92 lines
4.9 KiB
C++
92 lines
4.9 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2018 Daniel Chappuis *
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*********************************************************************************
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* *
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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 *
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* use of this software. *
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* *
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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 *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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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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********************************************************************************/
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// Libraries
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#include "collision/narrowphase/NarrowPhaseInput.h"
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#include "collision/narrowphase/CollisionDispatch.h"
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using namespace reactphysics3d;
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/// Constructor
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NarrowPhaseInput::NarrowPhaseInput(MemoryAllocator& allocator)
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:mSphereVsSphereBatch(allocator), mSphereVsCapsuleBatch(allocator), mCapsuleVsCapsuleBatch(allocator),
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mSphereVsConvexPolyhedronBatch(allocator), mCapsuleVsConvexPolyhedronBatch(allocator),
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mConvexPolyhedronVsConvexPolyhedronBatch(allocator) {
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}
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// Add shapes to be tested during narrow-phase collision detection into the batch
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void NarrowPhaseInput::addNarrowPhaseTest(OverlappingPair* pair, CollisionShape* shape1, CollisionShape* shape2,
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const Transform& shape1Transform, const Transform& shape2Transform,
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NarrowPhaseAlgorithmType narrowPhaseAlgorithmType, MemoryAllocator& shapeAllocator) {
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switch (narrowPhaseAlgorithmType) {
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case NarrowPhaseAlgorithmType::SphereVsSphere:
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mSphereVsSphereBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform);
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break;
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case NarrowPhaseAlgorithmType::SphereVsCapsule:
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mSphereVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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break;
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case NarrowPhaseAlgorithmType::CapsuleVsCapsule:
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mCapsuleVsCapsuleBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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break;
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case NarrowPhaseAlgorithmType::SphereVsConvexPolyhedron:
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mSphereVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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break;
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case NarrowPhaseAlgorithmType::CapsuleVsConvexPolyhedron:
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mCapsuleVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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break;
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case NarrowPhaseAlgorithmType::ConvexPolyhedronVsConvexPolyhedron:
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mConvexPolyhedronVsConvexPolyhedronBatch.addNarrowPhaseInfo(pair, shape1, shape2, shape1Transform, shape2Transform, shapeAllocator);
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break;
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case NarrowPhaseAlgorithmType::None:
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// Must never happen
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assert(false);
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break;
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}
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}
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/// Reserve memory for the containers with cached capacity
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void NarrowPhaseInput::reserveMemory() {
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mSphereVsSphereBatch.reserveMemory();
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mSphereVsCapsuleBatch.reserveMemory();
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mCapsuleVsCapsuleBatch.reserveMemory();
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mSphereVsConvexPolyhedronBatch.reserveMemory();
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mCapsuleVsConvexPolyhedronBatch.reserveMemory();
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mConvexPolyhedronVsConvexPolyhedronBatch.reserveMemory();
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}
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// Clear
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void NarrowPhaseInput::clear() {
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mSphereVsSphereBatch.clear();
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mSphereVsCapsuleBatch.clear();
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mCapsuleVsCapsuleBatch.clear();
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mSphereVsConvexPolyhedronBatch.clear();
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mCapsuleVsConvexPolyhedronBatch.clear();
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mConvexPolyhedronVsConvexPolyhedronBatch.clear();
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}
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