117 lines
4.7 KiB
C++
117 lines
4.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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#include "btActivatingCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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class btDispatcher;
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "btCollisionCreateFunc.h"
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///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
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ATTRIBUTE_ALIGNED16(class)
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btConvexTriangleCallback : public btTriangleCallback
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{
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btVector3 m_aabbMin;
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btVector3 m_aabbMax;
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const btCollisionObjectWrapper* m_convexBodyWrap;
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const btCollisionObjectWrapper* m_triBodyWrap;
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btManifoldResult* m_resultOut;
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btDispatcher* m_dispatcher;
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const btDispatcherInfo* m_dispatchInfoPtr;
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btScalar m_collisionMarginTriangle;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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int m_triangleCount;
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btPersistentManifold* m_manifoldPtr;
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btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
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void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
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void clearWrapperData()
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{
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m_convexBodyWrap = 0;
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m_triBodyWrap = 0;
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}
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virtual ~btConvexTriangleCallback();
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virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
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void clearCache();
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SIMD_FORCE_INLINE const btVector3& getAabbMin() const
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{
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return m_aabbMin;
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}
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SIMD_FORCE_INLINE const btVector3& getAabbMax() const
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{
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return m_aabbMax;
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}
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};
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/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
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ATTRIBUTE_ALIGNED16(class)
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btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
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{
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btConvexTriangleCallback m_btConvexTriangleCallback;
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bool m_isSwapped;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
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virtual ~btConvexConcaveCollisionAlgorithm();
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virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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btScalar calculateTimeOfImpact(btCollisionObject * body0, btCollisionObject * body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
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void clearCache();
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struct CreateFunc : public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
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return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
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}
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};
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struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
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return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
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}
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};
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};
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#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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