228 lines
7.6 KiB
C
228 lines
7.6 KiB
C
/*
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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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#ifndef PERSISTENT_MANIFOLD_H
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#define PERSISTENT_MANIFOLD_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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#include "btManifoldPoint.h"
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#include "LinearMath/btAlignedAllocator.h"
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struct btCollisionResult;
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///maximum contact breaking and merging threshold
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extern btScalar gContactBreakingThreshold;
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typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
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typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
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extern ContactDestroyedCallback gContactDestroyedCallback;
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extern ContactProcessedCallback gContactProcessedCallback;
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enum btContactManifoldTypes
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{
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BT_PERSISTENT_MANIFOLD_TYPE = 1,
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MAX_CONTACT_MANIFOLD_TYPE
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};
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#define MANIFOLD_CACHE_SIZE 4
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///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
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///Those contact points are created by the collision narrow phase.
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///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.
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///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
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///reduces the cache to 4 points, when more then 4 points are added, using following rules:
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///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
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///note that some pairs of objects might have more then one contact manifold.
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ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
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//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
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{
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btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
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/// this two body pointers can point to the physics rigidbody class.
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/// void* will allow any rigidbody class
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void* m_body0;
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void* m_body1;
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int m_cachedPoints;
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btScalar m_contactBreakingThreshold;
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btScalar m_contactProcessingThreshold;
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/// sort cached points so most isolated points come first
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int sortCachedPoints(const btManifoldPoint& pt);
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int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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int m_companionIdA;
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int m_companionIdB;
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int m_index1a;
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btPersistentManifold();
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btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
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: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
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m_body0(body0),m_body1(body1),m_cachedPoints(0),
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m_contactBreakingThreshold(contactBreakingThreshold),
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m_contactProcessingThreshold(contactProcessingThreshold)
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{
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}
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SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
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SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
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SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
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SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
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void setBodies(void* body0,void* body1)
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{
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m_body0 = body0;
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m_body1 = body1;
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}
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void clearUserCache(btManifoldPoint& pt);
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#ifdef DEBUG_PERSISTENCY
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void DebugPersistency();
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#endif //
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SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;}
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SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
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{
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btAssert(index < m_cachedPoints);
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return m_pointCache[index];
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}
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SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
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{
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btAssert(index < m_cachedPoints);
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return m_pointCache[index];
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}
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///@todo: get this margin from the current physics / collision environment
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btScalar getContactBreakingThreshold() const;
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btScalar getContactProcessingThreshold() const
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{
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return m_contactProcessingThreshold;
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}
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int getCacheEntry(const btManifoldPoint& newPoint) const;
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int addManifoldPoint( const btManifoldPoint& newPoint);
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void removeContactPoint (int index)
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{
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clearUserCache(m_pointCache[index]);
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int lastUsedIndex = getNumContacts() - 1;
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// m_pointCache[index] = m_pointCache[lastUsedIndex];
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if(index != lastUsedIndex)
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{
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m_pointCache[index] = m_pointCache[lastUsedIndex];
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//get rid of duplicated userPersistentData pointer
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m_pointCache[lastUsedIndex].m_userPersistentData = 0;
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m_pointCache[lastUsedIndex].mConstraintRow[0].mAccumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[1].mAccumImpulse = 0.f;
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m_pointCache[lastUsedIndex].mConstraintRow[2].mAccumImpulse = 0.f;
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m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
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m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
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m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
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m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
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m_pointCache[lastUsedIndex].m_lifeTime = 0;
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}
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btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
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m_cachedPoints--;
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}
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void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
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{
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btAssert(validContactDistance(newPoint));
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#define MAINTAIN_PERSISTENCY 1
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#ifdef MAINTAIN_PERSISTENCY
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int lifeTime = m_pointCache[insertIndex].getLifeTime();
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btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse;
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btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse;
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btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse;
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// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
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btAssert(lifeTime>=0);
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void* cache = m_pointCache[insertIndex].m_userPersistentData;
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m_pointCache[insertIndex] = newPoint;
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m_pointCache[insertIndex].m_userPersistentData = cache;
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m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
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m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
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m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
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m_pointCache[insertIndex].mConstraintRow[0].mAccumImpulse = appliedImpulse;
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m_pointCache[insertIndex].mConstraintRow[1].mAccumImpulse = appliedLateralImpulse1;
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m_pointCache[insertIndex].mConstraintRow[2].mAccumImpulse = appliedLateralImpulse2;
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m_pointCache[insertIndex].m_lifeTime = lifeTime;
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#else
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clearUserCache(m_pointCache[insertIndex]);
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m_pointCache[insertIndex] = newPoint;
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#endif
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}
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bool validContactDistance(const btManifoldPoint& pt) const
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{
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return pt.m_distance1 <= getContactBreakingThreshold();
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}
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/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
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void refreshContactPoints( const btTransform& trA,const btTransform& trB);
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SIMD_FORCE_INLINE void clearManifold()
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{
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int i;
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for (i=0;i<m_cachedPoints;i++)
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{
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clearUserCache(m_pointCache[i]);
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}
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m_cachedPoints = 0;
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}
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}
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;
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#endif //PERSISTENT_MANIFOLD_H
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