initial commit
This commit is contained in:
cirdan
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16
Makefile
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16
Makefile
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@ -0,0 +1,16 @@
|
||||
all clean:
|
||||
@$(MAKE) -s -C zlib $@
|
||||
@$(MAKE) -s -C libpng $@
|
||||
@$(MAKE) -s -C glfw $@
|
||||
@$(MAKE) -s -C trimeshloader $@
|
||||
@$(MAKE) -s -C physfs $@
|
||||
@$(MAKE) -s -C freetype $@
|
||||
@$(MAKE) -s -C ftgl $@
|
||||
@$(MAKE) -s -C bullet $@
|
||||
@$(MAKE) -s -C corona $@
|
||||
@$(MAKE) -s -C glew $@
|
||||
@$(MAKE) -s -C squirrel $@
|
||||
@$(MAKE) -s -C ode $@
|
||||
@$(MAKE) -s -C tinyxml $@
|
||||
@$(MAKE) -s -C engine $@
|
||||
@echo done
|
||||
41
Makefile.common
Normal file
41
Makefile.common
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@ -0,0 +1,41 @@
|
||||
ifdef RELEASE
|
||||
# RELEASE CFLAGS
|
||||
#export CFLAGS := -fmessage-length=0 -O3 -fomit-frame-pointer -pipe -march=pentium-m -msse2 -msse -mmmx
|
||||
export CFLAGS := -O2 -fomit-frame-pointer -pipe -march=i686
|
||||
export CXXFLAGS := $(CFLAGS)
|
||||
export LDFLAGS := -s
|
||||
else
|
||||
# DEBUG CFLAGS
|
||||
export CFLAGS := -g3 -fmessage-length=0 -Wall -DDEBUG -pipe
|
||||
export CXXFLAGS := $(CFLAGS)
|
||||
export LDFLAGS :=
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||||
endif
|
||||
|
||||
ifeq ($(MAKE),mingw32-make)
|
||||
# Windows
|
||||
export OS = WIN32
|
||||
export RM = del /F
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||||
export RMSUB = del /F /s /Q
|
||||
export EXT = .exe
|
||||
export SLASH = \\
|
||||
export CC = gcc
|
||||
export CP = copy
|
||||
export MKDIR = mkdir
|
||||
else
|
||||
# Linux
|
||||
export OS = LINUX
|
||||
export RM = rm -f
|
||||
export RMSUB = rm -Rf
|
||||
export EXT =
|
||||
export SLASH = /
|
||||
export CP = cp
|
||||
export MKDIR = mkdir -p
|
||||
endif
|
||||
|
||||
%.o: %.cpp
|
||||
@echo Compiling $@ ...
|
||||
@$(CXX) -c $(CXXFLAGS) -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o $@ $<
|
||||
|
||||
%.o: %.c
|
||||
@echo Compiling $@ ...
|
||||
@$(CC) -c $(CFLAGS) -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o $@ $<
|
||||
11
Versions.txt
Normal file
11
Versions.txt
Normal file
@ -0,0 +1,11 @@
|
||||
libpng: 1.2.8
|
||||
zlib: 1.2.3
|
||||
glfw: 2.6.beta1
|
||||
trimeshloader: 0.0.12
|
||||
physfs: 1.1.1
|
||||
freetype: 2.2.1
|
||||
ftgl: 2.1.2
|
||||
bullet: 2.56
|
||||
corona: 1.0.2
|
||||
glew: 1.4.0
|
||||
tinyxml: 2.3.4
|
||||
22
bullet/AUTHORS
Normal file
22
bullet/AUTHORS
Normal file
@ -0,0 +1,22 @@
|
||||
|
||||
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
|
||||
17
bullet/BulletLicense.txt
Normal file
17
bullet/BulletLicense.txt
Normal file
@ -0,0 +1,17 @@
|
||||
/*
|
||||
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
|
||||
357
bullet/ChangeLog.txt
Normal file
357
bullet/ChangeLog.txt
Normal file
@ -0,0 +1,357 @@
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Primary author and maintainer: Erwin Coumans
|
||||
|
||||
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.
|
||||
|
||||
|
||||
... todo: add history
|
||||
|
||||
2003 Initial version (continuous collision detection)
|
||||
19
bullet/LICENSE
Normal file
19
bullet/LICENSE
Normal file
@ -0,0 +1,19 @@
|
||||
/*
|
||||
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.
