearestPointInLineSegment(cp.m_localPointB,v0,v1,nearest);
btVector3 contact = cp.m_localPointB;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
const btTransform& tr = colObj0->getWorldTransform();
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,red);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
bool isNearEdge = false;
int numConcaveEdgeHits = 0;
int numConvexEdgeHits = 0;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
localContactNormalOnB.normalize();//is this necessary?
// Get closest edge
int bestedge=-1;
btScalar disttobestedge=BT_LARGE_FLOAT;
//
// Edge 0 -> 1
if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
btVector3 nearest;
btNearestPointInLineSegment( cp.m_localPointB, v0, v1, nearest );
btScalar len=(contact-nearest).length();
//
if( len < disttobestedge )
{
bestedge=0;
disttobestedge=len;
}
}
// Edge 1 -> 2
if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
btVector3 nearest;
btNearestPointInLineSegment( cp.m_localPointB, v1, v2, nearest );
btScalar len=(contact-nearest).length();
//
if( len < disttobestedge )
{
bestedge=1;
disttobestedge=len;
}
}
// Edge 2 -> 0
if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
btVector3 nearest;
btNearestPointInLineSegment( cp.m_localPointB, v2, v0, nearest );
btScalar len=(contact-nearest).length();
//
if( len < disttobestedge )
{
bestedge=2;
disttobestedge=len;
}
}
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 upfix=tri_normal * btVector3(0.1f,0.1f,0.1f);
btDebugDrawLine(tr * v0 + upfix, tr * v1 + upfix, red );
#endif
if (btFabs(info->m_edgeV0V1Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
if( bestedge==0 )
{
btVector3 edge(v0-v1);
isNearEdge = true;
if (info->m_edgeV0V1Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V0V1_CONVEX);
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV0V1Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V0V1_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV0V1Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal. (what about cp.m_distance1?)
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
btNearestPointInLineSegment(contact,v1,v2,nearest);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,green);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr * v1 + upfix, tr * v2 + upfix , green );
#endif
if (btFabs(info->m_edgeV1V2Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
if( bestedge==1 )
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 edge(v1-v2);
isNearEdge = true;
if (info->m_edgeV1V2Angle == btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V1V2_CONVEX)!=0;
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV1V2Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V1V2_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB, info->m_edgeV1V2Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
btNearestPointInLineSegment(contact,v2,v0,nearest);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*cp.m_localPointB,blue);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr * v2 + upfix, tr * v0 + upfix , blue );
#endif
if (btFabs(info->m_edgeV2V0Angle)< triangleInfoMapPtr->m_maxEdgeAngleThreshold)
{
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*contact,tr*(contact+cp.m_normalWorldOnB*10),black);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btScalar len = (contact-nearest).length();
if(len<triangleInfoMapPtr->m_edgeDistanceThreshold)
if( bestedge==2 )
{
isNearEdge = true;
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 edge(v2-v0);
if (info->m_edgeV2V0Angle==btScalar(0))
{
numConcaveEdgeHits++;
} else
{
bool isEdgeConvex = (info->m_flags & TRI_INFO_V2V0_CONVEX)!=0;
btScalar swapFactor = isEdgeConvex ? btScalar(1) : btScalar(-1);
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
btDebugDrawLine(tr*nearest,tr*(nearest+swapFactor*tri_normal*10),white);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
btVector3 nA = swapFactor * tri_normal;
btQuaternion orn(edge,info->m_edgeV2V0Angle);
btVector3 computedNormalB = quatRotate(orn,tri_normal);
if (info->m_flags & TRI_INFO_V2V0_SWAP_NORMALB)
computedNormalB*=-1;
btVector3 nB = swapFactor*computedNormalB;
#ifdef DEBUG_INTERNAL_EDGE
{
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+tr.getBasis()*(nB*20),red);
}
#endif //DEBUG_INTERNAL_EDGE
btScalar NdotA = localContactNormalOnB.dot(nA);
btScalar NdotB = localContactNormalOnB.dot(nB);
bool backFacingNormal = (NdotA< triangleInfoMapPtr->m_convexEpsilon) && (NdotB<triangleInfoMapPtr->m_convexEpsilon);
if (backFacingNormal)
{
numConcaveEdgeHits++;
}
else
{
numConvexEdgeHits++;
// printf("hitting convex edge\n");
btVector3 localContactNormalOnB = colObj0Wrap->getWorldTransform().getBasis().transpose() * cp.m_normalWorldOnB;
btVector3 clampedLocalNormal;
bool isClamped = btClampNormal(edge,swapFactor*tri_normal,localContactNormalOnB,info->m_edgeV2V0Angle,clampedLocalNormal);
if (isClamped)
{
if (((normalAdjustFlags & BT_TRIANGLE_CONVEX_DOUBLE_SIDED)!=0) || (clampedLocalNormal.dot(frontFacing*tri_normal)>0))
{
btVector3 newNormal = colObj0Wrap->getWorldTransform().getBasis() * clampedLocalNormal;
// cp.m_distance1 = cp.m_distance1 * newNormal.dot(cp.m_normalWorldOnB);
cp.m_normalWorldOnB = newNormal;
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}
}
}
}
#ifdef DEBUG_INTERNAL_EDGE
{
btVector3 color(0,1,1);
btDebugDrawLine(cp.getPositionWorldOnB(),cp.getPositionWorldOnB()+cp.m_normalWorldOnB*10,color);
}
#endif //DEBUG_INTERNAL_EDGE
if (isNearEdge)
{
if (numConcaveEdgeHits>0)
{
if ((normalAdjustFlags & BT_TRIANGLE_CONCAVE_DOUBLE_SIDED)!=0)
{
//fix tri_normal so it pointing the same direction as the current local contact normal
if (tri_normal.dot(localContactNormalOnB) < 0)
{
tri_normal *= -1;
}
cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis()*tri_normal;
} else
{
btVector3 newNormal = tri_normal *frontFacing;
//if the tri_normal is pointing opposite direction as the current local contact normal, skip it
btScalar d = newNormal.dot(localContactNormalOnB) ;
if (d< 0)
{
return;
}
//modify the normal to be the triangle normal (or backfacing normal)
cp.m_normalWorldOnB = colObj0Wrap->getWorldTransform().getBasis() *newNormal;
}
// Reproject collision point along normal.
cp.m_positionWorldOnB = cp.m_positionWorldOnA - cp.m_normalWorldOnB * cp.m_distance1;
cp.m_localPointB = colObj0Wrap->getWorldTransform().invXform(cp.m_positionWorldOnB);
}
}
}

