forked from LeenkxTeam/LNXSDK
Update Files
This commit is contained in:
@ -0,0 +1,268 @@
|
||||
/*
|
||||
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_PERSISTENT_MANIFOLD_H
|
||||
#define BT_PERSISTENT_MANIFOLD_H
|
||||
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "LinearMath/btTransform.h"
|
||||
#include "btManifoldPoint.h"
|
||||
class btCollisionObject;
|
||||
#include "LinearMath/btAlignedAllocator.h"
|
||||
|
||||
struct btCollisionResult;
|
||||
|
||||
///maximum contact breaking and merging threshold
|
||||
extern btScalar gContactBreakingThreshold;
|
||||
|
||||
#ifndef SWIG
|
||||
class btPersistentManifold;
|
||||
|
||||
typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
|
||||
typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
|
||||
typedef void (*ContactStartedCallback)(btPersistentManifold* const &manifold);
|
||||
typedef void (*ContactEndedCallback)(btPersistentManifold* const &manifold);
|
||||
extern ContactDestroyedCallback gContactDestroyedCallback;
|
||||
extern ContactProcessedCallback gContactProcessedCallback;
|
||||
extern ContactStartedCallback gContactStartedCallback;
|
||||
extern ContactEndedCallback gContactEndedCallback;
|
||||
#endif //SWIG
|
||||
|
||||
//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
|
||||
enum btContactManifoldTypes
|
||||
{
|
||||
MIN_CONTACT_MANIFOLD_TYPE = 1024,
|
||||
BT_PERSISTENT_MANIFOLD_TYPE
|
||||
};
|
||||
|
||||
#define MANIFOLD_CACHE_SIZE 4
|
||||
|
||||
///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
|
||||
///Those contact points are created by the collision narrow phase.
|
||||
///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
|
||||
///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
|
||||
///reduces the cache to 4 points, when more then 4 points are added, using following rules:
|
||||
///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
|
||||
///note that some pairs of objects might have more then one contact manifold.
|
||||
|
||||
|
||||
//ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
|
||||
ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
|
||||
{
|
||||
|
||||
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
|
||||
|
||||
/// this two body pointers can point to the physics rigidbody class.
|
||||
const btCollisionObject* m_body0;
|
||||
const btCollisionObject* m_body1;
|
||||
|
||||
int m_cachedPoints;
|
||||
|
||||
btScalar m_contactBreakingThreshold;
|
||||
btScalar m_contactProcessingThreshold;
|
||||
|
||||
|
||||
/// sort cached points so most isolated points come first
|
||||
int sortCachedPoints(const btManifoldPoint& pt);
|
||||
|
||||
int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
int m_companionIdA;
|
||||
int m_companionIdB;
|
||||
|
||||
int m_index1a;
|
||||
|
||||
btPersistentManifold();
|
||||
|
||||
btPersistentManifold(const btCollisionObject* body0,const btCollisionObject* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
|
||||
: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
|
||||
m_body0(body0),m_body1(body1),m_cachedPoints(0),
|
||||
m_contactBreakingThreshold(contactBreakingThreshold),
|
||||
m_contactProcessingThreshold(contactProcessingThreshold)
|
||||
{
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE const btCollisionObject* getBody0() const { return m_body0;}
|
||||
SIMD_FORCE_INLINE const btCollisionObject* getBody1() const { return m_body1;}
|
||||
|
||||
void setBodies(const btCollisionObject* body0,const btCollisionObject* body1)
|
||||
{
|
||||
m_body0 = body0;
|
||||
m_body1 = body1;
|
||||
}
|
||||
|
||||
void clearUserCache(btManifoldPoint& pt);
|
||||
|
||||
#ifdef DEBUG_PERSISTENCY
|
||||
void DebugPersistency();
|
||||
#endif //
|
||||
|
||||
SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;}
|
||||
/// the setNumContacts API is usually not used, except when you gather/fill all contacts manually
|
||||
void setNumContacts(int cachedPoints)
|
||||
{
|
||||
m_cachedPoints = cachedPoints;
|
||||
}
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
|
||||
{
|
||||
btAssert(index < m_cachedPoints);
|
||||
return m_pointCache[index];
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
|
||||
{
|
||||
btAssert(index < m_cachedPoints);
|
||||
return m_pointCache[index];
|
||||
}
|
||||
|
||||
///@todo: get this margin from the current physics / collision environment
|
||||
btScalar getContactBreakingThreshold() const;
|
||||
|
||||
