btConvexConcaveCollisionAlgorithm.h

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
00017 #define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
00018 
00019 #include "btActivatingCollisionAlgorithm.h"
00020 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
00021 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
00022 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
00023 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
00024 class btDispatcher;
00025 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
00026 #include "btCollisionCreateFunc.h"
00027 
00029 class btConvexTriangleCallback : public btTriangleCallback
00030 {
00031         const btCollisionObjectWrapper* m_convexBodyWrap;
00032         const btCollisionObjectWrapper* m_triBodyWrap;
00033 
00034         btVector3       m_aabbMin;
00035         btVector3       m_aabbMax ;
00036 
00037 
00038         btManifoldResult* m_resultOut;
00039         btDispatcher*   m_dispatcher;
00040         const btDispatcherInfo* m_dispatchInfoPtr;
00041         btScalar m_collisionMarginTriangle;
00042         
00043 public:
00044 int     m_triangleCount;
00045         
00046         btPersistentManifold*   m_manifoldPtr;
00047 
00048         btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
00049 
00050         void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
00051 
00052         void    clearWrapperData()
00053         {
00054                 m_convexBodyWrap = 0;
00055                 m_triBodyWrap = 0;
00056         }
00057         virtual ~btConvexTriangleCallback();
00058 
00059         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
00060         
00061         void clearCache();
00062 
00063         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
00064         {
00065                 return m_aabbMin;
00066         }
00067         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
00068         {
00069                 return m_aabbMax;
00070         }
00071 
00072 };
00073 
00074 
00075 
00076 
00078 class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
00079 {
00080 
00081         bool    m_isSwapped;
00082 
00083         btConvexTriangleCallback m_btConvexTriangleCallback;
00084 
00085 
00086 
00087 public:
00088 
00089         btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
00090 
00091         virtual ~btConvexConcaveCollisionAlgorithm();
00092 
00093         virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00094 
00095         btScalar        calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00096 
00097         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray);
00098         
00099         void    clearCache();
00100 
00101         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
00102         {
00103                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
00104                 {
00105                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
00106                         return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
00107                 }
00108         };
00109 
00110         struct SwappedCreateFunc :public        btCollisionAlgorithmCreateFunc
00111         {
00112                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
00113                 {
00114                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
00115                         return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
00116                 }
00117         };
00118 
00119 };
00120 
00121 #endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H