Bullet Collision Detection & Physics Library
btSoftBodyConcaveCollisionAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
17 #define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
18 
24 class btDispatcher;
27 class btSoftBody;
28 class btCollisionShape;
29 
30 #include "LinearMath/btHashMap.h"
31 
32 #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
33 
34 struct btTriIndex
35 {
38 
39  btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
40  {
41  m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
42  m_childShape = shape;
43  }
44 
45  int getTriangleIndex() const
46  {
47  // Get only the lower bits where the triangle index is stored
48  unsigned int x = 0;
49  unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
50  return (m_PartIdTriangleIndex&~(y));
51  }
52  int getPartId() const
53  {
54  // Get only the highest bits where the part index is stored
55  return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
56  }
57  int getUid() const
58  {
59  return m_PartIdTriangleIndex;
60  }
61 };
62 
63 
66 {
69 
72 
74 
78 
80 
81 public:
83 
84  // btPersistentManifold* m_manifoldPtr;
85 
86  btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
87 
88  void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
89 
90  virtual ~btSoftBodyTriangleCallback();
91 
92  virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
93 
94  void clearCache();
95 
97  {
98  return m_aabbMin;
99  }
101  {
102  return m_aabbMax;
103  }
104 
105 };
106 
107 
108 
109 
112 {
113 
115 
117 
118 public:
119 
121 
123 
124  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
125 
127 
128  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
129  {
130  //we don't add any manifolds
131  }
132 
133  void clearCache();
134 
136  {
138  {
140  return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
141  }
142  };
143 
145  {
147  {
149  return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
150  }
151  };
152 
153 };
154 
155 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btTriIndex(int partId, int triangleIndex, btCollisionShape *shape)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btManifoldResult is a helper class to manage contact results.
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:213
#define MAX_NUM_PARTS_IN_BITS
virtual void * allocateCollisionAlgorithm(int size)=0
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btCollisionObject can be used to manage collision detection objects.
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) triange...
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btHashMap< btHashKey< btTriIndex >, btTriIndex > m_shapeCache
class btCollisionShape * m_childShape
For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:71
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292