src/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
   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_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
  17 #define BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H
  18
  19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
  20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
  21 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
  22 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
  23 #include "LinearMath/btTransformUtil.h"
  24 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
  25
  26 class btPersistentManifold;
  27
  28 //#define USE_SEPDISTANCE_UTIL 1
  29
  30 /// SpuContactManifoldCollisionAlgorithm  provides contact manifold and should be processed on SPU.
  31 ATTRIBUTE_ALIGNED16(class) SpuContactManifoldCollisionAlgorithm : public btCollisionAlgorithm
  32 {
  33         btVector3       m_shapeDimensions0;
  34         btVector3       m_shapeDimensions1;
  35         btPersistentManifold*   m_manifoldPtr;
  36         int             m_shapeType0;
  37         int             m_shapeType1;
  38         float   m_collisionMargin0;
  39         float   m_collisionMargin1;
  40
  41         const btCollisionObject*        m_collisionObject0;
  42         const btCollisionObject*        m_collisionObject1;
  43
  44
  45
  46
  47 public:
  48
  49         virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
  50
  51         virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
  52
  53
  54         SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1);
  55 #ifdef USE_SEPDISTANCE_UTIL
  56         btConvexSeparatingDistanceUtil  m_sepDistance;
  57 #endif //USE_SEPDISTANCE_UTIL
  58
  59         virtual ~SpuContactManifoldCollisionAlgorithm();
  60
  61         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
  62         {
  63                 if (m_manifoldPtr)
  64                         manifoldArray.push_back(m_manifoldPtr);
  65         }
  66
  67         btPersistentManifold*   getContactManifoldPtr()
  68         {
  69                 return m_manifoldPtr;
  70         }
  71
  72         const btCollisionObject*        getCollisionObject0()
  73         {
  74                 return m_collisionObject0;
  75         }
  76
  77         const btCollisionObject*        getCollisionObject1()
  78         {
  79                 return m_collisionObject1;
  80         }
  81
  82         int             getShapeType0() const
  83         {
  84                 return m_shapeType0;
  85         }
  86
  87         int             getShapeType1() const
  88         {
  89                 return m_shapeType1;
  90         }
  91         float   getCollisionMargin0() const
  92         {
  93                 return m_collisionMargin0;
  94         }
  95         float   getCollisionMargin1() const
  96         {
  97                 return m_collisionMargin1;
  98         }
  99
 100         const btVector3&        getShapeDimensions0() const
 101         {
 102                 return m_shapeDimensions0;
 103         }
 104
 105         const btVector3&        getShapeDimensions1() const
 106         {
 107                 return m_shapeDimensions1;
 108         }
 109
 110         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
 111         {
 112         virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 113                 {
 114                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(SpuContactManifoldCollisionAlgorithm));
 115                         return new(mem) SpuContactManifoldCollisionAlgorithm(ci,body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
 116                 }
 117         };
 118
 119 };
 120
 121 #endif //BT_SPU_CONTACTMANIFOLD_COLLISION_ALGORITHM_H