src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #include "btSoftBodyRigidBodyCollisionConfiguration.h"
  17 #include "btSoftRigidCollisionAlgorithm.h"
  18 #include "btSoftBodyConcaveCollisionAlgorithm.h"
  19 #include "btSoftSoftCollisionAlgorithm.h"
  20
  21 #include "LinearMath/btPoolAllocator.h"
  22
  23 #define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1
  24
  25 btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
  26 :btDefaultCollisionConfiguration(constructionInfo)
  27 {
  28         void* mem;
  29
  30         mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
  31         m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;
  32
  33         mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
  34         m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
  35
  36         mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
  37         m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
  38         m_swappedSoftRigidConvexCreateFunc->m_swapped=true;
  39
  40 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
  41         mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
  42         m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;
  43
  44         mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
  45         m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
  46         m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
  47 #endif
  48
  49         //replace pool by a new one, with potential larger size
  50
  51         if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
  52         {
  53                 int curElemSize = m_collisionAlgorithmPool->getElementSize();
  54                 ///calculate maximum element size, big enough to fit any collision algorithm in the memory pool
  55
  56
  57                 int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
  58                 int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
  59                 int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);
  60
  61                 int     collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
  62                 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
  63
  64                 if (collisionAlgorithmMaxElementSize > curElemSize)
  65                 {
  66                         m_collisionAlgorithmPool->~btPoolAllocator();
  67                         btAlignedFree(m_collisionAlgorithmPool);
  68                         void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
  69                         m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
  70                 }
  71         }
  72
  73 }
  74
  75 btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
  76 {
  77         m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
  78         btAlignedFree(  m_softSoftCreateFunc);
  79
  80         m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
  81         btAlignedFree(  m_softRigidConvexCreateFunc);
  82
  83         m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
  84         btAlignedFree(  m_swappedSoftRigidConvexCreateFunc);
  85
  86 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
  87         m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
  88         btAlignedFree(  m_softRigidConcaveCreateFunc);
  89
  90         m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
  91         btAlignedFree(  m_swappedSoftRigidConcaveCreateFunc);
  92 #endif
  93 }
  94
  95 ///creation of soft-soft and soft-rigid, and otherwise fallback to base class implementation
  96 btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
  97 {
  98
  99         ///try to handle the softbody interactions first
 100
 101         if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE))
 102         {
 103                 return  m_softSoftCreateFunc;
 104         }
 105
 106         ///softbody versus convex
 107         if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  && btBroadphaseProxy::isConvex(proxyType1))
 108         {
 109                 return  m_softRigidConvexCreateFunc;
 110         }
 111
 112         ///convex versus soft body
 113         if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
 114         {
 115                 return  m_swappedSoftRigidConvexCreateFunc;
 116         }
 117
 118 #ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
 119         ///softbody versus convex
 120         if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  && btBroadphaseProxy::isConcave(proxyType1))
 121         {
 122                 return  m_softRigidConcaveCreateFunc;
 123         }
 124
 125         ///convex versus soft body
 126         if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
 127         {
 128                 return  m_swappedSoftRigidConcaveCreateFunc;
 129         }
 130 #endif
 131
 132         ///fallback to the regular rigid collision shape
 133         return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
 134 }