redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp
131 строка5 KB
Aaron Franke
Update Bullet URL in copyright statements
13 сен 2021, 17:06
13 сен 2021, 17:06ad74cfe
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org

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 "btSoftBodyRigidBodyCollisionConfiguration.h"
#include "btSoftRigidCollisionAlgorithm.h"
#include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "btSoftSoftCollisionAlgorithm.h"

#include "LinearMath/btPoolAllocator.h"

#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1

btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
	: btDefaultCollisionConfiguration(constructionInfo)
{
	void* mem;

	mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc), 16);
	m_softSoftCreateFunc = new (mem) btSoftSoftCollisionAlgorithm::CreateFunc;

	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
	m_softRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;

	mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc), 16);
	m_swappedSoftRigidConvexCreateFunc = new (mem) btSoftRigidCollisionAlgorithm::CreateFunc;
	m_swappedSoftRigidConvexCreateFunc->m_swapped = true;

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
	m_softRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;

	mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc), 16);
	m_swappedSoftRigidConcaveCreateFunc = new (mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
	m_swappedSoftRigidConcaveCreateFunc->m_swapped = true;
#endif

	//replace pool by a new one, with potential larger size

	if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
	{
		int curElemSize = m_collisionAlgorithmPool->getElementSize();
		///calculate maximum element size, big enough to fit any collision algorithm in the memory pool

		int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
		int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
		int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);

		int collisionAlgorithmMaxElementSize = btMax(maxSize0, maxSize1);
		collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize, maxSize2);

		if (collisionAlgorithmMaxElementSize > curElemSize)
		{
			m_collisionAlgorithmPool->~btPoolAllocator();
			btAlignedFree(m_collisionAlgorithmPool);
			void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
			m_collisionAlgorithmPool = new (mem) btPoolAllocator(collisionAlgorithmMaxElementSize, constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
		}
	}
}

btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
{
	m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(m_softSoftCreateFunc);

	m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(m_softRigidConvexCreateFunc);

	m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(m_swappedSoftRigidConvexCreateFunc);

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
	m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(m_softRigidConcaveCreateFunc);

	m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
	btAlignedFree(m_swappedSoftRigidConcaveCreateFunc);
#endif
}

///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
{
	///try to handle the softbody interactions first

	if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE) && (proxyType1 == SOFTBODY_SHAPE_PROXYTYPE))
	{
		return m_softSoftCreateFunc;
	}

	///softbody versus convex
	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConvex(proxyType1))
	{
		return m_softRigidConvexCreateFunc;
	}

	///convex versus soft body
	if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
	{
		return m_swappedSoftRigidConvexCreateFunc;
	}

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
	///softbody versus convex
	if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE && btBroadphaseProxy::isConcave(proxyType1))
	{
		return m_softRigidConcaveCreateFunc;
	}

	///convex versus soft body
	if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE)
	{
		return m_swappedSoftRigidConcaveCreateFunc;
	}
#endif

	///fallback to the regular rigid collision shape
	return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0, proxyType1);
}