47
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h Normal file
View file

@ -0,0 +1,47 @@
#ifndef BT_INTERNAL_EDGE_UTILITY_H
#define BT_INTERNAL_EDGE_UTILITY_H
#include "LinearMath/btHashMap.h"
#include "LinearMath/btVector3.h"
#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
///The btInternalEdgeUtility helps to avoid or reduce artifacts due to wrong collision normals caused by internal edges.
///See also http://code.google.com/p/bullet/issues/detail?id=27
class btBvhTriangleMeshShape;
class btCollisionObject;
struct btCollisionObjectWrapper;
class btManifoldPoint;
class btIDebugDraw;
enum btInternalEdgeAdjustFlags
{
BT_TRIANGLE_CONVEX_BACKFACE_MODE = 1,
BT_TRIANGLE_CONCAVE_DOUBLE_SIDED = 2, //double sided options are experimental, single sided is recommended
BT_TRIANGLE_CONVEX_DOUBLE_SIDED = 4
};
///Call btGenerateInternalEdgeInfo to create triangle info, store in the shape 'userInfo'
void btGenerateInternalEdgeInfo (btBvhTriangleMeshShape*trimeshShape, btTriangleInfoMap* triangleInfoMap);
///Call the btFixMeshNormal to adjust the collision normal, using the triangle info map (generated using btGenerateInternalEdgeInfo)
///If this info map is missing, or the triangle is not store in this map, nothing will be done
void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWrapper* trimeshColObj0Wrap,const btCollisionObjectWrapper* otherColObj1Wrap, int partId0, int index0, int normalAdjustFlags = 0);
///Enable the BT_INTERNAL_EDGE_DEBUG_DRAW define and call btSetDebugDrawer, to get visual info to see if the internal edge utility works properly.
///If the utility doesn't work properly, you might have to adjust the threshold values in btTriangleInfoMap
//#define BT_INTERNAL_EDGE_DEBUG_DRAW
#ifdef BT_INTERNAL_EDGE_DEBUG_DRAW
void btSetDebugDrawer(btIDebugDraw* debugDrawer);
#endif //BT_INTERNAL_EDGE_DEBUG_DRAW
#endif //BT_INTERNAL_EDGE_UTILITY_H