|
||||
42
bullet/Makefile
Normal file
42
bullet/Makefile
Normal file
@ -0,0 +1,42 @@
|
||||
include ../Makefile.common
|
||||
|
||||
OBJ += $(patsubst %.cpp,%.o,$(wildcard src/*.cpp)) $(patsubst %.cpp,%.o,$(wildcard src/*/*.cpp)) $(patsubst %.cpp,%.o,$(wildcard src/*/*/*.cpp))
|
||||
LIBNAME = libbullet.a
|
||||
CXXFLAGS = -Isrc
|
||||
|
||||
all: $(LIBNAME)
|
||||
|
||||
$(LIBNAME): $(OBJ)
|
||||
@echo Creating archive $@
|
||||
@ar -crsu $@ $(OBJ)
|
||||
@echo
|
||||
|
||||
clean:
|
||||
-@$(RM) src$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)LinearMath$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)LinearMath$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletDynamics$(SLASH)ConstraintSolver$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletDynamics$(SLASH)ConstraintSolver$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletDynamics$(SLASH)Dynamics$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletDynamics$(SLASH)Dynamics$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletDynamics$(SLASH)Vehicle$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletDynamics$(SLASH)Vehicle$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)BroadphaseCollision$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)BroadphaseCollision$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)CollisionDispatch$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)CollisionDispatch$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)CollisionShapes$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)CollisionShapes$(SLASH)*.d
|
||||
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)NarrowPhaseCollision$(SLASH)*.o
|
||||
-@$(RM) src$(SLASH)BulletCollision$(SLASH)NarrowPhaseCollision$(SLASH)*.d
|
||||
|
||||
-@$(RM) $(LIBNAME)
|
||||
4
bullet/NEWS
Normal file
4
bullet/NEWS
Normal file
@ -0,0 +1,4 @@
|
||||
|
||||
For news, visit the Bullet Physics Forum at
|
||||
http://www.continuousphysics.com/Bullet/phpBB2/viewforum.php?f=9
|
||||
|
||||
7
bullet/README
Normal file
7
bullet/README
Normal file
@ -0,0 +1,7 @@
|
||||
|
||||
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
|
||||
3
bullet/VERSION
Normal file
3
bullet/VERSION
Normal file
@ -0,0 +1,3 @@
|
||||
Bullet Collision Detection and Physics Library version 2.56
|
||||
http://bullet.sourceforge.net
|
||||
|
||||
680
bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
Normal file
680
bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
Normal file
@ -0,0 +1,680 @@
|
||||
|
||||
//Bullet Continuous Collision Detection and Physics Library
|
||||
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
|
||||
//
|
||||
// btAxisSweep3
|
||||
//
|
||||
// Copyright (c) 2006 Simon Hobbs
|
||||
//
|
||||
// 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 "btAxisSweep3.h"
|
||||
|
||||
#include <assert.h>
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
#include <stdio.h>
|
||||
void btAxisSweep3::debugPrintAxis(int axis, bool checkCardinality)
|
||||
{
|
||||
int numEdges = m_pHandles[0].m_maxEdges[axis];
|
||||
printf("SAP Axis %d, numEdges=%d\n",axis,numEdges);
|
||||
|
||||
int i;
|
||||
for (i=0;i<numEdges+1;i++)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + i;
|
||||
Handle* pHandlePrev = getHandle(pEdge->m_handle);
|
||||
int handleIndex = pEdge->IsMax()? pHandlePrev->m_maxEdges[axis] : pHandlePrev->m_minEdges[axis];
|
||||
char beginOrEnd;
|
||||
beginOrEnd=pEdge->IsMax()?'E':'B';
|
||||
printf(" [%c,h=%d,p=%x,i=%d]\n",beginOrEnd,pEdge->m_handle,pEdge->m_pos,handleIndex);
|
||||
}
|
||||
|
||||
if (checkCardinality)
|
||||
assert(numEdges == m_numHandles*2+1);
|
||||
}
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
|
||||
btBroadphaseProxy* btAxisSweep3::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
(void)shapeType;
|
||||
BP_FP_INT_TYPE handleId = addHandle(aabbMin,aabbMax, userPtr,collisionFilterGroup,collisionFilterMask);
|
||||
|
||||
Handle* handle = getHandle(handleId);
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
void btAxisSweep3::destroyProxy(btBroadphaseProxy* proxy)
|
||||
{
|
||||
Handle* handle = static_cast<Handle*>(proxy);
