1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 #include "btSoftBodyRigidBodyCollisionConfiguration.h" 17 #include "btSoftRigidCollisionAlgorithm.h" 18 #include "btSoftBodyConcaveCollisionAlgorithm.h" 19 #include "btSoftSoftCollisionAlgorithm.h" 20 21 #include "LinearMath/btPoolAllocator.h" 22 23 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1 24 25 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo) 26 :btDefaultCollisionConfiguration(constructionInfo) 27 { 28 void* mem; 29 30 mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16); 31 m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc; 32 33 mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); 34 m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; 35 36 mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16); 37 m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc; 38 m_swappedSoftRigidConvexCreateFunc->m_swapped=true; 39 40 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS 41 mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); 42 m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc; 43 44 mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16); 45 m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc; 46 m_swappedSoftRigidConcaveCreateFunc->m_swapped=true; 47 #endif 48 49 //replace pool by a new one, with potential larger size 50 51 if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool) 52 { 53 int curElemSize = m_collisionAlgorithmPool->getElementSize(); 54 ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool 55 56 57 int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm); 58 int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm); 59 int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm); 60 61 int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1); 62 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2); 63 64 if (collisionAlgorithmMaxElementSize > curElemSize) 65 { 66 m_collisionAlgorithmPool->~btPoolAllocator(); 67 btAlignedFree(m_collisionAlgorithmPool); 68 void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16); 69 m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize); 70 } 71 } 72 73 } 74 75 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration() 76 { 77 m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc(); 78 btAlignedFree( m_softSoftCreateFunc); 79 80 m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); 81 btAlignedFree( m_softRigidConvexCreateFunc); 82 83 m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc(); 84 btAlignedFree( m_swappedSoftRigidConvexCreateFunc); 85 86 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS 87 m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); 88 btAlignedFree( m_softRigidConcaveCreateFunc); 89 90 m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc(); 91 btAlignedFree( m_swappedSoftRigidConcaveCreateFunc); 92 #endif 93 } 94 95 ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation 96 btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) 97 { 98 99 ///try to handle the softbody interactions first 100 101 if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE)) 102 { 103 return m_softSoftCreateFunc; 104 } 105 106 ///softbody versus convex 107 if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1)) 108 { 109 return m_softRigidConvexCreateFunc; 110 } 111 112 ///convex versus soft body 113 if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) 114 { 115 return m_swappedSoftRigidConvexCreateFunc; 116 } 117 118 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS 119 ///softbody versus convex 120 if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1)) 121 { 122 return m_softRigidConcaveCreateFunc; 123 } 124 125 ///convex versus soft body 126 if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE ) 127 { 128 return m_swappedSoftRigidConcaveCreateFunc; 129 } 130 #endif 131 132 ///fallback to the regular rigid collision shape 133 return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1); 134 } 135