99
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
View file

@ -17,13 +17,40 @@ subject to the following restrictions:
#include "btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
///This is to allow MaterialCombiner/Custom Friction/Restitution values
ContactAddedCallback gContactAddedCallback=0;
btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction();
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar friction = body0->getFriction() * body1->getFriction();
@ -36,26 +63,41 @@ inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const b
}
inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
{
return body0->getRestitution() * body1->getRestitution();
}
btScalar btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1)
{
return body0->getContactDamping() + body1->getContactDamping();
}
btScalar btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1)
{
btScalar s0 = body0->getContactStiffness();
btScalar s1 = body1->getContactStiffness();
btScalar tmp0 = btScalar(1)/s0;
btScalar tmp1 = btScalar(1)/s1;
btScalar combinedStiffness = btScalar(1) / (tmp0+tmp1);
return combinedStiffness;
}
btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
:m_manifoldPtr(0),
m_body0(body0),
m_body1(body1)
m_body0Wrap(body0Wrap),
m_body1Wrap(body1Wrap)
#ifdef DEBUG_PART_INDEX
,m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
, m_closestPointDistanceThreshold(0)
{
m_rootTransA = body0->getWorldTransform();
m_rootTransB = body1->getWorldTransform();
}
@ -63,11 +105,12 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
{
btAssert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingThreshold())
// if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
@ -76,12 +119,12 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
if (isSwapped)
{
localA = m_rootTransB.invXform(pointA );
localB = m_rootTransA.invXform(pointInWorld);
localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
} else
{
localA = m_rootTransA.invXform(pointA );
localB = m_rootTransB.invXform(pointInWorld);
localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
}
btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
@ -90,9 +133,23 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedSpinningFriction = calculateCombinedSpinningFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
{
newPt.m_combinedContactDamping1 = calculateCombinedContactDamping(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedContactStiffness1 = calculateCombinedContactStiffness(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
}
btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);
//BP mod, store contact triangles.
if (isSwapped)
{
@ -121,13 +178,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
{
//experimental feature info, for per-triangle material etc.
btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
}
}

70
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h
View file

@ -14,18 +14,22 @@ subject to the following restrictions:
*/
#ifndef MANIFOLD_RESULT_H
#define MANIFOLD_RESULT_H
#ifndef BT_MANIFOLD_RESULT_H
#define BT_MANIFOLD_RESULT_H
class btCollisionObject;
struct btCollisionObjectWrapper;
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btManifoldPoint;
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "LinearMath/btTransform.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
extern ContactAddedCallback gContactAddedCallback;
//#define DEBUG_PART_INDEX 1
@ -34,34 +38,34 @@ extern ContactAddedCallback gContactAddedCallback;
///btManifoldResult is a helper class to manage contact results.
class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
{
protected:
btPersistentManifold* m_manifoldPtr;
//we need this for compounds
btTransform m_rootTransA;
btTransform m_rootTransB;
btCollisionObject* m_body0;
btCollisionObject* m_body1;
const btCollisionObjectWrapper* m_body0Wrap;
const btCollisionObjectWrapper* m_body1Wrap;
int m_partId0;
int m_partId1;
int m_index0;
int m_index1;
public:
btManifoldResult()
#ifdef DEBUG_PART_INDEX
:
#ifdef DEBUG_PART_INDEX
m_partId0(-1),
m_partId1(-1),
m_index0(-1),
m_index1(-1)
#endif //DEBUG_PART_INDEX
m_closestPointDistanceThreshold(0)
{
}
btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btManifoldResult() {};
@ -100,27 +104,55 @@ public:
if (!m_manifoldPtr->getNumContacts())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
if (isSwapped)
{
m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
} else
{
m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
}
}
const btCollisionObjectWrapper* getBody0Wrap() const
{
return m_body0Wrap;
}
const btCollisionObjectWrapper* getBody1Wrap() const
{
return m_body1Wrap;
}
void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
{
m_body0Wrap = obj0Wrap;
}
void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
{
m_body1Wrap = obj1Wrap;
}
const btCollisionObject* getBody0Internal() const
{
return m_body0;
return m_body0Wrap->getCollisionObject();
}
const btCollisionObject* getBody1Internal() const
{
return m_body1;
return m_body1Wrap->getCollisionObject();
}
btScalar m_closestPointDistanceThreshold;
/// in the future we can let the user override the methods to combine restitution and friction
static btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1);
};
#endif //MANIFOLD_RESULT_H
#endif //BT_MANIFOLD_RESULT_H

