btSoftBodyRigidBodyCollisionConfiguration.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#include "btSoftBodyRigidBodyCollisionConfiguration.h"
#include "btSoftRigidCollisionAlgorithm.h"
#include "btSoftBodyConcaveCollisionAlgorithm.h"
#include "btSoftSoftCollisionAlgorithm.h"

#include "LinearMath/btPoolAllocator.h"

#define ENABLE_SOFTBODY_CONCAVE_COLLISIONS 1

btSoftBodyRigidBodyCollisionConfiguration::btSoftBodyRigidBodyCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
:btDefaultCollisionConfiguration(constructionInfo)
{
    void* mem;

    mem = btAlignedAlloc(sizeof(btSoftSoftCollisionAlgorithm::CreateFunc),16);
    m_softSoftCreateFunc = new(mem) btSoftSoftCollisionAlgorithm::CreateFunc;

    mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
    m_softRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;

    mem = btAlignedAlloc(sizeof(btSoftRigidCollisionAlgorithm::CreateFunc),16);
    m_swappedSoftRigidConvexCreateFunc = new(mem) btSoftRigidCollisionAlgorithm::CreateFunc;
    m_swappedSoftRigidConvexCreateFunc->m_swapped=true;

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
    mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
    m_softRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::CreateFunc;

    mem = btAlignedAlloc(sizeof(btSoftBodyConcaveCollisionAlgorithm::CreateFunc),16);
    m_swappedSoftRigidConcaveCreateFunc = new(mem) btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc;
    m_swappedSoftRigidConcaveCreateFunc->m_swapped=true;
#endif

    //replace pool by a new one, with potential larger size

    if (m_ownsCollisionAlgorithmPool && m_collisionAlgorithmPool)
    {
        int curElemSize = m_collisionAlgorithmPool->getElementSize();


        int maxSize0 = sizeof(btSoftSoftCollisionAlgorithm);
        int maxSize1 = sizeof(btSoftRigidCollisionAlgorithm);
        int maxSize2 = sizeof(btSoftBodyConcaveCollisionAlgorithm);

        int collisionAlgorithmMaxElementSize = btMax(maxSize0,maxSize1);
        collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
        
        if (collisionAlgorithmMaxElementSize > curElemSize)
        {
            m_collisionAlgorithmPool->~btPoolAllocator();
            btAlignedFree(m_collisionAlgorithmPool);
            void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
            m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
        }
    }

}

btSoftBodyRigidBodyCollisionConfiguration::~btSoftBodyRigidBodyCollisionConfiguration()
{
    m_softSoftCreateFunc->~btCollisionAlgorithmCreateFunc();
    btAlignedFree(  m_softSoftCreateFunc);

    m_softRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
    btAlignedFree(  m_softRigidConvexCreateFunc);

    m_swappedSoftRigidConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
    btAlignedFree(  m_swappedSoftRigidConvexCreateFunc);

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS
    m_softRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
    btAlignedFree(  m_softRigidConcaveCreateFunc);

    m_swappedSoftRigidConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
    btAlignedFree(  m_swappedSoftRigidConcaveCreateFunc);
#endif
}

btCollisionAlgorithmCreateFunc* btSoftBodyRigidBodyCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
{


    if ((proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  ) && (proxyType1==SOFTBODY_SHAPE_PROXYTYPE))
    {
        return  m_softSoftCreateFunc;
    }

    if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  && btBroadphaseProxy::isConvex(proxyType1))
    {
        return  m_softRigidConvexCreateFunc;
    }

    if (btBroadphaseProxy::isConvex(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
    {
        return  m_swappedSoftRigidConvexCreateFunc;
    }

#ifdef ENABLE_SOFTBODY_CONCAVE_COLLISIONS

    if (proxyType0 == SOFTBODY_SHAPE_PROXYTYPE  && btBroadphaseProxy::isConcave(proxyType1))
    {
        return  m_softRigidConcaveCreateFunc;
    }

    if (btBroadphaseProxy::isConcave(proxyType0) && proxyType1 == SOFTBODY_SHAPE_PROXYTYPE )
    {
        return  m_swappedSoftRigidConcaveCreateFunc;
    }
#endif

    return btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(proxyType0,proxyType1);
}