139 lines
6.0 KiB
C++
139 lines
6.0 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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 <cassert>
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#include "OverlappingPair.h"
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#include "collision/ContactManifoldInfo.h"
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using namespace reactphysics3d;
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// Constructor
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OverlappingPair::OverlappingPair(ProxyShape* shape1, ProxyShape* shape2,
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Allocator& manifoldsAllocator, Allocator& temporaryMemoryAllocator)
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: mContactManifoldSet(shape1, shape2, manifoldsAllocator), mPotentialContactManifolds(nullptr),
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mTempMemoryAllocator(temporaryMemoryAllocator) {
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}
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// Destructor
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OverlappingPair::~OverlappingPair() {
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assert(mPotentialContactManifolds == nullptr);
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}
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// Create a new potential contact manifold using contact-points from narrow-phase
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void OverlappingPair::addPotentialContactPoints(NarrowPhaseInfo* narrowPhaseInfo) {
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assert(narrowPhaseInfo->contactPoints != nullptr);
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// For each potential contact point to add
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ContactPointInfo* contactPoint = narrowPhaseInfo->contactPoints;
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while (contactPoint != nullptr) {
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ContactPointInfo* nextContactPoint = contactPoint->next;
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// Compute the contact normal id
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short contactNormalId = ContactManifoldSet::computeCubemapNormalId(contactPoint->normal);
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// Look if the contact point correspond to an existing potential manifold
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// (if the contact point normal is similar to the normal of an existing manifold)
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ContactManifoldInfo* manifold = mPotentialContactManifolds;
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bool similarManifoldFound = false;
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while(manifold != nullptr) {
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// If we have found a corresponding manifold for the new contact point
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// (a manifold with a similar contact normal direction)
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if (manifold->getContactNormalId() == contactNormalId) {
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// Add the contact point to the manifold
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manifold->addContactPoint(contactPoint, contactNormalId);
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similarManifoldFound = true;
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break;
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}
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manifold = manifold->getNext();
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}
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// If we have not found an existing manifold with a similar contact normal
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if (!similarManifoldFound) {
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// Create a new potential contact manifold
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ContactManifoldInfo* manifoldInfo = new (mTempMemoryAllocator.allocate(sizeof(ContactManifoldInfo)))
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ContactManifoldInfo(mTempMemoryAllocator);
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// Add the manifold into the linked-list of potential contact manifolds
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manifoldInfo->mNext = mPotentialContactManifolds;
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mPotentialContactManifolds = manifoldInfo;
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// Add the contact point to the manifold
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manifoldInfo->addContactPoint(contactPoint, contactNormalId);
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}
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contactPoint = nextContactPoint;
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}
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// All the contact point info of the narrow-phase info have been moved
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// into the potential contacts of the overlapping pair
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narrowPhaseInfo->contactPoints = nullptr;
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}
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// Clear all the potential contact manifolds
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void OverlappingPair::clearPotentialContactManifolds() {
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// Do we need to release memory
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if (mTempMemoryAllocator.isReleaseNeeded()) {
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ContactManifoldInfo* element = mPotentialContactManifolds;
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while(element != nullptr) {
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// Remove the proxy collision shape
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ContactManifoldInfo* elementToRemove = element;
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element = element->getNext();
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// Delete the element
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elementToRemove->~ContactManifoldInfo();
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mTempMemoryAllocator.release(elementToRemove, sizeof(ContactManifoldInfo));
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}
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}
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mPotentialContactManifolds = nullptr;
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}
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// Reduce the number of contact points of all the potential contact manifolds
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void OverlappingPair::reducePotentialContactManifolds() {
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// For each potential contact manifold
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ContactManifoldInfo* manifold = mPotentialContactManifolds;
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while (manifold != nullptr) {
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// Reduce the number of contact points of the manifold
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manifold->reduce(mContactManifoldSet.getShape1()->getLocalToWorldTransform());
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manifold = manifold->getNext();
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}
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}
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