|
||||
removeHandle(handle->m_handleId);
|
||||
}
|
||||
|
||||
void btAxisSweep3::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
|
||||
{
|
||||
Handle* handle = static_cast<Handle*>(proxy);
|
||||
updateHandle(handle->m_handleId,aabbMin,aabbMax);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btAxisSweep3::btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles, btOverlappingPairCache* pairCache)
|
||||
:m_invalidPair(0),
|
||||
m_pairCache(pairCache),
|
||||
m_ownsPairCache(false)
|
||||
{
|
||||
if (!m_pairCache)
|
||||
{
|
||||
m_pairCache = new btOverlappingPairCache();
|
||||
m_ownsPairCache = true;
|
||||
}
|
||||
|
||||
//assert(bounds.HasVolume());
|
||||
|
||||
// 1 handle is reserved as sentinel
|
||||
btAssert(maxHandles > 1 && maxHandles < BP_MAX_HANDLES);
|
||||
|
||||
// init bounds
|
||||
m_worldAabbMin = worldAabbMin;
|
||||
m_worldAabbMax = worldAabbMax;
|
||||
|
||||
btVector3 aabbSize = m_worldAabbMax - m_worldAabbMin;
|
||||
|
||||
BP_FP_INT_TYPE maxInt = BP_HANDLE_SENTINEL;
|
||||
|
||||
m_quantize = btVector3(btScalar(maxInt),btScalar(maxInt),btScalar(maxInt)) / aabbSize;
|
||||
|
||||
// allocate handles buffer and put all handles on free list
|
||||
m_pHandles = new Handle[maxHandles];
|
||||
m_maxHandles = maxHandles;
|
||||
m_numHandles = 0;
|
||||
|
||||
// handle 0 is reserved as the null index, and is also used as the sentinel
|
||||
m_firstFreeHandle = 1;
|
||||
{
|
||||
for (BP_FP_INT_TYPE i = m_firstFreeHandle; i < maxHandles; i++)
|
||||
m_pHandles[i].SetNextFree(i + 1);
|
||||
m_pHandles[maxHandles - 1].SetNextFree(0);
|
||||
}
|
||||
|
||||
{
|
||||
// allocate edge buffers
|
||||
for (int i = 0; i < 3; i++)
|
||||
m_pEdges[i] = new Edge[maxHandles * 2];
|
||||
}
|
||||
//removed overlap management
|
||||
|
||||
// make boundary sentinels
|
||||
|
||||
m_pHandles[0].m_clientObject = 0;
|
||||
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
m_pHandles[0].m_minEdges[axis] = 0;
|
||||
m_pHandles[0].m_maxEdges[axis] = 1;
|
||||
|
||||
m_pEdges[axis][0].m_pos = 0;
|
||||
m_pEdges[axis][0].m_handle = 0;
|
||||
m_pEdges[axis][1].m_pos = BP_HANDLE_SENTINEL;
|
||||
m_pEdges[axis][1].m_handle = 0;
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btAxisSweep3::~btAxisSweep3()
|
||||
{
|
||||
|
||||
for (int i = 2; i >= 0; i--)
|
||||
delete[] m_pEdges[i];
|
||||
delete[] m_pHandles;
|
||||
|
||||
if (m_ownsPairCache)
|
||||
{
|
||||
delete m_pairCache;
|
||||
}
|
||||
}
|
||||
|
||||
void btAxisSweep3::quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const
|
||||
{
|
||||
btPoint3 clampedPoint(point);
|
||||
|
||||
|
||||
|
||||
clampedPoint.setMax(m_worldAabbMin);
|
||||
clampedPoint.setMin(m_worldAabbMax);
|
||||
|
||||
btVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
|
||||
out[0] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getX() & BP_HANDLE_MASK) | isMax);
|
||||
out[1] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getY() & BP_HANDLE_MASK) | isMax);
|
||||
out[2] = (BP_FP_INT_TYPE)(((BP_FP_INT_TYPE)v.getZ() & BP_HANDLE_MASK) | isMax);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
BP_FP_INT_TYPE btAxisSweep3::allocHandle()
|
||||
{
|
||||
assert(m_firstFreeHandle);
|
||||
|
||||
BP_FP_INT_TYPE handle = m_firstFreeHandle;
|
||||
m_firstFreeHandle = getHandle(handle)->GetNextFree();
|
||||
m_numHandles++;
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
void btAxisSweep3::freeHandle(BP_FP_INT_TYPE handle)
|
||||
{
|
||||
assert(handle > 0 && handle < m_maxHandles);
|
||||
|
||||
getHandle(handle)->SetNextFree(m_firstFreeHandle);
|
||||
m_firstFreeHandle = handle;
|
||||
|
||||
m_numHandles--;
|
||||
}
|
||||
|
||||
|
||||
|
||||
BP_FP_INT_TYPE btAxisSweep3::addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
// quantize the bounds
|
||||
BP_FP_INT_TYPE min[3], max[3];
|
||||
quantize(min, aabbMin, 0);
|
||||
quantize(max, aabbMax, 1);
|
||||
|
||||
// allocate a handle
|
||||
BP_FP_INT_TYPE handle = allocHandle();
|
||||
assert(handle!= 0xcdcd);
|
||||
|
||||
Handle* pHandle = getHandle(handle);
|
||||
|
||||
pHandle->m_handleId = handle;
|
||||
//pHandle->m_pOverlaps = 0;
