Bullet Collision Detection & Physics Library
btSoftBodyConcaveCollisionAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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 
65 class btSoftBodyTriangleCallback : public btTriangleCallback
66 {
67  btSoftBody* m_softBody;
68  const btCollisionObject* m_triBody;
69 
70  btVector3 m_aabbMin;
71  btVector3 m_aabbMax ;
72 
73  btManifoldResult* m_resultOut;
74 
75  btDispatcher* m_dispatcher;
76  const btDispatcherInfo* m_dispatchInfoPtr;
77  btScalar m_collisionMarginTriangle;
78 
79  btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
80 
81 public:
82  int m_triangleCount;
83 
84  // btPersistentManifold* m_manifoldPtr;
85 
86  btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
87 
88  void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
89 
90  virtual ~btSoftBodyTriangleCallback();
91 
92  virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
93 
94  void clearCache();
95 
96  SIMD_FORCE_INLINE const btVector3& getAabbMin() const
97  {
98  return m_aabbMin;
99  }
100  SIMD_FORCE_INLINE const btVector3& getAabbMax() const
101  {
102  return m_aabbMax;
103  }
104 
105 };
106 
107 
108 
109 
111 class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
112 {
113 
114  bool m_isSwapped;
115 
116  btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
117 
118 public:
119 
120  btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
121 
122  virtual ~btSoftBodyConcaveCollisionAlgorithm();
123 
124  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
125 
126  btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
127 
128  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
129  {
130  //we don't add any manifolds
131  }
132 
133  void clearCache();
134 
135  struct CreateFunc :public btCollisionAlgorithmCreateFunc
136  {
137  virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
138  {
139  void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
140  return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
141  }
142  };
143 
144  struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
145  {
146  virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
147  {
148  void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
149  return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
150  }
151  };
152 
153 };
154 
155 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
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