dali-physics/third-party/bullet3/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.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_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 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
  64 class btSoftBodyTriangleCallback : public btTriangleCallback
  65 {
  66         btSoftBody* m_softBody;
  67         const btCollisionObject* m_triBody;
  68
  69         btVector3 m_aabbMin;
  70         btVector3 m_aabbMax;
  71
  72         btManifoldResult* m_resultOut;
  73
  74         btDispatcher* m_dispatcher;
  75         const btDispatcherInfo* m_dispatchInfoPtr;
  76         btScalar m_collisionMarginTriangle;
  77
  78         btHashMap<btHashKey<btTriIndex>, btTriIndex> m_shapeCache;
  79
  80 public:
  81         int m_triangleCount;
  82
  83         //      btPersistentManifold*   m_manifoldPtr;
  84
  85         btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
  86
  87         void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triObjWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
  88
  89         virtual ~btSoftBodyTriangleCallback();
  90
  91         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
  92
  93         void clearCache();
  94
  95         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
  96         {
  97                 return m_aabbMin;
  98         }
  99         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
 100         {
 101                 return m_aabbMax;
 102         }
 103 };
 104
 105 /// btSoftBodyConcaveCollisionAlgorithm  supports collision between soft body shapes and (concave) trianges meshes.
 106 class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
 107 {
 108         bool m_isSwapped;
 109
 110         btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
 111
 112 public:
 113         btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
 114
 115         virtual ~btSoftBodyConcaveCollisionAlgorithm();
 116
 117         virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 118
 119         btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
 120
 121         virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
 122         {
 123                 //we don't add any manifolds
 124         }
 125
 126         void clearCache();
 127
 128         struct CreateFunc : public btCollisionAlgorithmCreateFunc
 129         {
 130                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 131                 {
 132                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
 133                         return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
 134                 }
 135         };
 136
 137         struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
 138         {
 139                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
 140                 {
 141                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
 142                         return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
 143                 }
 144         };
 145 };
 146
 147 #endif  //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H