Bullet Collision Detection & Physics Library
btGImpactCollisionAlgorithm.h
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1 
4 /*
5 This source file is part of GIMPACT Library.
6 
7 For the latest info, see http://gimpact.sourceforge.net/
8 
9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10 email: projectileman@yahoo.com
11 
12 
13 This software is provided 'as-is', without any express or implied warranty.
14 In no event will the authors be held liable for any damages arising from the use of this software.
15 Permission is granted to anyone to use this software for any purpose,
16 including commercial applications, and to alter it and redistribute it freely,
17 subject to the following restrictions:
18 
19 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.
20 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
21 3. This notice may not be removed or altered from any source distribution.
22 */
23 
24 #ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
25 #define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
26 
31 class btDispatcher;
35 
37 
38 #include "btGImpactShape.h"
44 
46 
54 {
55 protected:
61  int m_part0;
63  int m_part1;
64 
67  {
68  m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1);
69  return m_manifoldPtr;
70  }
71 
73  {
75  {
78  m_convex_algorithm = NULL;
79  }
80  }
81 
83  {
84  if (m_manifoldPtr == NULL) return;
86  m_manifoldPtr = NULL;
87  }
88 
90  {
93 
94  m_triface0 = -1;
95  m_part0 = -1;
96  m_triface1 = -1;
97  m_part1 = -1;
98  }
99 
101  {
102  return m_manifoldPtr;
103  }
104 
105  // Call before process collision
107  {
108  if (getLastManifold() == 0)
109  {
110  newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
111  }
112 
114  }
115 
116  // Call before process collision
118  {
119  checkManifold(body0Wrap, body1Wrap);
120 
121  btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm(
122  body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
123  return convex_algorithm;
124  }
125 
126  // Call before process collision
128  {
129  if (m_convex_algorithm) return;
130  m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap);
131  }
132 
133  void addContactPoint(const btCollisionObjectWrapper* body0Wrap,
134  const btCollisionObjectWrapper* body1Wrap,
135  const btVector3& point,
136  const btVector3& normal,
137  btScalar distance);
138 
141 
142  void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
143  const btCollisionObjectWrapper* body1Wrap,
144  const btGImpactMeshShapePart* shape0,
145  const btGImpactMeshShapePart* shape1,
146  const int* pairs, int pair_count);
147 
148  void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
149  const btCollisionObjectWrapper* body1Wrap,
150  const btGImpactMeshShapePart* shape0,
151  const btGImpactMeshShapePart* shape1,
152  const int* pairs, int pair_count);
153 
155  const btCollisionObjectWrapper* body0,
156  const btCollisionObjectWrapper* body1,
157  const btCollisionShape* shape0,
158  const btCollisionShape* shape1);
159 
161  const btCollisionObjectWrapper* body1Wrap,
162  const btCollisionShape* shape0,
163  const btCollisionShape* shape1);
164 
166  const btTransform& trans0,
167  const btTransform& trans1,
168  const btGImpactShapeInterface* shape0,
169  const btGImpactShapeInterface* shape1, btPairSet& pairset);
170 
172  const btTransform& trans0,
173  const btTransform& trans1,
174  const btGImpactShapeInterface* shape0,
175  const btCollisionShape* shape1,
176  btAlignedObjectArray<int>& collided_primitives);
177 
179  const btCollisionObjectWrapper* body0Wrap,
180  const btCollisionObjectWrapper* body1Wrap,
181  const btGImpactMeshShapePart* shape0,
182  const btStaticPlaneShape* shape1, bool swapped);
183 
184 public:
186 
188 
189  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
190 
192 
193  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
194  {
195  if (m_manifoldPtr)
196  manifoldArray.push_back(m_manifoldPtr);
197  }
198 
200  {
201  return m_resultOut;
202  }
203 
205  {
207  {
209  return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap);
210  }
211  };
212 
214  static void registerAlgorithm(btCollisionDispatcher* dispatcher);