|
||||
pHandle->m_clientObject = pOwner;
|
||||
pHandle->m_collisionFilterGroup = collisionFilterGroup;
|
||||
pHandle->m_collisionFilterMask = collisionFilterMask;
|
||||
|
||||
// compute current limit of edge arrays
|
||||
BP_FP_INT_TYPE limit = m_numHandles * 2;
|
||||
|
||||
|
||||
// insert new edges just inside the max boundary edge
|
||||
for (BP_FP_INT_TYPE axis = 0; axis < 3; axis++)
|
||||
{
|
||||
|
||||
m_pHandles[0].m_maxEdges[axis] += 2;
|
||||
|
||||
m_pEdges[axis][limit + 1] = m_pEdges[axis][limit - 1];
|
||||
|
||||
m_pEdges[axis][limit - 1].m_pos = min[axis];
|
||||
m_pEdges[axis][limit - 1].m_handle = handle;
|
||||
|
||||
m_pEdges[axis][limit].m_pos = max[axis];
|
||||
m_pEdges[axis][limit].m_handle = handle;
|
||||
|
||||
pHandle->m_minEdges[axis] = limit - 1;
|
||||
pHandle->m_maxEdges[axis] = limit;
|
||||
}
|
||||
|
||||
// now sort the new edges to their correct position
|
||||
sortMinDown(0, pHandle->m_minEdges[0], false);
|
||||
sortMaxDown(0, pHandle->m_maxEdges[0], false);
|
||||
sortMinDown(1, pHandle->m_minEdges[1], false);
|
||||
sortMaxDown(1, pHandle->m_maxEdges[1], false);
|
||||
sortMinDown(2, pHandle->m_minEdges[2], true);
|
||||
sortMaxDown(2, pHandle->m_maxEdges[2], true);
|
||||
|
||||
|
||||
return handle;
|
||||
}
|
||||
|
||||
|
||||
void btAxisSweep3::removeHandle(BP_FP_INT_TYPE handle)
|
||||
{
|
||||
|
||||
Handle* pHandle = getHandle(handle);
|
||||
|
||||
//explicitly remove the pairs containing the proxy
|
||||
//we could do it also in the sortMinUp (passing true)
|
||||
//todo: compare performance
|
||||
m_pairCache->removeOverlappingPairsContainingProxy(pHandle);
|
||||
|
||||
|
||||
// compute current limit of edge arrays
|
||||
int limit = m_numHandles * 2;
|
||||
|
||||
int axis;
|
||||
|
||||
for (axis = 0;axis<3;axis++)
|
||||
{
|
||||
m_pHandles[0].m_maxEdges[axis] -= 2;
|
||||
}
|
||||
|
||||
// remove the edges by sorting them up to the end of the list
|
||||
for ( axis = 0; axis < 3; axis++)
|
||||
{
|
||||
Edge* pEdges = m_pEdges[axis];
|
||||
BP_FP_INT_TYPE max = pHandle->m_maxEdges[axis];
|
||||
pEdges[max].m_pos = BP_HANDLE_SENTINEL;
|
||||
|
||||
sortMaxUp(axis,max,false);
|
||||
|
||||
|
||||
BP_FP_INT_TYPE i = pHandle->m_minEdges[axis];
|
||||
pEdges[i].m_pos = BP_HANDLE_SENTINEL;
|
||||
|
||||
|
||||
sortMinUp(axis,i,false);
|
||||
|
||||
pEdges[limit-1].m_handle = 0;
|
||||
pEdges[limit-1].m_pos = BP_HANDLE_SENTINEL;
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis,false);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
// free the handle
|
||||
freeHandle(handle);
|
||||
|
||||
|
||||
}
|
||||
|
||||
extern int gOverlappingPairs;
|
||||
|
||||
|
||||
void btAxisSweep3::calculateOverlappingPairs()
|
||||
{
|
||||
|
||||
if (m_ownsPairCache)
|
||||
{
|
||||
btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
|
||||
|
||||
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
|
||||
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
|
||||
|
||||
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
|
||||
m_invalidPair = 0;
|
||||
|
||||
|
||||
int i;
|
||||
|
||||
btBroadphasePair previousPair;
|
||||
previousPair.m_pProxy0 = 0;
|
||||
previousPair.m_pProxy1 = 0;
|
||||
previousPair.m_algorithm = 0;
|
||||
|
||||
|
||||
for (i=0;i<overlappingPairArray.size();i++)
|
||||
{
|
||||
|
||||
btBroadphasePair& pair = overlappingPairArray[i];
|
||||
|
||||
bool isDuplicate = (pair == previousPair);
|
||||
|
||||
previousPair = pair;
|
||||
|
||||
bool needsRemoval = false;
|
||||
|
||||
if (!isDuplicate)
|
||||
{
|
||||
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
|
||||
|
||||
if (hasOverlap)
|
||||
{
|
||||
needsRemoval = false;//callback->processOverlap(pair);
|
||||
} else
|
||||
{
|
||||
needsRemoval = true;
|
||||
}
|
||||
} else
|
||||
{
|
||||
//remove duplicate
|
||||
needsRemoval = true;
|
||||
//should have no algorithm
|
||||
btAssert(!pair.m_algorithm);
|
||||
}
|
||||
|
||||
if (needsRemoval)
|
||||
{
|
||||
m_pairCache->cleanOverlappingPair(pair);
|
||||
|
||||
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
|
||||
// m_overlappingPairArray.pop_back();