btScalar getContactProcessingThreshold() const
|
||||
{
|
||||
return m_contactProcessingThreshold;
|
||||
}
|
||||
|
||||
void setContactBreakingThreshold(btScalar contactBreakingThreshold)
|
||||
{
|
||||
m_contactBreakingThreshold = contactBreakingThreshold;
|
||||
}
|
||||
|
||||
void setContactProcessingThreshold(btScalar contactProcessingThreshold)
|
||||
{
|
||||
m_contactProcessingThreshold = contactProcessingThreshold;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
int getCacheEntry(const btManifoldPoint& newPoint) const;
|
||||
|
||||
int addManifoldPoint( const btManifoldPoint& newPoint, bool isPredictive=false);
|
||||
|
||||
void removeContactPoint (int index)
|
||||
{
|
||||
clearUserCache(m_pointCache[index]);
|
||||
|
||||
int lastUsedIndex = getNumContacts() - 1;
|
||||
// m_pointCache[index] = m_pointCache[lastUsedIndex];
|
||||
if(index != lastUsedIndex)
|
||||
{
|
||||
m_pointCache[index] = m_pointCache[lastUsedIndex];
|
||||
//get rid of duplicated userPersistentData pointer
|
||||
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
|
||||
m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
|
||||
m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
|
||||
m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
|
||||
m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
|
||||
m_pointCache[lastUsedIndex].m_lifeTime = 0;
|
||||
}
|
||||
|
||||
btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
|
||||
m_cachedPoints--;
|
||||
|
||||
if (gContactEndedCallback && m_cachedPoints == 0)
|
||||
{
|
||||
gContactEndedCallback(this);
|
||||
}
|
||||
}
|
||||
void replaceContactPoint(const btManifoldPoint& newPoint, int insertIndex)
|
||||
{
|
||||
btAssert(validContactDistance(newPoint));
|
||||
|
||||
#define MAINTAIN_PERSISTENCY 1
|
||||
#ifdef MAINTAIN_PERSISTENCY
|
||||
int lifeTime = m_pointCache[insertIndex].getLifeTime();
|
||||
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
|
||||
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
|
||||
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
|
||||
|
||||
bool replacePoint = true;
|
||||
///we keep existing contact points for friction anchors
|
||||
///if the friction force is within the Coulomb friction cone
|
||||
if (newPoint.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
|
||||
{
|
||||
// printf("appliedImpulse=%f\n", appliedImpulse);
|
||||
// printf("appliedLateralImpulse1=%f\n", appliedLateralImpulse1);
|
||||
// printf("appliedLateralImpulse2=%f\n", appliedLateralImpulse2);
|
||||
// printf("mu = %f\n", m_pointCache[insertIndex].m_combinedFriction);
|
||||
btScalar mu = m_pointCache[insertIndex].m_combinedFriction;
|
||||
btScalar eps = 0; //we could allow to enlarge or shrink the tolerance to check against the friction cone a bit, say 1e-7
|
||||
btScalar a = appliedLateralImpulse1 * appliedLateralImpulse1 + appliedLateralImpulse2 * appliedLateralImpulse2;
|
||||
btScalar b = eps + mu * appliedImpulse;
|
||||
b = b * b;
|
||||
replacePoint = (a) > (b);
|
||||
}
|
||||
|
||||
if (replacePoint)
|
||||
{
|
||||
btAssert(lifeTime >= 0);
|
||||
void* cache = m_pointCache[insertIndex].m_userPersistentData;
|
||||
|
||||
m_pointCache[insertIndex] = newPoint;
|
||||
m_pointCache[insertIndex].m_userPersistentData = cache;
|
||||
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
|
||||
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
|
||||
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
|
||||
}
|
||||
|
||||
m_pointCache[insertIndex].m_lifeTime = lifeTime;
|
||||
#else
|
||||
clearUserCache(m_pointCache[insertIndex]);
|
||||
m_pointCache[insertIndex] = newPoint;
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
bool validContactDistance(const btManifoldPoint& pt) const
|
||||
{
|
||||
return pt.m_distance1 <= getContactBreakingThreshold();
|
||||
}
|
||||
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
|
||||
void refreshContactPoints( const btTransform& trA,const btTransform& trB);
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE void clearManifold()
|
||||
{
|
||||
int i;
|
||||
for (i=0;i<m_cachedPoints;i++)
|
||||
{
|
||||
clearUserCache(m_pointCache[i]);
|
||||
}
|
||||
|
||||
if (gContactEndedCallback && m_cachedPoints)
|
||||
{
|
||||
gContactEndedCallback(this);
|
||||
}
|
||||
m_cachedPoints = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_PERSISTENT_MANIFOLD_H
|
||||
Reference in New Issue
Block a user