147 lines
5.5 KiB
C++
147 lines
5.5 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
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
|