| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| 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 CONVEX_CONCAVE_COLLISION_ALGORITHM_H |
| #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H |
| |
| #include "btActivatingCollisionAlgorithm.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 "btCollisionCreateFunc.h" |
| |
| ///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called. |
| class btConvexTriangleCallback : public btTriangleCallback |
| { |
| btCollisionObject* m_convexBody; |
| btCollisionObject* m_triBody; |
| |
| btVector3 m_aabbMin; |
| btVector3 m_aabbMax ; |
| |
| |
| btManifoldResult* m_resultOut; |
| btDispatcher* m_dispatcher; |
| const btDispatcherInfo* m_dispatchInfoPtr; |
| btScalar m_collisionMarginTriangle; |
| |
| public: |
| int m_triangleCount; |
| |
| btPersistentManifold* m_manifoldPtr; |
| |
| btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); |
| |
| void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual ~btConvexTriangleCallback(); |
| |
| 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; |
| } |
| |
| }; |
| |
| |
| |
| |
| /// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes. |
| class btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm |
| { |
| |
| bool m_isSwapped; |
| |
| btConvexTriangleCallback m_btConvexTriangleCallback; |
| |
| |
| |
| public: |
| |
| btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped); |
| |
| virtual ~btConvexConcaveCollisionAlgorithm(); |
| |
| virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual void getAllContactManifolds(btManifoldArray& manifoldArray); |
| |
| void clearCache(); |
| |
| struct CreateFunc :public btCollisionAlgorithmCreateFunc |
| { |
| virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
| { |
| void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); |
| return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false); |
| } |
| }; |
| |
| struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc |
| { |
| virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
| { |
| void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm)); |
| return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true); |
| } |
| }; |
| |
| }; |
| |
| #endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H |