215 #ifdef TRI_COLLISION_PROFILING
216  static float getAverageTreeCollisionTime();
218 
220  static float getAverageTriangleCollisionTime();
221 #endif //TRI_COLLISION_PROFILING
222 
224 
228  void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
229  const btCollisionObjectWrapper* body1Wrap,
230  const btGImpactShapeInterface* shape0,
231  const btGImpactShapeInterface* shape1);
232 
233  void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
234  const btCollisionObjectWrapper* body1Wrap,
235  const btGImpactShapeInterface* shape0,
236  const btCollisionShape* shape1, bool swapped);
237 
239  const btCollisionObjectWrapper* body1Wrap,
240  const btGImpactShapeInterface* shape0,
241  const btCompoundShape* shape1, bool swapped);
242 
243  void gimpact_vs_concave(
244  const btCollisionObjectWrapper* body0Wrap,
245  const btCollisionObjectWrapper* body1Wrap,
246  const btGImpactShapeInterface* shape0,
247  const btConcaveShape* shape1, bool swapped);
248 
250  void setFace0(int value)
251  {
252  m_triface0 = value;
253  }
254  int getFace0()
255  {
256  return m_triface0;
257  }
258  void setFace1(int value)
259  {
260  m_triface1 = value;
261  }
262  int getFace1()
263  {
264  return m_triface1;
265  }
266  void setPart0(int value)
267  {
268  m_part0 = value;
269  }
270  int getPart0()
271  {
272  return m_part0;
273  }
274  void setPart1(int value)
275  {
276  m_part1 = value;
277  }
278  int getPart1()
279  {
280  return m_part1;
281  }
282 };
283 
284 //algorithm details
285 //#define BULLET_TRIANGLE_COLLISION 1
286 #define GIMPACT_VS_PLANE_COLLISION 1
287 
288 #endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs
void gimpact_vs_shape_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, btAlignedObjectArray< int > &collided_primitives)
Definition: btGImpactCollisionAlgorithm.cpp:276
btGImpactCollisionAlgorithm::collide_gjk_triangles
void collide_gjk_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Collision routines.
Definition: btGImpactCollisionAlgorithm.cpp:313
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm
btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.cpp:183
btGImpactCollisionAlgorithm::setPart0
void setPart0(int value)
Definition: btGImpactCollisionAlgorithm.h:266
btGImpactCollisionAlgorithm::clearCache
void clearCache()
Definition: btGImpactCollisionAlgorithm.h:89
btGImpactCollisionAlgorithm::checkConvexAlgorithm
void checkConvexAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:127
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:66
btActivatingCollisionAlgorithm.h
btGImpactCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btGImpactCollisionAlgorithm.h:193
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btGImpactCollisionAlgorithm::m_triface0
int m_triface0
Definition: btGImpactCollisionAlgorithm.h:60
btGImpactCollisionAlgorithm::m_triface1
int m_triface1
Definition: btGImpactCollisionAlgorithm.h:62
btCollisionObjectWrapper.h
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btGImpactCollisionAlgorithm::destroyContactManifolds
void destroyContactManifolds()
Definition: btGImpactCollisionAlgorithm.h:82
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:37
btGImpactCollisionAlgorithm::internalGetResultOut
btManifoldResult * internalGetResultOut()
Definition: btGImpactCollisionAlgorithm.h:199
btGImpactCollisionAlgorithm::m_part1
int m_part1
Definition: btGImpactCollisionAlgorithm.h:63
btCompoundShape.h
btGImpactCollisionAlgorithm::destroyConvexAlgorithm
void destroyConvexAlgorithm()
Definition: btGImpactCollisionAlgorithm.h:72
btGImpactCollisionAlgorithm::m_resultOut
btManifoldResult * m_resultOut
Definition: btGImpactCollisionAlgorithm.h:58
btGImpactCollisionAlgorithm::m_part0
int m_part0
Definition: btGImpactCollisionAlgorithm.h:61
btGImpactMeshShapePart
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:502
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs
void gimpact_vs_gimpact_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1, btPairSet &pairset)
Definition: btGImpactCollisionAlgorithm.cpp:242
BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:70
btPairSet
A pairset array.