|
||||
pair.m_pProxy0 = 0;
|
||||
pair.m_pProxy1 = 0;
|
||||
m_invalidPair++;
|
||||
gOverlappingPairs--;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
///if you don't like to skip the invalid pairs in the array, execute following code:
|
||||
#define CLEAN_INVALID_PAIRS 1
|
||||
#ifdef CLEAN_INVALID_PAIRS
|
||||
|
||||
//perform a sort, to sort 'invalid' pairs to the end
|
||||
overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
|
||||
|
||||
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
|
||||
m_invalidPair = 0;
|
||||
#endif//CLEAN_INVALID_PAIRS
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
bool btAxisSweep3::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
|
||||
{
|
||||
const Handle* pHandleA = static_cast<Handle*>(proxy0);
|
||||
const Handle* pHandleB = static_cast<Handle*>(proxy1);
|
||||
|
||||
//optimization 1: check the array index (memory address), instead of the m_pos
|
||||
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
|
||||
pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool btAxisSweep3::testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB)
|
||||
{
|
||||
//optimization 1: check the array index (memory address), instead of the m_pos
|
||||
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
if (axis != ignoreAxis)
|
||||
{
|
||||
if (pHandleA->m_maxEdges[axis] < pHandleB->m_minEdges[axis] ||
|
||||
pHandleB->m_maxEdges[axis] < pHandleA->m_minEdges[axis])
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//optimization 2: only 2 axis need to be tested (conflicts with 'delayed removal' optimization)
|
||||
|
||||
/*for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
if (m_pEdges[axis][pHandleA->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleB->m_minEdges[axis]].m_pos ||
|
||||
m_pEdges[axis][pHandleB->m_maxEdges[axis]].m_pos < m_pEdges[axis][pHandleA->m_minEdges[axis]].m_pos)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void btAxisSweep3::updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax)
|
||||
{
|
||||
// assert(bounds.IsFinite());
|
||||
//assert(bounds.HasVolume());
|
||||
|
||||
Handle* pHandle = getHandle(handle);
|
||||
|
||||
// quantize the new bounds
|
||||
BP_FP_INT_TYPE min[3], max[3];
|
||||
quantize(min, aabbMin, 0);
|
||||
quantize(max, aabbMax, 1);
|
||||
|
||||
// update changed edges
|
||||
for (int axis = 0; axis < 3; axis++)
|
||||
{
|
||||
BP_FP_INT_TYPE emin = pHandle->m_minEdges[axis];
|
||||
BP_FP_INT_TYPE emax = pHandle->m_maxEdges[axis];
|
||||
|
||||
int dmin = (int)min[axis] - (int)m_pEdges[axis][emin].m_pos;
|
||||
int dmax = (int)max[axis] - (int)m_pEdges[axis][emax].m_pos;
|
||||
|
||||
m_pEdges[axis][emin].m_pos = min[axis];
|
||||
m_pEdges[axis][emax].m_pos = max[axis];
|
||||
|
||||
// expand (only adds overlaps)
|
||||
if (dmin < 0)
|
||||
sortMinDown(axis, emin);
|
||||
|
||||
if (dmax > 0)
|
||||
sortMaxUp(axis, emax);
|
||||
|
||||
// shrink (only removes overlaps)
|
||||
if (dmin > 0)
|
||||
sortMinUp(axis, emin);
|
||||
|
||||
if (dmax < 0)
|
||||
sortMaxDown(axis, emax);
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
// sorting a min edge downwards can only ever *add* overlaps
|
||||
void btAxisSweep3::sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pPrev = pEdge - 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos < pPrev->m_pos)
|
||||
{
|
||||
Handle* pHandlePrev = getHandle(pPrev->m_handle);
|
||||
|
||||
if (pPrev->IsMax())
|
||||
{
|
||||
// if previous edge is a maximum check the bounds and add an overlap if necessary
|
||||
if (updateOverlaps && testOverlap(axis,pHandleEdge, pHandlePrev))
|
||||
{
|
||||
m_pairCache->addOverlappingPair(pHandleEdge,pHandlePrev);
|
||||
|
||||
//AddOverlap(pEdge->m_handle, pPrev->m_handle);
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandlePrev->m_maxEdges[axis]++;
|
||||
}
|
||||
else
|
||||
pHandlePrev->m_minEdges[axis]++;
|
||||
|
||||
pHandleEdge->m_minEdges[axis]--;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pPrev;
|
||||
*pPrev = swap;
|
||||
|
||||
// decrement
|
||||
pEdge--;
|
||||
pPrev--;
|
||||
}
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
