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Diffstat (limited to 'thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h')
| -rw-r--r-- | thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h | 147 |
1 files changed, 0 insertions, 147 deletions
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h b/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h deleted file mode 100644 index 3adedbd805..0000000000 --- a/thirdparty/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h +++ /dev/null @@ -1,147 +0,0 @@ -/* -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_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H -#define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H - -#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.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 "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" -class btSoftBody; -class btCollisionShape; - -#include "LinearMath/btHashMap.h" - -#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS - -struct btTriIndex -{ - int m_PartIdTriangleIndex; - class btCollisionShape* m_childShape; - - btTriIndex(int partId, int triangleIndex, btCollisionShape* shape) - { - m_PartIdTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex; - m_childShape = shape; - } - - int getTriangleIndex() const - { - // Get only the lower bits where the triangle index is stored - unsigned int x = 0; - unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS); - return (m_PartIdTriangleIndex & ~(y)); - } - int getPartId() const - { - // Get only the highest bits where the part index is stored - return (m_PartIdTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS)); - } - int getUid() const - { - return m_PartIdTriangleIndex; - } -}; - -///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. -class btSoftBodyTriangleCallback : public btTriangleCallback -{ - btSoftBody* m_softBody; - const btCollisionObject* m_triBody; - - btVector3 m_aabbMin; - btVector3 m_aabbMax; - - btManifoldResult* m_resultOut; - - btDispatcher* m_dispatcher; - const btDispatcherInfo* m_dispatchInfoPtr; - btScalar m_collisionMarginTriangle; - - btHashMap<btHashKey<btTriIndex>, btTriIndex> m_shapeCache; - -public: - int m_triangleCount; - - // btPersistentManifold* m_manifoldPtr; - - btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped); - - void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triObjWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - - virtual ~btSoftBodyTriangleCallback(); - - 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; - } -}; - -/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. -class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm -{ - bool m_isSwapped; - - btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback; - -public: - btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped); - - virtual ~btSoftBodyConcaveCollisionAlgorithm(); - - 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) - { - //we don't add any manifolds - } - - void clearCache(); - - struct CreateFunc : public btCollisionAlgorithmCreateFunc - { - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) - { - void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); - return new (mem) btSoftBodyConcaveCollisionAlgorithm(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(btSoftBodyConcaveCollisionAlgorithm)); - return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true); - } - }; -}; - -#endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H |