311 lines
9.5 KiB
C
311 lines
9.5 KiB
C
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/*! \file btGImpactShape.h
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\author Francisco Leon Najera
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*/
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
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#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
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#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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class btDispatcher;
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btGImpactShape.h"
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#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
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#include "BulletCollision/CollisionShapes/btCompoundShape.h"
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#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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//! Collision Algorithm for GImpact Shapes
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/*!
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For register this algorithm in Bullet, proceed as following:
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\code
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btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
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btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
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\endcode
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*/
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class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
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{
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protected:
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btCollisionAlgorithm * m_convex_algorithm;
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btPersistentManifold * m_manifoldPtr;
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btManifoldResult* m_resultOut;
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const btDispatcherInfo * m_dispatchInfo;
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int m_triface0;
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int m_part0;
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int m_triface1;
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int m_part1;
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//! Creates a new contact point
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SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
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return m_manifoldPtr;
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}
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SIMD_FORCE_INLINE void destroyConvexAlgorithm()
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{
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if(m_convex_algorithm)
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{
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m_convex_algorithm->~btCollisionAlgorithm();
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m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
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m_convex_algorithm = NULL;
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}
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}
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SIMD_FORCE_INLINE void destroyContactManifolds()
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{
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if(m_manifoldPtr == NULL) return;
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m_dispatcher->releaseManifold(m_manifoldPtr);
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m_manifoldPtr = NULL;
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}
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SIMD_FORCE_INLINE void clearCache()
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{
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destroyContactManifolds();
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destroyConvexAlgorithm();
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m_triface0 = -1;
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m_part0 = -1;
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m_triface1 = -1;
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m_part1 = -1;
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}
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SIMD_FORCE_INLINE btPersistentManifold* getLastManifold()
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{
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return m_manifoldPtr;
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}
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// Call before process collision
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SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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{
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if(getLastManifold() == 0)
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{
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newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
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}
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m_resultOut->setPersistentManifold(getLastManifold());
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}
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// Call before process collision
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SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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{
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checkManifold(body0Wrap,body1Wrap);
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btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
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body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
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return convex_algorithm ;
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}
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// Call before process collision
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SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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{
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if(m_convex_algorithm) return;
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m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
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}
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void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
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const btCollisionObjectWrapper * body1Wrap,
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const btVector3 & point,
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const btVector3 & normal,
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btScalar distance);
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//! Collision routines
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//!@{
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void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
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const btCollisionObjectWrapper* body1Wrap,
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const btGImpactMeshShapePart * shape0,
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const btGImpactMeshShapePart * shape1,
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const int * pairs, int pair_count);
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void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
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const btCollisionObjectWrapper* body1Wrap,
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const btGImpactMeshShapePart * shape0,
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const btGImpactMeshShapePart * shape1,
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const int * pairs, int pair_count);
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void shape_vs_shape_collision(
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const btCollisionObjectWrapper* body0,
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const btCollisionObjectWrapper* body1,
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const btCollisionShape * shape0,
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const btCollisionShape * shape1);
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void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
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const btCollisionObjectWrapper* body1Wrap,
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const btCollisionShape* shape0,
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const btCollisionShape* shape1);
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void gimpact_vs_gimpact_find_pairs(
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const btTransform & trans0,
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const btTransform & trans1,
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const btGImpactShapeInterface * shape0,
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const btGImpactShapeInterface * shape1,btPairSet & pairset);
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void gimpact_vs_shape_find_pairs(
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const btTransform & trans0,
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const btTransform & trans1,
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const btGImpactShapeInterface * shape0,
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const btCollisionShape * shape1,
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btAlignedObjectArray<int> & collided_primitives);
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void gimpacttrimeshpart_vs_plane_collision(
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const btCollisionObjectWrapper * body0Wrap,
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const btCollisionObjectWrapper * body1Wrap,
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const btGImpactMeshShapePart * shape0,
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const btStaticPlaneShape * shape1,bool swapped);
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public:
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btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
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virtual ~btGImpactCollisionAlgorithm();
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virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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if (m_manifoldPtr)
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manifoldArray.push_back(m_manifoldPtr);
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}
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btManifoldResult* internalGetResultOut()
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{
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return m_resultOut;
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}
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struct CreateFunc :public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
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return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
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}
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};
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//! Use this function for register the algorithm externally
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static void registerAlgorithm(btCollisionDispatcher * dispatcher);
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#ifdef TRI_COLLISION_PROFILING
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//! Gets the average time in miliseconds of tree collisions
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static float getAverageTreeCollisionTime();
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//! Gets the average time in miliseconds of triangle collisions
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static float getAverageTriangleCollisionTime();
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#endif //TRI_COLLISION_PROFILING
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//! Collides two gimpact shapes
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/*!
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\pre shape0 and shape1 couldn't be btGImpactMeshShape objects
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*/
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void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
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const btCollisionObjectWrapper * body1Wrap,
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const btGImpactShapeInterface * shape0,
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const btGImpactShapeInterface * shape1);
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void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
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const btCollisionObjectWrapper* body1Wrap,
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const btGImpactShapeInterface * shape0,
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const btCollisionShape * shape1,bool swapped);
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void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
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const btCollisionObjectWrapper * body1Wrap,
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const btGImpactShapeInterface * shape0,
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const btCompoundShape * shape1,bool swapped);
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void gimpact_vs_concave(
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const btCollisionObjectWrapper * body0Wrap,
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const btCollisionObjectWrapper * body1Wrap,
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const btGImpactShapeInterface * shape0,
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const btConcaveShape * shape1,bool swapped);
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/// Accessor/Mutator pairs for Part and triangleID
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void setFace0(int value)
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{
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m_triface0 = value;
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}
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int getFace0()
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{
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return m_triface0;
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}
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void setFace1(int value)
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{
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m_triface1 = value;
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}
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int getFace1()
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{
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return m_triface1;
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}
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void setPart0(int value)
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{
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m_part0 = value;
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}
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int getPart0()
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{
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return m_part0;
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}
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void setPart1(int value)
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{
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m_part1 = value;
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}
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int getPart1()
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{
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return m_part1;
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}
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};
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//algorithm details
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//#define BULLET_TRIANGLE_COLLISION 1
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#define GIMPACT_VS_PLANE_COLLISION 1
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#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
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