156 lines
5.5 KiB
C++
156 lines
5.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
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#define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.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/CollisionShapes/btTriangleCallback.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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class btSoftBody;
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class btCollisionShape;
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#include "LinearMath/btHashMap.h"
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#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
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struct btTriIndex
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{
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int m_PartIdTriangleIndex;
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class btCollisionShape* m_childShape;
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btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
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{
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m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
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m_childShape = shape;
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}
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int getTriangleIndex() const
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{
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// Get only the lower bits where the triangle index is stored
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unsigned int x = 0;
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unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
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return (m_PartIdTriangleIndex&~(y));
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}
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int getPartId() const
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{
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// Get only the highest bits where the part index is stored
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return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
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}
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int getUid() const
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{
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return m_PartIdTriangleIndex;
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}
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};
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///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
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class btSoftBodyTriangleCallback : public btTriangleCallback
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{
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btSoftBody* m_softBody;
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const btCollisionObject* m_triBody;
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btVector3 m_aabbMin;
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btVector3 m_aabbMax ;
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btManifoldResult* m_resultOut;
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btDispatcher* m_dispatcher;
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const btDispatcherInfo* m_dispatchInfoPtr;
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btScalar m_collisionMarginTriangle;
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btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
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public:
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int m_triangleCount;
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// btPersistentManifold* m_manifoldPtr;
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btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
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void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
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virtual ~btSoftBodyTriangleCallback();
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virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
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void clearCache();
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SIMD_FORCE_INLINE const btVector3& getAabbMin() const
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{
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return m_aabbMin;
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}
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SIMD_FORCE_INLINE const btVector3& getAabbMax() const
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{
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return m_aabbMax;
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}
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};
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/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes.
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class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
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{
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bool m_isSwapped;
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btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
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public:
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btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
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virtual ~btSoftBodyConcaveCollisionAlgorithm();
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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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//we don't add any manifolds
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}
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void clearCache();
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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(btSoftBodyConcaveCollisionAlgorithm));
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return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
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}
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};
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struct SwappedCreateFunc :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(btSoftBodyConcaveCollisionAlgorithm));
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return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
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}
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};
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};
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#endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
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