forked from bartvdbraak/blender
90e5a9aa14
Requires some changes to projectfiles/makefiles/scons, for the added and removed files!
224 lines
5.6 KiB
C++
224 lines
5.6 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "CollisionDispatcher.h"
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#include "BroadphaseCollision/CollisionAlgorithm.h"
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#include "CollisionDispatch/ConvexConvexAlgorithm.h"
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#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
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#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
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#include "NarrowphaseCollision/CollisionObject.h"
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#include <algorithm>
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void CollisionDispatcher::FindUnions()
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{
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if (m_useIslands)
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{
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for (int i=0;i<GetNumManifolds();i++)
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{
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const PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
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//static objects (invmass 0.f) don't merge !
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if ((((CollisionObject*)manifold->GetBody0()) && (((CollisionObject*)manifold->GetBody0())->mergesSimulationIslands())) &&
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(((CollisionObject*)manifold->GetBody1()) && (((CollisionObject*)manifold->GetBody1())->mergesSimulationIslands())))
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{
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m_unionFind.unite(((CollisionObject*)manifold->GetBody0())->m_islandTag1,
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((CollisionObject*)manifold->GetBody1())->m_islandTag1);
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}
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}
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}
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}
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CollisionDispatcher::CollisionDispatcher ():
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m_useIslands(true),
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m_count(0)
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{
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int i;
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for (i=0;i<MAX_BROADPHASE_COLLISION_TYPES;i++)
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{
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for (int j=0;j<MAX_BROADPHASE_COLLISION_TYPES;j++)
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{
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m_doubleDispatch[i][j] = 0;
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}
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}
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};
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PersistentManifold* CollisionDispatcher::GetNewManifold(void* b0,void* b1)
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{
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CollisionObject* body0 = (CollisionObject*)b0;
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CollisionObject* body1 = (CollisionObject*)b1;
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PersistentManifold* manifold = new PersistentManifold (body0,body1);
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m_manifoldsPtr.push_back(manifold);
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return manifold;
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}
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void CollisionDispatcher::ReleaseManifold(PersistentManifold* manifold)
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{
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manifold->ClearManifold();
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std::vector<PersistentManifold*>::iterator i =
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std::find(m_manifoldsPtr.begin(), m_manifoldsPtr.end(), manifold);
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if (!(i == m_manifoldsPtr.end()))
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{
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std::swap(*i, m_manifoldsPtr.back());
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m_manifoldsPtr.pop_back();
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}
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}
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//
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// todo: this is random access, it can be walked 'cache friendly'!
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//
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void CollisionDispatcher::BuildAndProcessIslands(int numBodies, IslandCallback* callback)
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{
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int i;
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for (int islandId=0;islandId<numBodies;islandId++)
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{
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std::vector<PersistentManifold*> islandmanifold;
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//int numSleeping = 0;
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bool allSleeping = true;
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for (i=0;i<GetNumManifolds();i++)
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{
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PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
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if ((((CollisionObject*)manifold->GetBody0()) && ((CollisionObject*)manifold->GetBody0())->m_islandTag1 == (islandId)) ||
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(((CollisionObject*)manifold->GetBody1()) && ((CollisionObject*)manifold->GetBody1())->m_islandTag1 == (islandId)))
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{
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if ((((CollisionObject*)manifold->GetBody0()) && ((CollisionObject*)manifold->GetBody0())->GetActivationState()== ACTIVE_TAG) ||
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(((CollisionObject*)manifold->GetBody1()) && ((CollisionObject*)manifold->GetBody1())->GetActivationState() == ACTIVE_TAG))
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{
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allSleeping = false;
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}
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islandmanifold.push_back(manifold);
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}
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}
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if (allSleeping)
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{
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//tag all as 'ISLAND_SLEEPING'
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for (i=0;i<islandmanifold.size();i++)
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{
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PersistentManifold* manifold = islandmanifold[i];
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if (((CollisionObject*)manifold->GetBody0()))
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{
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((CollisionObject*)manifold->GetBody0())->SetActivationState( ISLAND_SLEEPING );
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}
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if (((CollisionObject*)manifold->GetBody1()))
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{
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((CollisionObject*)manifold->GetBody1())->SetActivationState( ISLAND_SLEEPING);
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}
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}
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} else
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{
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//tag all as 'ISLAND_SLEEPING'
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for (i=0;i<islandmanifold.size();i++)
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{
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PersistentManifold* manifold = islandmanifold[i];
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CollisionObject* body0 = (CollisionObject*)manifold->GetBody0();
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CollisionObject* body1 = (CollisionObject*)manifold->GetBody1();
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if (body0)
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{
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if ( body0->GetActivationState() == ISLAND_SLEEPING)
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{
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body0->SetActivationState( WANTS_DEACTIVATION);
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}
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}
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if (body1)
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{
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if ( body1->GetActivationState() == ISLAND_SLEEPING)
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{
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body1->SetActivationState(WANTS_DEACTIVATION);
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}
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}
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}
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callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
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}
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}
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}
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CollisionAlgorithm* CollisionDispatcher::InternalFindAlgorithm(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
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{
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m_count++;
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CollisionAlgorithmConstructionInfo ci;
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ci.m_dispatcher = this;
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if (proxy0.IsConvexShape() && proxy1.IsConvexShape() )
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{
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return new ConvexConvexAlgorithm(0,ci,&proxy0,&proxy1);
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}
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if (proxy0.IsConvexShape() && proxy1.IsConcaveShape())
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{
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return new ConvexConcaveCollisionAlgorithm(ci,&proxy0,&proxy1);
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}
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if (proxy1.IsConvexShape() && proxy0.IsConcaveShape())
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{
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return new ConvexConcaveCollisionAlgorithm(ci,&proxy1,&proxy0);
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}
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//failed to find an algorithm
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return new EmptyAlgorithm(ci);
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}
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bool CollisionDispatcher::NeedsCollision(BroadphaseProxy& proxy0,BroadphaseProxy& proxy1)
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{
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CollisionObject* body0 = (CollisionObject*)proxy0.m_clientObject;
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CollisionObject* body1 = (CollisionObject*)proxy1.m_clientObject;
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assert(body0);
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assert(body1);
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bool needsCollision = true;
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if ((body0->m_collisionFlags & CollisionObject::isStatic) &&
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(body1->m_collisionFlags & CollisionObject::isStatic))
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needsCollision = false;
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if ((body0->GetActivationState() == 2) &&(body1->GetActivationState() == 2))
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needsCollision = false;
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return needsCollision ;
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} |