1 /*! \file btGImpactShape.h 2 \author Francisco Leon Najera 3 */ 4 /* 5 This source file is part of GIMPACT Library. 6 7 For the latest info, see http://gimpact.sourceforge.net/ 8 9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. 10 email: projectileman@yahoo.com 11 12 13 This software is provided 'as-is', without any express or implied warranty. 14 In no event will the authors be held liable for any damages arising from the use of this software. 15 Permission is granted to anyone to use this software for any purpose, 16 including commercial applications, and to alter it and redistribute it freely, 17 subject to the following restrictions: 18 19 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. 20 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 21 3. This notice may not be removed or altered from any source distribution. 22 */ 23 24 #ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H 25 #define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H 26 27 #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" 28 #include "BulletCollision/BroadphaseCollision/btDispatcher.h" 29 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" 30 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 31 class btDispatcher; 32 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" 33 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" 34 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" 35 36 #include "LinearMath/btAlignedObjectArray.h" 37 38 #include "btGImpactShape.h" 39 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" 40 #include "BulletCollision/CollisionShapes/btCompoundShape.h" 41 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" 42 #include "LinearMath/btIDebugDraw.h" 43 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" 44 45 46 //! Collision Algorithm for GImpact Shapes 47 /*! 48 For register this algorithm in Bullet, proceed as following: 49 \code 50 btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher()); 51 btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); 52 \endcode 53 */ 54 class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm 55 { 56 protected: 57 btCollisionAlgorithm * m_convex_algorithm; 58 btPersistentManifold * m_manifoldPtr; 59 btManifoldResult* m_resultOut; 60 const btDispatcherInfo * m_dispatchInfo; 61 int m_triface0; 62 int m_part0; 63 int m_triface1; 64 int m_part1; 65 66 67 //! Creates a new contact point newContactManifold(const btCollisionObject * body0,const btCollisionObject * body1)68 SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1) 69 { 70 m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); 71 return m_manifoldPtr; 72 } 73 destroyConvexAlgorithm()74 SIMD_FORCE_INLINE void destroyConvexAlgorithm() 75 { 76 if(m_convex_algorithm) 77 { 78 m_convex_algorithm->~btCollisionAlgorithm(); 79 m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); 80 m_convex_algorithm = NULL; 81 } 82 } 83 destroyContactManifolds()84 SIMD_FORCE_INLINE void destroyContactManifolds() 85 { 86 if(m_manifoldPtr == NULL) return; 87 m_dispatcher->releaseManifold(m_manifoldPtr); 88 m_manifoldPtr = NULL; 89 } 90 clearCache()91 SIMD_FORCE_INLINE void clearCache() 92 { 93 destroyContactManifolds(); 94 destroyConvexAlgorithm(); 95 96 m_triface0 = -1; 97 m_part0 = -1; 98 m_triface1 = -1; 99 m_part1 = -1; 100 } 101 getLastManifold()102 SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() 103 { 104 return m_manifoldPtr; 105 } 106 107 108 // Call before process collision checkManifold(const btCollisionObjectWrapper * body0Wrap,const btCollisionObjectWrapper * body1Wrap)109 SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 110 { 111 if(getLastManifold() == 0) 112 { 113 newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); 114 } 115 116 m_resultOut->setPersistentManifold(getLastManifold()); 117 } 118 119 // Call before process collision newAlgorithm(const btCollisionObjectWrapper * body0Wrap,const btCollisionObjectWrapper * body1Wrap)120 SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 121 { 122 checkManifold(body0Wrap,body1Wrap); 123 124 btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( 125 body0Wrap,body1Wrap,getLastManifold()); 126 return convex_algorithm ; 127 } 128 129 // Call before process collision checkConvexAlgorithm(const btCollisionObjectWrapper * body0Wrap,const btCollisionObjectWrapper * body1Wrap)130 SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 131 { 132 if(m_convex_algorithm) return; 133 m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap); 134 } 135 136 137 138 139 void addContactPoint(const btCollisionObjectWrapper * body0Wrap, 140 const btCollisionObjectWrapper * body1Wrap, 141 const btVector3 & point, 142 const btVector3 & normal, 143 btScalar distance); 144 145 //! Collision routines 146 //!