src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.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_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
  17 #define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
  18
  19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.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 "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
  27 class btSoftBody;
  28 class btCollisionShape;
  29
  30 #include "LinearMath/btHashMap.h"
  31
  32 #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
  33
  34 struct btTriIndex
  35 {
  36         int m_PartIdTriangleIndex;
  37         class btCollisionShape* m_childShape;
  38
  39         btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
  40         {
  41                 m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
  42                 m_childShape = shape;
  43         }
  44
  45         int     getTriangleIndex() const
  46         {
  47                 // Get only the lower bits where the triangle index is stored
  48                 unsigned int x = 0;
  49                 unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
  50                 return (m_PartIdTriangleIndex&~(y));
  51         }
  52         int     getPartId() const
  53         {
  54                 // Get only the highest bits where the part index is stored
  55                 return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
  56         }
  57         int     getUid() const
  58         {
  59                 return m_PartIdTriangleIndex;
  60         }
  61 };
  62
  63
  64 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
  65 class btSoftBodyTriangleCallback : public btTriangleCallback
  66 {
  67         btSoftBody* m_softBody;
  68         const btCollisionObject* m_triBody;
  69
  70         btVector3       m_aabbMin;
  71         btVector3       m_aabbMax ;
  72
  73         btManifoldResult* m_resultOut;
  74
  75         btDispatcher*   m_dispatcher;
  76         const btDispatcherInfo* m_dispatchInfoPtr;
  77         btScalar m_collisionMarginTriangle;
  78
  79         btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
  80
  81 public:
  82         int     m_triangleCount;
  83
  84         //      btPersistentManifold*   m_manifoldPtr;
  85
  86         btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
  87
  88         void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
  89
  90         virtual ~btSoftBodyTriangleCallback();
  91
  92         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
  93
  94         void clearCache();
  95
  96         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
  97         {
  98                 return m_aabbMin;
  99         }
 100         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
 101         {
 102                 return m_aabbMax;
 103         }
 104
 105 };
 106
 107
 108
 109
 110 /// btSoftBodyConcaveCollisionAlgorithm  supports collision between soft body shapes and (concave) trianges meshes.
 111 class btSoftBodyConcaveCollisionAlgorithm  : public btCollisionAlgorithm
 112 {
 113
 114         bool    m_isSwapped;
 115
 116         btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
 117
 118 public:
 119
 120         btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
 121
 122         virtual ~btSoftBodyConcaveCollisionAlgorithm();
 123
 124         virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 125
 126         btScalar        calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 127
 128         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
 129         {
 130                 //we don't add any manifolds
 131         }
 132
 133         void    clearCache();
 134
 135         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
 136         {
 137                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 138                 {
 139                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
 140                         return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
 141                 }
 142         };
 143
 144         struct SwappedCreateFunc :public        btCollisionAlgorithmCreateFunc
 145         {
 146                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
 147                 {
 148                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
 149                         return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
 150                 }
 151         };
 152
 153 };
 154
 155 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H