77 lines
3.0 KiB
C++
77 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 use of this software.
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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 freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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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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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "btGpuDemoPairCache.h"
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#include "btGpuDemoDynamicsWorld.h"
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void btGpuDemoPairCache::processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher)
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{
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int sz = m_maxProxies * m_maxNeighbors;
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int numContConstraints = 0;
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int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
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for(int idx = 0; idx < sz; idx++)
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{
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int neigh = m_hNeighbors[idx];
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if(neigh >= 0)
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{
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int i=idx / m_maxNeighbors;
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int j=idx % m_maxNeighbors;
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pIds[numContConstraints].x = i;
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pIds[numContConstraints].y = m_hNeighbors[i * m_maxNeighbors + j];
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numContConstraints++;
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}
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}
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gpCudaDemoDynamicsWorld->setTotalNumConstraints(numContConstraints);
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}
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// this will be called for each overlapping pair if collision detection uses pairCache other than btGpuDemoPairCache
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// IMPORTANT : m_numConstraints in gpCudaDemoDynamicsWorld is set to 0 at start of simulation step
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// IMPORTANT : companionIds for all objects should be properly set at start of simulation step
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void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
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{
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btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
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btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
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if (dispatcher.needsCollision(colObj0,colObj1))
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{
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// int id0 = collisionPair.m_pProxy0->m_uniqueId - 2;
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// int id1 = collisionPair.m_pProxy1->m_uniqueId - 2;
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// cannot use m_uniqueId : it may be altered by broadphase code
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// so we'll use companionIds set on the initialization stage
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unsigned int id0 = colObj0->getCompanionId();
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unsigned int id1 = colObj1->getCompanionId();
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if(id0 > id1)
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{
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int tmp = id0; id0 = id1; id1 = tmp;
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}
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int totalNumConstraints = gpCudaDemoDynamicsWorld->getTotalNumConstraints();
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int2* pIds = gpCudaDemoDynamicsWorld->getIdsPtr();
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pIds += totalNumConstraints;
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pIds->x = id0;
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pIds->y = id1;
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totalNumConstraints++;
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gpCudaDemoDynamicsWorld->setTotalNumConstraints(totalNumConstraints);
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}
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} // cudaDemoNearCallback()
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