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
56  }
57  int getUid() const
58  {
59  return m_PartIdTriangleIndex;
60  }
61 };
62 
65 {
68 
71 
73 
77 
79 
80 public:
82 
83  // btPersistentManifold* m_manifoldPtr;
84 
85  btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
86 
87  void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triObjWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
88 
90 
91  virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
92 
93  void clearCache();
94 
96  {
97  return m_aabbMin;
98  }
100  {
101  return m_aabbMax;
102  }
103 };
104 
107 {
109 
111 
112 public:
114 
116 
117  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
118 
120 
121  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
122  {
123  //we don't add any manifolds
124  }
125 
126  void clearCache();
127 
129  {
131  {
133  return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
134  }
135  };
136 
138  {
140  {
142  return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
143  }
144  };
145 };
146 
147 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
btSoftBodyTriangleCallback(btDispatcher *dispatcher, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
btHashMap< btHashKey< btTriIndex >, btTriIndex > m_shapeCache
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
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:83
btManifoldResult is a helper class to manage contact results.
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:219
#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.
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:80
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper *triObjWrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
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:70
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
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:294
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)