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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h | 288 |
1 files changed, 0 insertions, 288 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h deleted file mode 100644 index a368c8a0c0..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +++ /dev/null @@ -1,288 +0,0 @@ -/*! \file btGImpactShape.h -\author Francisco Leon Najera -*/ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -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_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H -#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H - -#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" -#include "BulletCollision/BroadphaseCollision/btDispatcher.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -class btDispatcher; -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" - -#include "LinearMath/btAlignedObjectArray.h" - -#include "btGImpactShape.h" -#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" -#include "BulletCollision/CollisionShapes/btCompoundShape.h" -#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" -#include "LinearMath/btIDebugDraw.h" -#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" - -//! Collision Algorithm for GImpact Shapes -/*! -For register this algorithm in Bullet, proceed as following: - \code -btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher()); -btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); - \endcode -*/ -class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm -{ -protected: - btCollisionAlgorithm* m_convex_algorithm; - btPersistentManifold* m_manifoldPtr; - btManifoldResult* m_resultOut; - const btDispatcherInfo* m_dispatchInfo; - int m_triface0; - int m_part0; - int m_triface1; - int m_part1; - - //! Creates a new contact point - SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0, const btCollisionObject* body1) - { - m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1); - return m_manifoldPtr; - } - - SIMD_FORCE_INLINE void destroyConvexAlgorithm() - { - if (m_convex_algorithm) - { - m_convex_algorithm->~btCollisionAlgorithm(); - m_dispatcher->freeCollisionAlgorithm(m_convex_algorithm); - m_convex_algorithm = NULL; - } - } - - SIMD_FORCE_INLINE void destroyContactManifolds() - { - if (m_manifoldPtr == NULL) return; - m_dispatcher->releaseManifold(m_manifoldPtr); - m_manifoldPtr = NULL; - } - - SIMD_FORCE_INLINE void clearCache() - { - destroyContactManifolds(); - destroyConvexAlgorithm(); - - m_triface0 = -1; - m_part0 = -1; - m_triface1 = -1; - m_part1 = -1; - } - - SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() - { - return m_manifoldPtr; - } - - // Call before process collision - SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) - { - if (getLastManifold() == 0) - { - newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()); - } - - m_resultOut->setPersistentManifold(getLastManifold()); - } - - // Call before process collision - SIMD_FORCE_INLINE btCollisionAlgorithm* newAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) - { - checkManifold(body0Wrap, body1Wrap); - - btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm( - body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS); - return convex_algorithm; - } - - // Call before process collision - SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) - { - if (m_convex_algorithm) return; - m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap); - } - - void addContactPoint(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btVector3& point, - const btVector3& normal, - btScalar distance); - - //! Collision routines - //!@{ - - void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart* shape0, - const btGImpactMeshShapePart* shape1, - const int* pairs, int pair_count); - - void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart* shape0, - const btGImpactMeshShapePart* shape1, - const int* pairs, int pair_count); - - void shape_vs_shape_collision( - const btCollisionObjectWrapper* body0, - const btCollisionObjectWrapper* body1, - const btCollisionShape* shape0, - const btCollisionShape* shape1); - - void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btCollisionShape* shape0, - const btCollisionShape* shape1); - - void gimpact_vs_gimpact_find_pairs( - const btTransform& trans0, - const btTransform& trans1, - const btGImpactShapeInterface* shape0, - const btGImpactShapeInterface* shape1, btPairSet& pairset); - - void gimpact_vs_shape_find_pairs( - const btTransform& trans0, - const btTransform& trans1, - const btGImpactShapeInterface* shape0, - const btCollisionShape* shape1, - btAlignedObjectArray<int>& collided_primitives); - - void gimpacttrimeshpart_vs_plane_collision( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactMeshShapePart* shape0, - const btStaticPlaneShape* shape1, bool swapped); - -public: - btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap); - - virtual ~btGImpactCollisionAlgorithm(); - - 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) - { - if (m_manifoldPtr) - manifoldArray.push_back(m_manifoldPtr); - } - - btManifoldResult* internalGetResultOut() - { - return m_resultOut; - } - - struct CreateFunc : public btCollisionAlgorithmCreateFunc - { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) - { - void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); - return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap); - } - }; - - //! Use this function for register the algorithm externally - static void registerAlgorithm(btCollisionDispatcher* dispatcher); -#ifdef TRI_COLLISION_PROFILING - //! Gets the average time in miliseconds of tree collisions - static float getAverageTreeCollisionTime(); - - //! Gets the average time in miliseconds of triangle collisions - static float getAverageTriangleCollisionTime(); -#endif //TRI_COLLISION_PROFILING - - //! Collides two gimpact shapes - /*! - \pre shape0 and shape1 couldn't be btGImpactMeshShape objects - */ - - void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btGImpactShapeInterface* shape1); - - void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btCollisionShape* shape1, bool swapped); - - void gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btCompoundShape* shape1, bool swapped); - - void gimpact_vs_concave( - const btCollisionObjectWrapper* body0Wrap, - const btCollisionObjectWrapper* body1Wrap, - const btGImpactShapeInterface* shape0, - const btConcaveShape* shape1, bool swapped); - - /// Accessor/Mutator pairs for Part and triangleID - void setFace0(int value) - { - m_triface0 = value; - } - int getFace0() - { - return m_triface0; - } - void setFace1(int value) - { - m_triface1 = value; - } - int getFace1() - { - return m_triface1; - } - void setPart0(int value) - { - m_part0 = value; - } - int getPart0() - { - return m_part0; - } - void setPart1(int value) - { - m_part1 = value; - } - int getPart1() - { - return m_part1; - } -}; - -//algorithm details -//#define BULLET_TRIANGLE_COLLISION 1 -#define GIMPACT_VS_PLANE_COLLISION 1 - -#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H |