}
|
||||
|
||||
// sorting a min edge upwards can only ever *remove* overlaps
|
||||
void btAxisSweep3::sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pNext = pEdge + 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
|
||||
{
|
||||
Handle* pHandleNext = getHandle(pNext->m_handle);
|
||||
|
||||
if (pNext->IsMax())
|
||||
{
|
||||
// if next edge is maximum remove any overlap between the two handles
|
||||
if (updateOverlaps)
|
||||
{
|
||||
/*
|
||||
Handle* handle0 = getHandle(pEdge->m_handle);
|
||||
Handle* handle1 = getHandle(pNext->m_handle);
|
||||
btBroadphasePair tmpPair(*handle0,*handle1);
|
||||
removeOverlappingPair(tmpPair);
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandleNext->m_maxEdges[axis]--;
|
||||
}
|
||||
else
|
||||
pHandleNext->m_minEdges[axis]--;
|
||||
|
||||
pHandleEdge->m_minEdges[axis]++;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pNext;
|
||||
*pNext = swap;
|
||||
|
||||
// increment
|
||||
pEdge++;
|
||||
pNext++;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
// sorting a max edge downwards can only ever *remove* overlaps
|
||||
void btAxisSweep3::sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pPrev = pEdge - 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pEdge->m_pos < pPrev->m_pos)
|
||||
{
|
||||
Handle* pHandlePrev = getHandle(pPrev->m_handle);
|
||||
|
||||
if (!pPrev->IsMax())
|
||||
{
|
||||
// if previous edge was a minimum remove any overlap between the two handles
|
||||
if (updateOverlaps)
|
||||
{
|
||||
//this is done during the overlappingpairarray iteration/narrowphase collision
|
||||
/*
|
||||
Handle* handle0 = getHandle(pEdge->m_handle);
|
||||
Handle* handle1 = getHandle(pPrev->m_handle);
|
||||
btBroadphasePair* pair = findPair(handle0,handle1);
|
||||
//assert(pair);
|
||||
|
||||
if (pair)
|
||||
{
|
||||
removeOverlappingPair(*pair);
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandlePrev->m_minEdges[axis]++;;
|
||||
}
|
||||
else
|
||||
pHandlePrev->m_maxEdges[axis]++;
|
||||
|
||||
pHandleEdge->m_maxEdges[axis]--;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pPrev;
|
||||
*pPrev = swap;
|
||||
|
||||
// decrement
|
||||
pEdge--;
|
||||
pPrev--;
|
||||
}
|
||||
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
debugPrintAxis(axis);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
}
|
||||
|
||||
// sorting a max edge upwards can only ever *add* overlaps
|
||||
void btAxisSweep3::sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps)
|
||||
{
|
||||
Edge* pEdge = m_pEdges[axis] + edge;
|
||||
Edge* pNext = pEdge + 1;
|
||||
Handle* pHandleEdge = getHandle(pEdge->m_handle);
|
||||
|
||||
while (pNext->m_handle && (pEdge->m_pos >= pNext->m_pos))
|
||||
{
|
||||
Handle* pHandleNext = getHandle(pNext->m_handle);
|
||||
|
||||
if (!pNext->IsMax())
|
||||
{
|
||||
// if next edge is a minimum check the bounds and add an overlap if necessary
|
||||
if (updateOverlaps && testOverlap(axis, pHandleEdge, pHandleNext))
|
||||
{
|
||||
Handle* handle0 = getHandle(pEdge->m_handle);
|
||||
Handle* handle1 = getHandle(pNext->m_handle);
|
||||
m_pairCache->addOverlappingPair(handle0,handle1);
|
||||
}
|
||||
|
||||
// update edge reference in other handle
|
||||
pHandleNext->m_minEdges[axis]--;
|
||||
}
|
||||
else
|
||||
pHandleNext->m_maxEdges[axis]--;
|
||||
|
||||
pHandleEdge->m_maxEdges[axis]++;
|
||||
|
||||
// swap the edges
|
||||
Edge swap = *pEdge;
|
||||
*pEdge = *pNext;
|
||||
*pNext = swap;
|
||||
|
||||
// increment
|
||||
pEdge++;
|
||||
pNext++;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
153
bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
Normal file
153
bullet/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
Normal file
@ -0,0 +1,153 @@
|
||||
//Bullet Continuous Collision Detection and Physics Library
|
||||
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
//
|
||||
// btAxisSweep3.h
|
||||
//
|
||||
// Copyright (c) 2006 Simon Hobbs
|
||||
//
|
||||
// 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 AXIS_SWEEP_3_H
|
||||
#define AXIS_SWEEP_3_H
|
||||
|
||||
#include "LinearMath/btPoint3.h"