114
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View file

@ -1,3 +1,4 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@ -44,10 +45,14 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
{
{
for (int i=0;i<colWorld->getPairCache()->getNumOverlappingPairs();i++)
btOverlappingPairCache* pairCachePtr = colWorld->getPairCache();
const int numOverlappingPairs = pairCachePtr->getNumOverlappingPairs();
if (numOverlappingPairs)
{
btBroadphasePair* pairPtr = pairCachePtr->getOverlappingPairArrayPtr();
for (int i=0;i<numOverlappingPairs;i++)
{
btBroadphasePair* pairPtr = colWorld->getPairCache()->getOverlappingPairArrayPtr();
const btBroadphasePair& collisionPair = pairPtr[i];
btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
@ -60,18 +65,73 @@ void btSimulationIslandManager::findUnions(btDispatcher* /* dispatcher */,btColl
(colObj1)->getIslandTag());
}
}
}
}
}
#ifdef STATIC_SIMULATION_ISLAND_OPTIMIZATION
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
// put the index into m_controllers into m_tag
int index = 0;
{
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
//Adding filtering here
if (!collisionObject->isStaticOrKinematicObject())
{
collisionObject->setIslandTag(index++);
}
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
}
}
// do the union find
initUnionFind( index );
findUnions(dispatcher,colWorld);
}
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
{
btCollisionObject* collisionObject= colWorld->getCollisionObjectArray()[i];
if (!collisionObject->isStaticOrKinematicObject())
{
collisionObject->setIslandTag( m_unionFind.find(index) );
//Set the correct object offset in Collision Object Array
m_unionFind.getElement(index).m_sz = i;
collisionObject->setCompanionId(-1);
index++;
} else
{
collisionObject->setIslandTag(-1);
collisionObject->setCompanionId(-2);
}
}
}
}
#else //STATIC_SIMULATION_ISLAND_OPTIMIZATION
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
// put the index into m_controllers into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size(); i++)
@ -81,26 +141,20 @@ void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld
collisionObject->setCompanionId(-1);
collisionObject->setHitFraction(btScalar(1.));
index++;
}
}
// do the union find
findUnions(dispatcher,colWorld);
}
void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* colWorld)
{
// put the islandId ('find' value) into m_tag
{
int index = 0;
int i;
for (i=0;i<colWorld->getCollisionObjectArray().size();i++)
@ -120,6 +174,8 @@ void btSimulationIslandManager::storeIslandActivationState(btCollisionWorld* col
}
}
#endif //STATIC_SIMULATION_ISLAND_OPTIMIZATION
inline int getIslandId(const btPersistentManifold* lhs)
{
int islandId;
@ -137,7 +193,7 @@ class btPersistentManifoldSortPredicate
{
public:
SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs )
SIMD_FORCE_INLINE bool operator() ( const btPersistentManifold* lhs, const btPersistentManifold* rhs ) const
{
return getIslandId(lhs) < getIslandId(rhs);
}
@ -263,8 +319,8 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
btCollisionObject* colObj0 = static_cast<btCollisionObject*>(manifold->getBody0());
btCollisionObject* colObj1 = static_cast<btCollisionObject*>(manifold->getBody1());
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
///@todo: check sleeping conditions!
if (((colObj0) && colObj0->getActivationState() != ISLAND_SLEEPING) ||
@ -274,11 +330,13 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
//kinematic objects don't merge islands, but wake up all connected objects
if (colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING)
{
colObj1->activate();
if (colObj0->hasContactResponse())
colObj1->activate();
}
if (colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING)
{
colObj0->activate();
if (colObj1->hasContactResponse())
colObj0->activate();
}
if(m_splitIslands)
{
@ -309,7 +367,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
{
btPersistentManifold** manifold = dispatcher->getInternalManifoldPointer();
int maxNumManifolds = dispatcher->getNumManifolds();
callback->ProcessIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
callback->processIsland(&collisionObjects[0],collisionObjects.size(),manifold,maxNumManifolds, -1);
}
else
{
@ -319,8 +377,10 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int numManifolds = int (m_islandmanifold.size());
//we should do radix sort, it it much faster (O(n) instead of O (n log2(n))
//tried a radix sort, but quicksort/heapsort seems still faster
//@todo rewrite island management
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
@ -339,15 +399,15 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
int islandId = getUnionFind().getElement(startIslandIndex).m_id;
bool islandSleeping = false;
bool islandSleeping = true;
for (endIslandIndex = startIslandIndex;(endIslandIndex<numElem) && (getUnionFind().getElement(endIslandIndex).m_id == islandId);endIslandIndex++)
{
int i = getUnionFind().getElement(endIslandIndex).m_sz;
btCollisionObject* colObj0 = collisionObjects[i];
m_islandBodies.push_back(colObj0);
if (!colObj0->isActive())
islandSleeping = true;
if (colObj0->isActive())
islandSleeping = false;
}
@ -374,7 +434,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
if (!islandSleeping)
{
callback->ProcessIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
callback->processIsland(&m_islandBodies[0],m_islandBodies.size(),startManifold,numIslandManifolds, islandId);
// printf("Island callback of size:%d bodies, %d manifolds\n",islandBodies.size(),numIslandManifolds);
}

