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