|
||||
#include "LinearMath/btVector3.h"
|
||||
#include "btOverlappingPairCache.h"
|
||||
#include "btBroadphaseInterface.h"
|
||||
#include "btBroadphaseProxy.h"
|
||||
|
||||
|
||||
//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects
|
||||
//#define BP_USE_FIXEDPOINT_INT_32 1
|
||||
|
||||
#ifdef BP_USE_FIXEDPOINT_INT_32
|
||||
#define BP_FP_INT_TYPE unsigned int
|
||||
#define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles
|
||||
#define BP_HANDLE_SENTINEL 0x7fffffff
|
||||
#define BP_HANDLE_MASK 0xfffffffe
|
||||
#else
|
||||
#define BP_FP_INT_TYPE unsigned short int
|
||||
#define BP_MAX_HANDLES 32767
|
||||
#define BP_HANDLE_SENTINEL 0xffff
|
||||
#define BP_HANDLE_MASK 0xfffe
|
||||
#endif //BP_USE_FIXEDPOINT_INT_32
|
||||
|
||||
//#define DEBUG_BROADPHASE 1
|
||||
|
||||
/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
|
||||
/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
|
||||
/// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
|
||||
class btAxisSweep3 : public btBroadphaseInterface
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
|
||||
class Edge
|
||||
{
|
||||
public:
|
||||
BP_FP_INT_TYPE m_pos; // low bit is min/max
|
||||
BP_FP_INT_TYPE m_handle;
|
||||
|
||||
BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
|
||||
};
|
||||
|
||||
public:
|
||||
class Handle : public btBroadphaseProxy
|
||||
{
|
||||
public:
|
||||
|
||||
// indexes into the edge arrays
|
||||
BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
|
||||
BP_FP_INT_TYPE m_handleId;
|
||||
BP_FP_INT_TYPE m_pad;
|
||||
|
||||
//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
|
||||
|
||||
inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
|
||||
inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
|
||||
}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
|
||||
|
||||
|
||||
protected:
|
||||
btPoint3 m_worldAabbMin; // overall system bounds
|
||||
btPoint3 m_worldAabbMax; // overall system bounds
|
||||
|
||||
btVector3 m_quantize; // scaling factor for quantization
|
||||
|
||||
BP_FP_INT_TYPE m_numHandles; // number of active handles
|
||||
int m_maxHandles; // max number of handles
|
||||
Handle* m_pHandles; // handles pool
|
||||
BP_FP_INT_TYPE m_firstFreeHandle; // free handles list
|
||||
|
||||
Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
|
||||
|
||||
btOverlappingPairCache* m_pairCache;
|
||||
bool m_ownsPairCache;
|
||||
|
||||
int m_invalidPair;
|
||||
|
||||
// allocation/deallocation
|
||||
BP_FP_INT_TYPE allocHandle();
|
||||
void freeHandle(BP_FP_INT_TYPE handle);
|
||||
|
||||
|
||||
bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
|
||||
|
||||
#ifdef DEBUG_BROADPHASE
|
||||
void debugPrintAxis(int axis,bool checkCardinality=true);
|
||||
#endif //DEBUG_BROADPHASE
|
||||
|
||||
//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
|
||||
//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
|
||||
|
||||
void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
|
||||
|
||||
void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
|
||||
void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
|
||||
void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
|
||||
void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
|
||||
|
||||
public:
|
||||
btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384, btOverlappingPairCache* pairCache=0);
|
||||
virtual ~btAxisSweep3();
|
||||
|
||||
virtual void calculateOverlappingPairs();
|
||||
|
||||
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
|
||||
void removeHandle(BP_FP_INT_TYPE handle);
|
||||
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
|
||||
inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
|
||||
|
||||
void processAllOverlappingPairs(btOverlapCallback* callback);
|
||||
|
||||
//Broadphase Interface
|
||||
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
|
||||
virtual void destroyProxy(btBroadphaseProxy* proxy);
|
||||
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
|
||||
|
||||
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
btOverlappingPairCache* getOverlappingPairCache()