8
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SIMULATION_ISLAND_MANAGER_H
#define SIMULATION_ISLAND_MANAGER_H
#ifndef BT_SIMULATION_ISLAND_MANAGER_H
#define BT_SIMULATION_ISLAND_MANAGER_H
#include "BulletCollision/CollisionDispatch/btUnionFind.h"
#include "btCollisionCreateFunc.h"
@ -59,7 +59,7 @@ public:
{
virtual ~IslandCallback() {};
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
virtual void processIsland(btCollisionObject** bodies,int numBodies,class btPersistentManifold** manifolds,int numManifolds, int islandId) = 0;
};
void buildAndProcessIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld, IslandCallback* callback);
@ -77,5 +77,5 @@ public:
};
#endif //SIMULATION_ISLAND_MANAGER_H
#endif //BT_SIMULATION_ISLAND_MANAGER_H

276
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
View file

@ -18,20 +18,21 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//#include <stdio.h>
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
: btActivatingCollisionAlgorithm(ci,col0,col1),
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped)
: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf),
m_isSwapped(isSwapped)
{
btCollisionObject* sphereObj = m_isSwapped? col1 : col0;
btCollisionObject* boxObj = m_isSwapped? col0 : col1;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? col1Wrap : col0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? col0Wrap : col1Wrap;
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject()))
{
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
m_manifoldPtr = m_dispatcher->getNewManifold(sphereObjWrap->getCollisionObject(),boxObjWrap->getCollisionObject());
m_ownManifold = true;
}
}
@ -48,36 +49,31 @@ btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm()
void btSphereBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
(void)dispatchInfo;
(void)resultOut;
if (!m_manifoldPtr)
return;
btCollisionObject* sphereObj = m_isSwapped? body1 : body0;
btCollisionObject* boxObj = m_isSwapped? body0 : body1;
const btCollisionObjectWrapper* sphereObjWrap = m_isSwapped? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* boxObjWrap = m_isSwapped? body0Wrap : body1Wrap;
btSphereShape* sphere0 = (btSphereShape*)sphereObj->getCollisionShape();
btVector3 pOnBox;
btVector3 normalOnSurfaceB;
btVector3 pOnBox,pOnSphere;
btVector3 sphereCenter = sphereObj->getWorldTransform().getOrigin();
btScalar penetrationDepth;
btVector3 sphereCenter = sphereObjWrap->getWorldTransform().getOrigin();
const btSphereShape* sphere0 = (const btSphereShape*)sphereObjWrap->getCollisionShape();
btScalar radius = sphere0->getRadius();
btScalar dist = getSphereDistance(boxObj,pOnBox,pOnSphere,sphereCenter,radius);
btScalar maxContactDistance = m_manifoldPtr->getContactBreakingThreshold();
resultOut->setPersistentManifold(m_manifoldPtr);
if (dist < SIMD_EPSILON)
if (getSphereDistance(boxObjWrap, pOnBox, normalOnSurfaceB, penetrationDepth, sphereCenter, radius, maxContactDistance))
{
btVector3 normalOnSurfaceB = (pOnBox- pOnSphere).normalize();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->addContactPoint(normalOnSurfaceB,pOnBox,dist);
resultOut->addContactPoint(normalOnSurfaceB, pOnBox, penetrationDepth);
}
if (m_ownManifold)
@ -102,159 +98,117 @@ btScalar btSphereBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
}
btScalar btSphereBoxCollisionAlgorithm::getSphereDistance(btCollisionObject* boxObj, btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius )
