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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h | 127 |
1 files changed, 127 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h new file mode 100644 index 0000000000..93d842ef50 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h @@ -0,0 +1,127 @@ +/* +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" + +///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called. +ATTRIBUTE_ALIGNED16(class) btConvexTriangleCallback : public btTriangleCallback +{ + + btVector3 m_aabbMin; + btVector3 m_aabbMax ; + + const btCollisionObjectWrapper* m_convexBodyWrap; + const btCollisionObjectWrapper* m_triBodyWrap; + + + + btManifoldResult* m_resultOut; + btDispatcher* m_dispatcher; + const btDispatcherInfo* m_dispatchInfoPtr; + btScalar m_collisionMarginTriangle; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + +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; + } + +}; + + + + +/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes. +ATTRIBUTE_ALIGNED16(class) btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm +{ + + btConvexTriangleCallback m_btConvexTriangleCallback; + + bool m_isSwapped; + + + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + 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 |