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_CONVEX_CONCAVE_COLLISION_ALGORITHM_H 17 #define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H 18 19 #include "btActivatingCollisionAlgorithm.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 "btCollisionCreateFunc.h" 27 28 ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called. 29 class btConvexTriangleCallback : public btTriangleCallback 30 { 31 const btCollisionObjectWrapper* m_convexBodyWrap; 32 const btCollisionObjectWrapper* m_triBodyWrap; 33 34 btVector3 m_aabbMin; 35 btVector3 m_aabbMax ; 36 37 38 btManifoldResult* m_resultOut; 39 btDispatcher* m_dispatcher; 40 const btDispatcherInfo* m_dispatchInfoPtr; 41 btScalar m_collisionMarginTriangle; 42 43 public: 44 int m_triangleCount; 45 46 btPersistentManifold* m_manifoldPtr; 47 48 btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); 49 50 void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut); 51 clearWrapperData()52 void clearWrapperData() 53 { 54 m_convexBodyWrap = 0; 55 m_triBodyWrap = 0; 56 } 57 virtual ~btConvexTriangleCallback(); 58 59 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); 60 61 void clearCache(); 62 getAabbMin()63 SIMD_FORCE_INLINE const btVector3& getAabbMin() const 64 { 65 return m_aabbMin; 66 } getAabbMax()67 SIMD_FORCE_INLINE const btVector3& getAabbMax() const 68 { 69 return m_aabbMax; 70 } 71 72 }; 73 74 75 76 77 /// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes. 78 class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm 79 { 80 81 bool m_isSwapped; 82 83 btConvexTriangleCallback m_btConvexTriangleCallback; 84 85 86 87 public: 88 89 btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); 90 91 virtual ~btConvexConcaveCollisionAlgorithm(); 92 93 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 94 95 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 96 97 virtual void getAllContactManifolds(btManifoldArray& manifoldArray); 98 99 void clearCache(); 100 101 struct CreateFunc :public btCollisionAlgorithmCreateFunc 102 { CreateCollisionAlgorithmCreateFunc103 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 104 { 105 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); 106 return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); 107 } 108 }; 109 110 struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc 111 { CreateCollisionAlgorithmSwappedCreateFunc112 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) 113 { 114 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); 115 return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); 116 } 117 }; 118 119 }; 120 121 #endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H 122