dali-physics/third-party/bullet3/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
   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 ATTRIBUTE_ALIGNED16(class)
  30 btConvexTriangleCallback : public btTriangleCallback
  31 {
  32         btVector3 m_aabbMin;
  33         btVector3 m_aabbMax;
  34
  35         const btCollisionObjectWrapper* m_convexBodyWrap;
  36         const btCollisionObjectWrapper* m_triBodyWrap;
  37
  38         btManifoldResult* m_resultOut;
  39         btDispatcher* m_dispatcher;
  40         const btDispatcherInfo* m_dispatchInfoPtr;
  41         btScalar m_collisionMarginTriangle;
  42
  43 public:
  44         BT_DECLARE_ALIGNED_ALLOCATOR();
  45
  46         int m_triangleCount;
  47
  48         btPersistentManifold* m_manifoldPtr;
  49
  50         btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
  51
  52         void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
  53
  54         void clearWrapperData()
  55         {
  56                 m_convexBodyWrap = 0;
  57                 m_triBodyWrap = 0;
  58         }
  59         virtual ~btConvexTriangleCallback();
  60
  61         virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
  62
  63         void clearCache();
  64
  65         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
  66         {
  67                 return m_aabbMin;
  68         }
  69         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
  70         {
  71                 return m_aabbMax;
  72         }
  73 };
  74
  75 /// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
  76 ATTRIBUTE_ALIGNED16(class)
  77 btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
  78 {
  79         btConvexTriangleCallback m_btConvexTriangleCallback;
  80
  81         bool m_isSwapped;
  82
  83 public:
  84         BT_DECLARE_ALIGNED_ALLOCATOR();
  85
  86         btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
  87
  88         virtual ~btConvexConcaveCollisionAlgorithm();
  89
  90         virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
  91
  92         btScalar calculateTimeOfImpact(btCollisionObject * body0, btCollisionObject * body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
  93
  94         virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
  95
  96         void clearCache();
  97
  98         struct CreateFunc : public btCollisionAlgorithmCreateFunc
  99         {
 100                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 101                 {
 102                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
 103                         return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
 104                 }
 105         };
 106
 107         struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
 108         {
 109                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 110                 {
 111                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
 112                         return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
 113                 }
 114         };
 115 };
 116
 117 #endif  //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H