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00016 #ifndef BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
00017 #define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
00018
00019 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.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 "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
00027 class btSoftBody;
00028 class btCollisionShape;
00029
00030 #include "LinearMath/btHashMap.h"
00031
00032 #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
00033
00034 struct btTriIndex
00035 {
00036 int m_PartIdTriangleIndex;
00037 class btCollisionShape* m_childShape;
00038
00039 btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
00040 {
00041 m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
00042 m_childShape = shape;
00043 }
00044
00045 int getTriangleIndex() const
00046 {
00047
00048 unsigned int x = 0;
00049 unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
00050 return (m_PartIdTriangleIndex&~(y));
00051 }
00052 int getPartId() const
00053 {
00054
00055 return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
00056 }
00057 int getUid() const
00058 {
00059 return m_PartIdTriangleIndex;
00060 }
00061 };
00062
00063
00065 class btSoftBodyTriangleCallback : public btTriangleCallback
00066 {
00067 btSoftBody* m_softBody;
00068 const btCollisionObject* m_triBody;
00069
00070 btVector3 m_aabbMin;
00071 btVector3 m_aabbMax ;
00072
00073 btManifoldResult* m_resultOut;
00074
00075 btDispatcher* m_dispatcher;
00076 const btDispatcherInfo* m_dispatchInfoPtr;
00077 btScalar m_collisionMarginTriangle;
00078
00079 btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
00080
00081 public:
00082 int m_triangleCount;
00083
00084
00085
00086 btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
00087
00088 void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00089
00090 virtual ~btSoftBodyTriangleCallback();
00091
00092 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
00093
00094 void clearCache();
00095
00096 SIMD_FORCE_INLINE const btVector3& getAabbMin() const
00097 {
00098 return m_aabbMin;
00099 }
00100 SIMD_FORCE_INLINE const btVector3& getAabbMax() const
00101 {
00102 return m_aabbMax;
00103 }
00104
00105 };
00106
00107
00108
00109
00111 class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
00112 {
00113
00114 bool m_isSwapped;
00115
00116 btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
00117
00118 public:
00119
00120 btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
00121
00122 virtual ~btSoftBodyConcaveCollisionAlgorithm();
00123
00124 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00125
00126 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00127
00128 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
00129 {
00130
00131 }
00132
00133 void clearCache();
00134
00135 struct CreateFunc :public btCollisionAlgorithmCreateFunc
00136 {
00137 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
00138 {
00139 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
00140 return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
00141 }
00142 };
00143
00144 struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
00145 {
00146 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
00147 {
00148 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
00149 return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
00150 }
00151 };
00152
00153 };
00154
00155 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H