@{ 147 148 void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap, 149 const btCollisionObjectWrapper* body1Wrap, 150 const btGImpactMeshShapePart * shape0, 151 const btGImpactMeshShapePart * shape1, 152 const int * pairs, int pair_count); 153 154 void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, 155 const btCollisionObjectWrapper* body1Wrap, 156 const btGImpactMeshShapePart * shape0, 157 const btGImpactMeshShapePart * shape1, 158 const int * pairs, int pair_count); 159 160 161 162 163 void shape_vs_shape_collision( 164 const btCollisionObjectWrapper* body0, 165 const btCollisionObjectWrapper* body1, 166 const btCollisionShape * shape0, 167 const btCollisionShape * shape1); 168 169 void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap, 170 const btCollisionObjectWrapper* body1Wrap, 171 const btCollisionShape* shape0, 172 const btCollisionShape* shape1); 173 174 175 176 void gimpact_vs_gimpact_find_pairs( 177 const btTransform & trans0, 178 const btTransform & trans1, 179 const btGImpactShapeInterface * shape0, 180 const btGImpactShapeInterface * shape1,btPairSet & pairset); 181 182 void gimpact_vs_shape_find_pairs( 183 const btTransform & trans0, 184 const btTransform & trans1, 185 const btGImpactShapeInterface * shape0, 186 const btCollisionShape * shape1, 187 btAlignedObjectArray<int> & collided_primitives); 188 189 190 void gimpacttrimeshpart_vs_plane_collision( 191 const btCollisionObjectWrapper * body0Wrap, 192 const btCollisionObjectWrapper * body1Wrap, 193 const btGImpactMeshShapePart * shape0, 194 const btStaticPlaneShape * shape1,bool swapped); 195 196 197 public: 198 199 btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); 200 201 virtual ~btGImpactCollisionAlgorithm(); 202 203 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 204 205 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 206 getAllContactManifolds(btManifoldArray & manifoldArray)207 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) 208 { 209 if (m_manifoldPtr) 210 manifoldArray.push_back(m_manifoldPtr); 211 } 212 internalGetResultOut()213 btManifoldResult* internalGetResultOut() 214 { 215 return m_resultOut; 216 } 217 218 struct CreateFunc :public btCollisionAlgorithmCreateFunc 219 { CreateCollisionAlgorithmCreateFunc220 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 221 { 222 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); 223 return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap); 224 } 225 }; 226 227 //! Use this function for register the algorithm externally 228 static void registerAlgorithm(btCollisionDispatcher * dispatcher); 229 #ifdef TRI_COLLISION_PROFILING 230 //! Gets the average time in miliseconds of tree collisions 231 static float getAverageTreeCollisionTime(); 232 233 //! Gets the average time in miliseconds of triangle collisions 234 static float getAverageTriangleCollisionTime(); 235 #endif //TRI_COLLISION_PROFILING 236 237 //! Collides two gimpact shapes 238 /*! 239 \pre shape0 and shape1 couldn't be btGImpactMeshShape objects 240 */ 241 242 243 void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap, 244 const btCollisionObjectWrapper * body1Wrap, 245 const btGImpactShapeInterface * shape0, 246 const btGImpactShapeInterface * shape1); 247 248 void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, 249 const btCollisionObjectWrapper* body1Wrap, 250 const btGImpactShapeInterface * shape0, 251 const btCollisionShape * shape1,bool swapped); 252 253 void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap, 254 const btCollisionObjectWrapper * body1Wrap, 255 const btGImpactShapeInterface * shape0, 256 const btCompoundShape * shape1,bool swapped); 257 258 void gimpact_vs_concave( 259 const btCollisionObjectWrapper * body0Wrap, 260 const btCollisionObjectWrapper * body1Wrap, 261 const btGImpactShapeInterface * shape0, 262 const btConcaveShape * shape1,bool swapped); 263 264 265 266 267 /// Accessor/Mutator pairs for Part and triangleID setFace0(int value)268 void setFace0(int value) 269 { 270 m_triface0 = value; 271 } getFace0()272 int getFace0() 273 { 274 return m_triface0; 275 } setFace1(int value)276 void setFace1(int value) 277 { 278 m_triface1 = value; 279 } getFace1()280 int getFace1() 281 { 282 return m_triface1; 283 } setPart0(int value)284 void setPart0(int value) 285 { 286 m_part0 = value; 287 } getPart0()288 int getPart0() 289 { 290 return m_part0; 291 } setPart1(int value)292 void setPart1(int value) 293 { 294 m_part1 = value; 295 } getPart1()296 int getPart1() 297 { 298 return m_part1; 299 } 300 301 }; 302 303 304 //algorithm details 305 //#define BULLET_TRIANGLE_COLLISION 1 306 #define GIMPACT_VS_PLANE_COLLISION 1 307 308 309 310 #endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H 311