bool btSphereBoxCollisionAlgorithm::getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& pointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& sphereCenter, btScalar fRadius, btScalar maxContactDistance )
{
const btBoxShape* boxShape= (const btBoxShape*)boxObjWrap->getCollisionShape();
btVector3 const &boxHalfExtent = boxShape->getHalfExtentsWithoutMargin();
btScalar boxMargin = boxShape->getMargin();
penetrationDepth = 1.0f;
btScalar margins;
btVector3 bounds[2];
btBoxShape* boxShape= (btBoxShape*)boxObj->getCollisionShape();
// convert the sphere position to the box's local space
btTransform const &m44T = boxObjWrap->getWorldTransform();
btVector3 sphereRelPos = m44T.invXform(sphereCenter);
// Determine the closest point to the sphere center in the box
btVector3 closestPoint = sphereRelPos;
closestPoint.setX( btMin(boxHalfExtent.getX(), closestPoint.getX()) );
closestPoint.setX( btMax(-boxHalfExtent.getX(), closestPoint.getX()) );
closestPoint.setY( btMin(boxHalfExtent.getY(), closestPoint.getY()) );
closestPoint.setY( btMax(-boxHalfExtent.getY(), closestPoint.getY()) );
closestPoint.setZ( btMin(boxHalfExtent.getZ(), closestPoint.getZ()) );
closestPoint.setZ( btMax(-boxHalfExtent.getZ(), closestPoint.getZ()) );
bounds[0] = -boxShape->getHalfExtentsWithoutMargin();
bounds[1] = boxShape->getHalfExtentsWithoutMargin();
btScalar intersectionDist = fRadius + boxMargin;
btScalar contactDist = intersectionDist + maxContactDistance;
normal = sphereRelPos - closestPoint;
margins = boxShape->getMargin();//also add sphereShape margin?
const btTransform& m44T = boxObj->getWorldTransform();
btVector3 boundsVec[2];
btScalar fPenetration;
boundsVec[0] = bounds[0];
boundsVec[1] = bounds[1];
btVector3 marginsVec( margins, margins, margins );
// add margins
bounds[0] += marginsVec;
bounds[1] -= marginsVec;
/////////////////////////////////////////////////
btVector3 tmp, prel, n[6], normal, v3P;
btScalar fSep = btScalar(10000000.0), fSepThis;
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
// convert point in local space
prel = m44T.invXform( sphereCenter);
bool bFound = false;
v3P = prel;
for (int i=0;i<6;i++)
//if there is no penetration, we are done
btScalar dist2 = normal.length2();
if (dist2 > contactDist * contactDist)
{
int j = i<3? 0:1;
if ( (fSepThis = ((v3P-bounds[j]) .dot(n[i]))) > btScalar(0.0) )
{
v3P = v3P - n[i]*fSepThis;
bFound = true;
}
}
//
if ( bFound )
{
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
normal = (prel - v3P).normalize();
pointOnBox = v3P + normal*margins;
v3PointOnSphere = prel - normal*fRadius;
if ( ((v3PointOnSphere - pointOnBox) .dot (normal)) > btScalar(0.0) )
{
return btScalar(1.0);
}
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere);
v3PointOnSphere = tmp;
btScalar fSeps2 = (pointOnBox-v3PointOnSphere).length2();
//if this fails, fallback into deeper penetration case, below
if (fSeps2 > SIMD_EPSILON)
{
fSep = - btSqrt(fSeps2);
normal = (pointOnBox-v3PointOnSphere);
normal *= btScalar(1.)/fSep;
}
return fSep;
return false;
}
//////////////////////////////////////////////////
// Deep penetration case
btScalar distance;
fPenetration = getSpherePenetration( boxObj,pointOnBox, v3PointOnSphere, sphereCenter, fRadius,bounds[0],bounds[1] );
bounds[0] = boundsVec[0];
bounds[1] = boundsVec[1];
if ( fPenetration <= btScalar(0.0) )
return (fPenetration-margins);
else
return btScalar(1.0);
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btCollisionObject* boxObj,btVector3& pointOnBox, btVector3& v3PointOnSphere, const btVector3& sphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax)
