btSoftBodyConcaveCollisionAlgorithm.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_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" //for definition of MAX_NUM_PARTS_IN_BITS
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                 // Get only the lower bits where the triangle index is stored
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                 // Get only the highest bits where the part index is stored
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         //      btPersistentManifold*   m_manifoldPtr;
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                 //we don't add any manifolds
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