Revision: 46728
http://brlcad.svn.sourceforge.net/brlcad/?rev=46728&view=rev
Author: abhi2011
Date: 2011-09-16 05:02:51 +0000 (Fri, 16 Sep 2011)
Log Message:
-----------
Added 2 files for containing a RT based contact manifold generator
Added Paths:
-----------
brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
brlcad/trunk/src/libged/simulate/simcollisionalgo.h
Added: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
(rev 0)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp 2011-09-16
05:02:51 UTC (rev 46728)
@@ -0,0 +1,143 @@
+/* S I M C O L L I S I O N A L G O . C P P
+ * BRL-CAD
+ *
+ * Copyright (c) 2008-2011 United States Government as represented by
+ * the U.S. Army Research Laboratory.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * version 2.1 as published by the Free Software Foundation.
+ *
+ * This library is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this file; see the file named COPYING for more
+ * information.
+ */
+/** @file libged/simulate/simcollisionalgo.cpp
+ *
+ *
+ * Routines related to performing collision detection using rt
+ * This is a custom algorithm that replaces the box-box collision algorithm
+ * in bullet
+ *
+ */
+
+#include "common.h"
+
+#ifdef HAVE_BULLET
+
+#include "simcollisionalgo.h"
+
+
+#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
+
+#define USE_PERSISTENT_CONTACTS 1
+
+btRTCollisionAlgorithm::btRTCollisionAlgorithm(
+ btPersistentManifold* mf,
+ const btCollisionAlgorithmConstructionInfo& ci,
+ btCollisionObject* obj0,
+ btCollisionObject* obj1)
+: btActivatingCollisionAlgorithm(ci,obj0,obj1),
+m_ownManifold(false),
+m_manifoldPtr(mf)
+{
+ if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
+ {
+ m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
+ m_ownManifold = true;
+ }
+}
+
+btRTCollisionAlgorithm::~btRTCollisionAlgorithm()
+{
+ if (m_ownManifold)
+ {
+ if (m_manifoldPtr)
+ m_dispatcher->releaseManifold(m_manifoldPtr);
+ }
+}
+
+void btRTCollisionAlgorithm::processCollision (
+ btCollisionObject* body0,
+ btCollisionObject* body1,
+ const btDispatcherInfo& dispatchInfo,
+ btManifoldResult* resultOut)
+{
+ if (!m_manifoldPtr)
+ return;
+
+ btCollisionObject* col0 = body0;
+ btCollisionObject* col1 = body1;
+ btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
+ btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
+
+
+
+ /// report a contact. internally this will be kept persistent, and
contact reduction is done
+ resultOut->setPersistentManifold(m_manifoldPtr);
+#ifndef USE_PERSISTENT_CONTACTS
+ m_manifoldPtr->clearManifold();
+#endif //USE_PERSISTENT_CONTACTS
+
+ btDiscreteCollisionDetectorInterface::ClosestPointInput input;
+ input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
+ input.m_transformA = body0->getWorldTransform();
+ input.m_transformB = body1->getWorldTransform();
+
+ //This part will get replaced with a call to rt
+ btBoxBoxDetector detector(box0,box1);
+ detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
+
+#ifdef USE_PERSISTENT_CONTACTS
+ // refreshContactPoints is only necessary when using persistent
contact points. otherwise all points are newly added
+ if (m_ownManifold)
+ {
+ resultOut->refreshContactPoints();
+ }
+#endif //USE_PERSISTENT_CONTACTS
+
+}
+
+btScalar btRTCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject*
/*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo&
/*dispatchInfo*/,btManifoldResult* /*resultOut*/)
+{
+ //not yet
+ return 1.f;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#endif
+
+// Local Variables:
+// tab-width: 8
+// mode: C++
+// c-basic-offset: 4
+// indent-tabs-mode: t
+// c-file-style: "stroustrup"
+// End:
+// ex: shiftwidth=4 tabstop=8
Property changes on: brlcad/trunk/src/libged/simulate/simcollisionalgo.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: propset
+ svn:eol-style
Added: svn:eol-style
+ native
Added: brlcad/trunk/src/libged/simulate/simcollisionalgo.h
===================================================================
--- brlcad/trunk/src/libged/simulate/simcollisionalgo.h
(rev 0)
+++ brlcad/trunk/src/libged/simulate/simcollisionalgo.h 2011-09-16 05:02:51 UTC
(rev 46728)
@@ -0,0 +1,103 @@
+/* S I M C O L L I S I O N A L G O . H
+ * BRL-CAD
+ *
+ * Copyright (c) 2008-2011 United States Government as represented by
+ * the U.S. Army Research Laboratory.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * version 2.1 as published by the Free Software Foundation.
+ *
+ * This library is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this file; see the file named COPYING for more
+ * information.
+ */
+/** @file libged/simulate/simcollisionalgo.h
+ *
+ *
+ * Routines related to performing collision detection using rt
+ * This is a custom algorithm that replaces the box-box collision algorithm
+ * in bullet
+ *
+ */
+
+#ifndef SIMULATE_COLL_ALGO_H_
+#define SIMULATE_COLL_ALGO_H_
+
+#include "common.h"
+
+#ifdef HAVE_BULLET
+
+#include <iostream>
+
+#include "db.h"
+#include "vmath.h"
+#include "simulate.h"
+
+#include <btBulletDynamicsCommon.h>
+
+
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///Raytrace based collision detection
+class btRTCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+ bool m_ownManifold;
+ btPersistentManifold* m_manifoldPtr;
+
+public:
+ btRTCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+ : btActivatingCollisionAlgorithm(ci) {}
+
+ virtual void processCollision (btCollisionObject*
body0,btCollisionObject* body1,const btDispatcherInfo&
dispatchInfo,btManifoldResult* resultOut);
+
+ virtual btScalar calculateTimeOfImpact(btCollisionObject*
body0,btCollisionObject* body1,const btDispatcherInfo&
dispatchInfo,btManifoldResult* resultOut);
+
+ btRTCollisionAlgorithm(btPersistentManifold* mf,const
btCollisionAlgorithmConstructionInfo& ci,btCollisionObject*
body0,btCollisionObject* body1);
+
+ virtual ~btRTCollisionAlgorithm();
+
+ virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
+ {
+ if (m_manifoldPtr && m_ownManifold)
+ {
+ manifoldArray.push_back(m_manifoldPtr);
+ }
+ }
+
+
+ struct CreateFunc :public btCollisionAlgorithmCreateFunc
+ {
+ virtual btCollisionAlgorithm*
CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci,
btCollisionObject* body0,btCollisionObject* body1)
+ {
+ int bbsize = sizeof(btRTCollisionAlgorithm);
+ void* ptr =
ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+ return new(ptr)
btRTCollisionAlgorithm(0,ci,body0,body1);
+ }
+ };
+
+};
+
+
+#endif
+
+#endif /* SIMULATE_COLL_ALGO_H_ */
+
+// Local Variables:
+// tab-width: 8
+// mode: C++
+// c-basic-offset: 4
+// indent-tabs-mode: t
+// c-file-style: "stroustrup"
+// End:
+// ex: shiftwidth=4 tabstop=8
Property changes on: brlcad/trunk/src/libged/simulate/simcollisionalgo.h
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: propset
+ svn:eol-style
Added: svn:eol-style
+ native
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