{
btVector3 bounds[2];
bounds[0] = aabbMin;
bounds[1] = aabbMax;
btVector3 p0, tmp, prel, n[6], normal;
btScalar fSep = btScalar(-10000000.0), fSepThis;
// set p0 and normal to a default value to shup up GCC
p0.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
normal.setValue(btScalar(0.), btScalar(0.), btScalar(0.));
n[0].setValue( btScalar(-1.0), btScalar(0.0), btScalar(0.0) );
n[1].setValue( btScalar(0.0), btScalar(-1.0), btScalar(0.0) );
n[2].setValue( btScalar(0.0), btScalar(0.0), btScalar(-1.0) );
n[3].setValue( btScalar(1.0), btScalar(0.0), btScalar(0.0) );
n[4].setValue( btScalar(0.0), btScalar(1.0), btScalar(0.0) );
n[5].setValue( btScalar(0.0), btScalar(0.0), btScalar(1.0) );
const btTransform& m44T = boxObj->getWorldTransform();
// convert point in local space
prel = m44T.invXform( sphereCenter);
///////////
for (int i=0;i<6;i++)
//special case if the sphere center is inside the box
if (dist2 <= SIMD_EPSILON)
{
int j = i<3 ? 0:1;
if ( (fSepThis = ((prel-bounds[j]) .dot( n[i]))-fRadius) > btScalar(0.0) ) return btScalar(1.0);
if ( fSepThis > fSep )
{
p0 = bounds[j]; normal = (btVector3&)n[i];
fSep = fSepThis;
}
distance = -getSpherePenetration(boxHalfExtent, sphereRelPos, closestPoint, normal);
}
else //compute the penetration details
{
distance = normal.length();
normal /= distance;
}
pointOnBox = prel - normal*(normal.dot((prel-p0)));
v3PointOnSphere = pointOnBox + normal*fSep;
pointOnBox = closestPoint + normal * boxMargin;
// v3PointOnSphere = sphereRelPos - (normal * fRadius);
penetrationDepth = distance - intersectionDist;
// transform back in world space
tmp = m44T( pointOnBox);
pointOnBox = tmp;
tmp = m44T( v3PointOnSphere); v3PointOnSphere = tmp;
normal = (pointOnBox-v3PointOnSphere).normalize();
return fSep;
btVector3 tmp = m44T(pointOnBox);
pointOnBox = tmp;
// tmp = m44T(v3PointOnSphere);
// v3PointOnSphere = tmp;
tmp = m44T.getBasis() * normal;
normal = tmp;
return true;
}
btScalar btSphereBoxCollisionAlgorithm::getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal )
{
//project the center of the sphere on the closest face of the box
btScalar faceDist = boxHalfExtent.getX() - sphereRelPos.getX();
btScalar minDist = faceDist;
closestPoint.setX( boxHalfExtent.getX() );
normal.setValue(btScalar(1.0f), btScalar(0.0f), btScalar(0.0f));
faceDist = boxHalfExtent.getX() + sphereRelPos.getX();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setX( -boxHalfExtent.getX() );
normal.setValue(btScalar(-1.0f), btScalar(0.0f), btScalar(0.0f));
}
faceDist = boxHalfExtent.getY() - sphereRelPos.getY();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setY( boxHalfExtent.getY() );
normal.setValue(btScalar(0.0f), btScalar(1.0f), btScalar(0.0f));
}
faceDist = boxHalfExtent.getY() + sphereRelPos.getY();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setY( -boxHalfExtent.getY() );
normal.setValue(btScalar(0.0f), btScalar(-1.0f), btScalar(0.0f));
}
faceDist = boxHalfExtent.getZ() - sphereRelPos.getZ();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setZ( boxHalfExtent.getZ() );
normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(1.0f));
}
faceDist = boxHalfExtent.getZ() + sphereRelPos.getZ();
if (faceDist < minDist)
{
minDist = faceDist;
closestPoint = sphereRelPos;
closestPoint.setZ( -boxHalfExtent.getZ() );
normal.setValue(btScalar(0.0f), btScalar(0.0f), btScalar(-1.0f));
}
return minDist;
}

