btConvexConcaveCollisionAlgorithm.h

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/*
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 BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H

#include "btActivatingCollisionAlgorithm.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 "btCollisionCreateFunc.h"

class btConvexTriangleCallback : public btTriangleCallback
{
        const btCollisionObjectWrapper* m_convexBodyWrap;
        const btCollisionObjectWrapper* m_triBodyWrap;

        btVector3       m_aabbMin;
        btVector3       m_aabbMax ;


        btManifoldResult* m_resultOut;
        btDispatcher*   m_dispatcher;
        const btDispatcherInfo* m_dispatchInfoPtr;
        btScalar m_collisionMarginTriangle;
        
public:
int     m_triangleCount;
        
        btPersistentManifold*   m_manifoldPtr;

        btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);

        void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);

        void    clearWrapperData()
        {
                m_convexBodyWrap = 0;
                m_triBodyWrap = 0;
        }
        virtual ~btConvexTriangleCallback();

        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;
        }

};




class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
{

        bool    m_isSwapped;

        btConvexTriangleCallback m_btConvexTriangleCallback;



public:

        btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);

        virtual ~btConvexConcaveCollisionAlgorithm();

        virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

        btScalar        calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray);
        
        void    clearCache();

        struct CreateFunc :public       btCollisionAlgorithmCreateFunc
        {
                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
                {
                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
                        return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
                }
        };

        struct SwappedCreateFunc :public        btCollisionAlgorithmCreateFunc
        {
                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
                {
                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
                        return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
                }
        };

};

#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H