|
||||
{
|
||||
return m_pairCache;
|
||||
}
|
||||
const btOverlappingPairCache* getOverlappingPairCache() const
|
||||
{
|
||||
return m_pairCache;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -0,0 +1,46 @@
|
||||
/*
|
||||
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 BROADPHASE_INTERFACE_H
|
||||
#define BROADPHASE_INTERFACE_H
|
||||
|
||||
|
||||
|
||||
struct btDispatcherInfo;
|
||||
class btDispatcher;
|
||||
#include "btBroadphaseProxy.h"
|
||||
class btOverlappingPairCache;
|
||||
|
||||
#include "LinearMath/btVector3.h"
|
||||
|
||||
///BroadphaseInterface for aabb-overlapping object pairs
|
||||
class btBroadphaseInterface
|
||||
{
|
||||
public:
|
||||
virtual ~btBroadphaseInterface() {}
|
||||
|
||||
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) =0;
|
||||
virtual void destroyProxy(btBroadphaseProxy* proxy)=0;
|
||||
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)=0;
|
||||
|
||||
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
|
||||
virtual void calculateOverlappingPairs()=0;
|
||||
|
||||
virtual btOverlappingPairCache* getOverlappingPairCache()=0;
|
||||
virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
|
||||
|
||||
};
|
||||
|
||||
#endif //BROADPHASE_INTERFACE_H
|
||||
@ -0,0 +1,17 @@
|
||||
/*
|
||||
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 "btBroadphaseProxy.h"
|
||||
|
||||
@ -0,0 +1,217 @@
|
||||
/*
|
||||
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 BROADPHASE_PROXY_H
|
||||
#define BROADPHASE_PROXY_H
|
||||
|
||||
#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE
|
||||
|
||||
|
||||
/// btDispatcher uses these types
|
||||
/// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave
|
||||
/// to facilitate type checking
|
||||
enum BroadphaseNativeTypes
|
||||
{
|
||||
// polyhedral convex shapes
|
||||
BOX_SHAPE_PROXYTYPE,
|
||||
TRIANGLE_SHAPE_PROXYTYPE,
|
||||
TETRAHEDRAL_SHAPE_PROXYTYPE,
|
||||
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
|
||||
CONVEX_HULL_SHAPE_PROXYTYPE,
|
||||
//implicit convex shapes
|
||||
IMPLICIT_CONVEX_SHAPES_START_HERE,
|
||||
SPHERE_SHAPE_PROXYTYPE,
|
||||
MULTI_SPHERE_SHAPE_PROXYTYPE,
|
||||
CAPSULE_SHAPE_PROXYTYPE,
|
||||
CONE_SHAPE_PROXYTYPE,
|
||||
CONVEX_SHAPE_PROXYTYPE,
|
||||
CYLINDER_SHAPE_PROXYTYPE,
|
||||
UNIFORM_SCALING_SHAPE_PROXYTYPE,
|
||||
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
|
||||
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
|
||||
//concave shapes
|
||||
CONCAVE_SHAPES_START_HERE,
|
||||
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
|
||||
TRIANGLE_MESH_SHAPE_PROXYTYPE,
|
||||
///used for demo integration FAST/Swift collision library and Bullet
|
||||
FAST_CONCAVE_MESH_PROXYTYPE,
|
||||
//terrain
|
||||
TERRAIN_SHAPE_PROXYTYPE,
|
||||
///Used for GIMPACT Trimesh integration
|
||||
GIMPACT_SHAPE_PROXYTYPE,
|
||||
|
||||
EMPTY_SHAPE_PROXYTYPE,
|
||||
STATIC_PLANE_PROXYTYPE,
|
||||
CONCAVE_SHAPES_END_HERE,
|
||||
|
||||
COMPOUND_SHAPE_PROXYTYPE,
|
||||
|
||||
MAX_BROADPHASE_COLLISION_TYPES
|
||||
};
|
||||
|
||||
|
||||
///btBroadphaseProxy
|
||||
struct btBroadphaseProxy
|
||||
{
|
||||
|
||||
///optional filtering to cull potential collisions
|
||||
enum CollisionFilterGroups
|
||||
{
|
||||
DefaultFilter = 1,
|
||||
StaticFilter = 2,
|
||||
KinematicFilter = 4,
|
||||
DebrisFilter = 8,
|
||||
SensorTrigger = 16,
|
||||
AllFilter = DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
|
||||
};
|
||||
|
||||
//Usually the client btCollisionObject or Rigidbody class
|
||||
void* m_clientObject;
|
||||
|
||||
///in the case of btMultiSapBroadphase, we store the collifionFilterGroup/Mask in the m_multiSapParentProxy
|
||||
union
|
||||
{
|
||||
struct
|
||||
{
|
||||
short int m_collisionFilterGroup;
|
||||
short int m_collisionFilterMask;
|
||||
};
|
||||
|
||||
void* m_multiSapParentProxy;
|
||||
|
||||
};
|
||||
|
||||
//used for memory pools
|
||||
btBroadphaseProxy() :m_clientObject(0){}
|
||||
|
||||
btBroadphaseProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask)
|
||||
:m_clientObject(userPtr),
|
||||
m_collisionFilterGroup(collisionFilterGroup), | ||||