| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #ifndef SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H |
| #define SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H |
| |
| #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" |
| #include "BulletCollision/BroadphaseCollision/btDispatcher.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" |
| #include "BulletCollision/CollisionShapes/btTriangleCallback.h" |
| #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" |
| class btDispatcher; |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" |
| class btSoftBody; |
| class btCollisionShape; |
| |
| #include "LinearMath/btHashMap.h" |
| |
| #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS |
| |
| struct btTriIndex |
| { |
| int m_PartIdTriangleIndex; |
| class btCollisionShape* m_childShape; |
| |
| btTriIndex(int partId,int triangleIndex,btCollisionShape* shape) |
| { |
| m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; |
| m_childShape = shape; |
| } |
| |
| int getTriangleIndex() const |
| { |
| // Get only the lower bits where the triangle index is stored |
| return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS))); |
| } |
| int getPartId() const |
| { |
| // Get only the highest bits where the part index is stored |
| return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); |
| } |
| int getUid() const |
| { |
| return m_PartIdTriangleIndex; |
| } |
| }; |
| |
| |
| ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. |
| class btSoftBodyTriangleCallback : public btTriangleCallback |
| { |
| btSoftBody* m_softBody; |
| btCollisionObject* m_triBody; |
| |
| btVector3 m_aabbMin; |
| btVector3 m_aabbMax ; |
| |
| btManifoldResult* m_resultOut; |
| |
| btDispatcher* m_dispatcher; |
| const btDispatcherInfo* m_dispatchInfoPtr; |
| btScalar m_collisionMarginTriangle; |
| |
| btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache; |
| |
| public: |
| int m_triangleCount; |
| |
| // btPersistentManifold* m_manifoldPtr; |
| |
| btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); |
| |
| void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual ~btSoftBodyTriangleCallback(); |
| |
| virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); |
| |
| void clearCache(); |
| |
| SIMD_FORCE_INLINE const btVector3& getAabbMin() const |
| { |
| return m_aabbMin; |
| } |
| SIMD_FORCE_INLINE const btVector3& getAabbMax() const |
| { |
| return m_aabbMax; |
| } |
| |
| }; |
| |
| |
| |
| |
| /// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. |
| class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm |
| { |
| |
| bool m_isSwapped; |
| |
| btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback; |
| |
| public: |
| |
| btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); |
| |
| virtual ~btSoftBodyConcaveCollisionAlgorithm(); |
| |
| virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual void getAllContactManifolds(btManifoldArray& manifoldArray) |
| { |
| //we don't add any manifolds |
| } |
| |
| void clearCache(); |
| |
| struct CreateFunc :public btCollisionAlgorithmCreateFunc |
| { |
| virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
| { |
| void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); |
| return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false); |
| } |
| }; |
| |
| struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc |
| { |
| virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
| { |
| void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); |
| return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true); |
| } |
| }; |
| |
| }; |
| |
| #endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H |