src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
  17 #define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
  18
  19 #include "btActivatingCollisionAlgorithm.h"
  20 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
  21 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
  22 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
  23 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
  24 class btDispatcher;
  25 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
  26 #include "btCollisionCreateFunc.h"
  27
  28 ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
  29 class btConvexTriangleCallback : public btTriangleCallback
  30 {
  31         const btCollisionObjectWrapper* m_convexBodyWrap;
  32         const btCollisionObjectWrapper* m_triBodyWrap;
  33
  34         btVector3       m_aabbMin;
  35         btVector3       m_aabbMax ;
  36
  37
  38         btManifoldResult* m_resultOut;
  39         btDispatcher*   m_dispatcher;
  40         const btDispatcherInfo* m_dispatchInfoPtr;
  41         btScalar m_collisionMarginTriangle;
  42
  43 public:
  44 int     m_triangleCount;
  45
  46         btPersistentManifold*   m_manifoldPtr;
  47
  48         btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
  49
  50         void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
  51
  52         void    clearWrapperData()
  53         {
  54                 m_convexBodyWrap = 0;
  55                 m_triBodyWrap = 0;
  56         }
  57         virtual ~btConvexTriangleCallback();
  58
  59         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
  60
  61         void clearCache();
  62
  63         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
  64         {
  65                 return m_aabbMin;
  66         }
  67         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
  68         {
  69                 return m_aabbMax;
  70         }
  71
  72 };
  73
  74
  75
  76
  77 /// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
  78 class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
  79 {
  80
  81         bool    m_isSwapped;
  82
  83         btConvexTriangleCallback m_btConvexTriangleCallback;
  84
  85
  86
  87 public:
  88
  89         btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
  90
  91         virtual ~btConvexConcaveCollisionAlgorithm();
  92
  93         virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
  94
  95         btScalar        calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
  96
  97         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray);
  98
  99         void    clearCache();
 100
 101         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
 102         {
 103                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 104                 {
 105                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
 106                         return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 107                 }
 108         };
 109
 110         struct SwappedCreateFunc :public        btCollisionAlgorithmCreateFunc
 111         {
 112                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 113                 {
 114                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
 115                         return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 116                 }
 117         };
 118
 119 };
 120
 121 #endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H