384 lines
14 KiB
C++
384 lines
14 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btDefaultCollisionConfiguration.h"
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#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
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#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
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#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
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#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
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#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "LinearMath/btPoolAllocator.h"
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btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
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//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
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{
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void* mem = NULL;
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if (constructionInfo.m_useEpaPenetrationAlgorithm)
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{
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mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
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m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
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}else
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{
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mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
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m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
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}
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//default CreationFunctions, filling the m_doubleDispatch table
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mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
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m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver);
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mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
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m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
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m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
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mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
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m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
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m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
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m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
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mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
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m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
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m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
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#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
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mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
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m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
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m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
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m_boxSphereCF->m_swapped = true;
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#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
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mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
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m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
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m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
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m_triangleSphereCF->m_swapped = true;
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mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16);
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m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc;
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//convex versus plane
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mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
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m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
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mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
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m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
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m_planeConvexCF->m_swapped = true;
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///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
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int maxSize = sizeof(btConvexConvexAlgorithm);
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int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
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int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
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int maxSize4 = sizeof(btCompoundCompoundCollisionAlgorithm);
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int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
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collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
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collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
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collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
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if (constructionInfo.m_persistentManifoldPool)
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{
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m_ownsPersistentManifoldPool = false;
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m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
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} else
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{
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m_ownsPersistentManifoldPool = true;
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void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
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m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
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}
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collisionAlgorithmMaxElementSize = (collisionAlgorithmMaxElementSize+16)&0xffffffffffff0;
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if (constructionInfo.m_collisionAlgorithmPool)
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{
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m_ownsCollisionAlgorithmPool = false;
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m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
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} else
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{
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m_ownsCollisionAlgorithmPool = true;
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void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
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m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
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}
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}
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btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
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{
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if (m_ownsCollisionAlgorithmPool)
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{
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m_collisionAlgorithmPool->~btPoolAllocator();
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btAlignedFree(m_collisionAlgorithmPool);
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}
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if (m_ownsPersistentManifoldPool)
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{
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m_persistentManifoldPool->~btPoolAllocator();
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btAlignedFree(m_persistentManifoldPool);
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}
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m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_convexConvexCreateFunc);
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m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_convexConcaveCreateFunc);
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m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_swappedConvexConcaveCreateFunc);
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m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_compoundCreateFunc);
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m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree(m_compoundCompoundCreateFunc);
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m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_swappedCompoundCreateFunc);
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m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_emptyCreateFunc);
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m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_sphereSphereCF);
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#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
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m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_sphereBoxCF);
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m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_boxSphereCF);
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#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
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m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_sphereTriangleCF);
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m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_triangleSphereCF);
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m_boxBoxCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_boxBoxCF);
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m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_convexPlaneCF);
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m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
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btAlignedFree( m_planeConvexCF);
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m_pdSolver->~btConvexPenetrationDepthSolver();
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btAlignedFree(m_pdSolver);
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}
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btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1)
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{
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if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
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{
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return m_sphereSphereCF;
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}
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#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
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if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
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{
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return m_sphereBoxCF;
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}
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if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
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{
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return m_boxSphereCF;
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}
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#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
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if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE))
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{
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return m_sphereTriangleCF;
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}
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if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE))
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{
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return m_triangleSphereCF;
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}
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if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
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{
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return m_convexPlaneCF;
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}
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if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
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{
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return m_planeConvexCF;
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}
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if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
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{
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return m_convexConvexCreateFunc;
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}
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if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
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{
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return m_convexConcaveCreateFunc;
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}
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if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
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{
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return m_swappedConvexConcaveCreateFunc;
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}
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if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
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{
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return m_compoundCompoundCreateFunc;
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}
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if (btBroadphaseProxy::isCompound(proxyType0))
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{
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return m_compoundCreateFunc;
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}
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else
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{
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if (btBroadphaseProxy::isCompound(proxyType1))
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{
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return m_swappedCompoundCreateFunc;
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}
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}
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//failed to find an algorithm
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return m_emptyCreateFunc;
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}
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btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
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{
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if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
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{
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return m_sphereSphereCF;
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}
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#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
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if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
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{
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return m_sphereBoxCF;
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}
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if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
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{
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return m_boxSphereCF;
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}
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#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
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if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
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{
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return m_sphereTriangleCF;
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}
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if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
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{
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return m_triangleSphereCF;
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}
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if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
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{
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return m_boxBoxCF;
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}
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if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
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{
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return m_convexPlaneCF;
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}
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if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
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{
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return m_planeConvexCF;
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}
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if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
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{
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return m_convexConvexCreateFunc;
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}
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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;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
|
||
|
|
{
|
||
|
|
btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc;
|
||
|
|
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;
|
||
|
|
}
|