Bullet Collision Detection & Physics Library
btDefaultCollisionConfiguration.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
23
27#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
29#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
34
36
38//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
39{
40 void* mem = NULL;
41 if (constructionInfo.m_useEpaPenetrationAlgorithm)
42 {
45 }
46 else
47 {
50 }
51
52 //default CreationFunctions, filling the m_doubleDispatch table
61
64
69
72#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
78#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
79
85
88
89 //convex versus plane
95
97 int maxSize = sizeof(btConvexConvexAlgorithm);
101
102 int collisionAlgorithmMaxElementSize = btMax(maxSize, constructionInfo.m_customCollisionAlgorithmMaxElementSize);
106
107 if (constructionInfo.m_persistentManifoldPool)
108 {
110 m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
111 }
112 else
113 {
115 void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
116 m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold), constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
117 }
118
120 if (constructionInfo.m_collisionAlgorithmPool)
121 {
123 m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
124 }
125 else
126 {
128 void* mem = btAlignedAlloc(sizeof(btPoolAllocator), 16);
130 }
131}
132
134{
136 {
139 }
141 {
144 }
145
148
153
156
159
162
165
168
169#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
174#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
175
182
187
189
191}
192
194{
196 {
197 return m_sphereSphereCF;
198 }
199#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
201 {
202 return m_sphereBoxCF;
203 }
204
206 {
207 return m_boxSphereCF;
208 }
209#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
210
212 {
213 return m_sphereTriangleCF;
214 }
215
217 {
218 return m_triangleSphereCF;
219 }
220
222 {
223 return m_convexPlaneCF;
224 }
225
227 {
228 return m_planeConvexCF;
229 }
230
232 {
234 }
235
237 {
239 }
240
242 {
244 }
245
247 {
249 }
250
252 {
254 }
255 else
256 {
258 {
260 }
261 }
262
263 //failed to find an algorithm
264 return m_emptyCreateFunc;
265}
266
268{
270 {
271 return m_sphereSphereCF;
272 }
273#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
275 {
276 return m_sphereBoxCF;
277 }
278
280 {
281 return m_boxSphereCF;
282 }
283#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
284
286 {
287 return m_sphereTriangleCF;
288 }
289
291 {
292 return m_triangleSphereCF;
293 }
294
296 {
297 return m_boxBoxCF;
298 }
299
301 {
302 return m_convexPlaneCF;
303 }
304
306 {
307 return m_planeConvexCF;
308 }
309
311 {
313 }
314
316 {
318 }
319
321 {
323 }
324
326 {
328 }
329
331 {
333 }
334 else
335 {
337 {
339 }
340 }
341
342 //failed to find an algorithm
343 return m_emptyCreateFunc;
344}
345
347{
349 convexConvex->m_numPerturbationIterations = numPerturbationIterations;
350 convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
351}
352
354{
356 cpCF->m_numPerturbationIterations = numPerturbationIterations;
357 cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
358
360 pcCF->m_numPerturbationIterations = numPerturbationIterations;
361 pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
362}
#define btAlignedFree(ptr)
#define btAlignedAlloc(size, alignment)
@ TRIANGLE_SHAPE_PROXYTYPE
@ STATIC_PLANE_PROXYTYPE
@ SPHERE_SHAPE_PROXYTYPE
@ BOX_SHAPE_PROXYTYPE
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges mes...
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
btCollisionAlgorithmCreateFunc * m_boxSphereCF
btCollisionAlgorithmCreateFunc * m_compoundCreateFunc
btCollisionAlgorithmCreateFunc * m_triangleSphereCF
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
Use this method to allow to generate multiple contact points between at once, between two objects usi...
btCollisionAlgorithmCreateFunc * m_boxBoxCF
btCollisionAlgorithmCreateFunc * m_sphereTriangleCF
virtual btCollisionAlgorithmCreateFunc * getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1)
btCollisionAlgorithmCreateFunc * m_convexConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_planeConvexCF
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
btCollisionAlgorithmCreateFunc * m_compoundCompoundCreateFunc
btConvexPenetrationDepthSolver * m_pdSolver
btCollisionAlgorithmCreateFunc * m_convexPlaneCF
btCollisionAlgorithmCreateFunc * m_sphereSphereCF
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())
btCollisionAlgorithmCreateFunc * m_swappedConvexConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_emptyCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedCompoundCreateFunc
btCollisionAlgorithmCreateFunc * m_convexConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_sphereBoxCF
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
static bool isCompound(int proxyType)
static bool isConcave(int proxyType)
static bool isConvex(int proxyType)
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.