112 lines
5.7 KiB
C++
112 lines
5.7 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 "SphereVsCapsuleNarrowPhaseInfoBatch.h"
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#include "collision/shapes/SphereShape.h"
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#include "collision/shapes/CapsuleShape.h"
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using namespace reactphysics3d;
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// Constructor
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SphereVsCapsuleNarrowPhaseInfoBatch::SphereVsCapsuleNarrowPhaseInfoBatch(MemoryAllocator& allocator,
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OverlappingPairs& overlappingPairs)
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: NarrowPhaseInfoBatch(allocator, overlappingPairs), isSpheresShape1(allocator), sphereRadiuses(allocator), capsuleRadiuses(allocator),
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capsuleHeights(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 SphereVsCapsuleNarrowPhaseInfoBatch::addNarrowPhaseInfo(uint64 pairId, uint64 pairIndex, Entity proxyShape1, Entity proxyShape2, CollisionShape* shape1, CollisionShape* shape2,
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const Transform& shape1Transform, const Transform& shape2Transform) {
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bool isSphereShape1 = shape1->getType() == CollisionShapeType::SPHERE;
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isSpheresShape1.add(isSphereShape1);
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assert(isSphereShape1 || shape1->getType() == CollisionShapeType::CAPSULE);
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// Get the collision shapes
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const SphereShape* sphereShape = static_cast<const SphereShape*>(isSphereShape1 ? shape1 : shape2);
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const CapsuleShape* capsuleShape = static_cast<const CapsuleShape*>(isSphereShape1 ? shape2 : shape1);
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sphereRadiuses.add(sphereShape->getRadius());
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capsuleRadiuses.add(capsuleShape->getRadius());
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capsuleHeights.add(capsuleShape->getHeight());
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shape1ToWorldTransforms.add(shape1Transform);
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shape2ToWorldTransforms.add(shape2Transform);
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overlappingPairIds.add(pairId);
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proxyShapeEntities1.add(proxyShape1);
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proxyShapeEntities2.add(proxyShape2);
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contactPoints.add(List<ContactPointInfo*>(mMemoryAllocator));
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isColliding.add(false);
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// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
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LastFrameCollisionInfo* lastFrameInfo = mOverlappingPairs.addLastFrameInfoIfNecessary(pairIndex, shape1->getId(), shape2->getId());
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lastFrameCollisionInfos.add(lastFrameInfo);
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}
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// Initialize the containers using cached capacity
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void SphereVsCapsuleNarrowPhaseInfoBatch::reserveMemory() {
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overlappingPairIds.reserve(mCachedCapacity);
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proxyShapeEntities1.reserve(mCachedCapacity);
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proxyShapeEntities2.reserve(mCachedCapacity);
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shape1ToWorldTransforms.reserve(mCachedCapacity);
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shape2ToWorldTransforms.reserve(mCachedCapacity);
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lastFrameCollisionInfos.reserve(mCachedCapacity);
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isColliding.reserve(mCachedCapacity);
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contactPoints.reserve(mCachedCapacity);
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isSpheresShape1.reserve(mCachedCapacity);
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sphereRadiuses.reserve(mCachedCapacity);
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capsuleRadiuses.reserve(mCachedCapacity);
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capsuleHeights.reserve(mCachedCapacity);
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}
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// Clear all the objects in the batch
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void SphereVsCapsuleNarrowPhaseInfoBatch::clear() {
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// Note that we clear the following containers and we release their allocated memory. Therefore,
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// if the memory allocator is a single frame allocator, the memory is deallocated and will be
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// allocated in the next frame at a possibly different location in memory (remember that the
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// location of the allocated memory of a single frame allocator might change between two frames)
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mCachedCapacity = overlappingPairIds.size();
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overlappingPairIds.clear(true);
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proxyShapeEntities1.clear(true);
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proxyShapeEntities2.clear(true);
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shape1ToWorldTransforms.clear(true);
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shape2ToWorldTransforms.clear(true);
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lastFrameCollisionInfos.clear(true);
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isColliding.clear(true);
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contactPoints.clear(true);
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isSpheresShape1.clear(true);
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sphereRadiuses.clear(true);
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capsuleRadiuses.clear(true);
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capsuleHeights.clear(true);
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}
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