20
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
#define SPHERE_BOX_COLLISION_ALGORITHM_H
#ifndef BT_SPHERE_BOX_COLLISION_ALGORITHM_H
#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -34,11 +34,11 @@ class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
public:
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
virtual ~btSphereBoxCollisionAlgorithm();
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -50,26 +50,26 @@ public:
}
}
btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );
bool getSphereDistance( const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance );
btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
btScalar getSpherePenetration( btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3& normal );
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereBoxCollisionAlgorithm));
if (!m_swapped)
{
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false);
} else
{
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);
return new(mem) btSphereBoxCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true);
}
}
};
};
#endif //SPHERE_BOX_COLLISION_ALGORITHM_H
#endif //BT_SPHERE_BOX_COLLISION_ALGORITHM_H

20
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
View file

@ -12,20 +12,22 @@ subject to the following restrictions:
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.
*/
#define CLEAR_MANIFOLD 1
#include "btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1)
: btActivatingCollisionAlgorithm(ci,col0,col1),
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr)
{
m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1);
m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
m_ownManifold = true;
}
}
@ -39,7 +41,7 @@ btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
}
}
void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
(void)dispatchInfo;
@ -48,10 +50,10 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
resultOut->setPersistentManifold(m_manifoldPtr);
btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape();
btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin();
btVector3 diff = col0Wrap->getWorldTransform().getOrigin()- col1Wrap->getWorldTransform().getOrigin();
btScalar len = diff.length();
btScalar radius0 = sphere0->getRadius();
btScalar radius1 = sphere1->getRadius();
@ -61,7 +63,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
#endif
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
if ( len > (radius0+radius1+resultOut->m_closestPointDistanceThreshold))
{
#ifndef CLEAR_MANIFOLD
resultOut->refreshContactPoints();
@ -80,7 +82,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done

14
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
View file

@ -13,8 +13,8 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
#ifndef BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
#define BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H
#include "btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@ -32,12 +32,12 @@ class btSphereSphereCollisionAlgorithm : public btActivatingCollisionAlgorithm
btPersistentManifold* m_manifoldPtr;
public:
btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap);
btSphereSphereCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
: btActivatingCollisionAlgorithm(ci) {}
virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -53,14 +53,14 @@ public:
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereSphereCollisionAlgorithm));
return new(mem) btSphereSphereCollisionAlgorithm(0,ci,body0,body1);
return new(mem) btSphereSphereCollisionAlgorithm(0,ci,col0Wrap,col1Wrap);
}
};
};
#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H
#endif //BT_SPHERE_SPHERE_COLLISION_ALGORITHM_H

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