Definition: btGImpactBvh.h:34
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:42
btGImpactCollisionAlgorithm::CreateFunc
Definition: btGImpactCollisionAlgorithm.h:204
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btGImpactCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btGImpactCollisionAlgorithm.cpp:833
btGImpactCollisionAlgorithm::gimpact_vs_shape
void gimpact_vs_shape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:510
btGImpactCollisionAlgorithm::getPart1
int getPart1()
Definition: btGImpactCollisionAlgorithm.h:278
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btStaticPlaneShape.h
btGImpactCollisionAlgorithm::collide_sat_triangles
void collide_sat_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Definition: btGImpactCollisionAlgorithm.cpp:347
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btGImpactCollisionAlgorithm::gimpact_vs_compoundshape
void gimpact_vs_compoundshape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCompoundShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:619
btGImpactCollisionAlgorithm::addContactPoint
void addContactPoint(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btVector3 &point, const btVector3 &normal, btScalar distance)
Definition: btGImpactCollisionAlgorithm.cpp:195
btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm
virtual ~btGImpactCollisionAlgorithm()
Definition: btGImpactCollisionAlgorithm.cpp:190
btGImpactCollisionAlgorithm::setFace0
void setFace0(int value)
Accessor/Mutator pairs for Part and triangleID.
Definition: btGImpactCollisionAlgorithm.h:250
btGImpactCollisionAlgorithm::m_convex_algorithm
btCollisionAlgorithm * m_convex_algorithm
Definition: btGImpactCollisionAlgorithm.h:56
btGImpactCollisionAlgorithm::getFace0
int getFace0()
Definition: btGImpactCollisionAlgorithm.h:254
btGImpactCollisionAlgorithm::registerAlgorithm
static void registerAlgorithm(btCollisionDispatcher *dispatcher)
Use this function for register the algorithm externally.
Definition: btGImpactCollisionAlgorithm.cpp:841
btGImpactCollisionAlgorithm::m_dispatchInfo
const btDispatcherInfo * m_dispatchInfo
Definition: btGImpactCollisionAlgorithm.h:59
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39
btGImpactCollisionAlgorithm::checkManifold
void checkManifold(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:106
btGImpactCollisionAlgorithm::newAlgorithm
btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:117
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btBroadphaseInterface.h
btGImpactCollisionAlgorithm::gimpact_vs_concave
void gimpact_vs_concave(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btConcaveShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:769
btDispatcherInfo
Definition: btDispatcher.h:30
btAlignedObjectArray< int >
btDispatcher.h
btGImpactCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btGImpactCollisionAlgorithm.cpp:795
btGImpactCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:206
btCollisionCreateFunc.h
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btPersistentManifold.h
btBroadphaseProxy.h
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:55
btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision
void gimpacttrimeshpart_vs_plane_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btStaticPlaneShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:660
btGImpactShapeInterface
Base class for gimpact shapes.
Definition: btGImpactShape.h:73
btGImpactCollisionAlgorithm::getFace1
int getFace1()
Definition: btGImpactCollisionAlgorithm.h:262
btGImpactCollisionAlgorithm::newContactManifold
btPersistentManifold * newContactManifold(const btCollisionObject *body0, const btCollisionObject *body1)
Creates a new contact point.
Definition: btGImpactCollisionAlgorithm.h:66
btIDebugDraw.h
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
Definition: btStaticPlaneShape.h:22
btGImpactCollisionAlgorithm::gimpact_vs_gimpact
void gimpact_vs_gimpact(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1)
Collides two gimpact shapes.
Definition: btGImpactCollisionAlgorithm.cpp:410
btGImpactCollisionAlgorithm::setFace1
void setFace1(int value)
Definition: btGImpactCollisionAlgorithm.h:258
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btGImpactCollisionAlgorithm::convex_vs_convex_collision
void convex_vs_convex_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btCollisionShape *shape0, const btCollisionShape *shape1)
Definition: btGImpactCollisionAlgorithm.cpp:227
btAlignedObjectArray.h
btGImpactCollisionAlgorithm::setPart1
void setPart1(int value)
Definition: btGImpactCollisionAlgorithm.h:274
btGImpactCollisionAlgorithm::getLastManifold
btPersistentManifold * getLastManifold()
Definition: btGImpactCollisionAlgorithm.h:100
btGImpactCollisionAlgorithm
Collision Algorithm for GImpact Shapes.
Definition: btGImpactCollisionAlgorithm.h:53
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:264
btGImpactCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btGImpactCollisionAlgorithm.h:57
btConvexConvexAlgorithm.h
btCollisionDispatcher.h
btGImpactShape.h
btGImpactCollisionAlgorithm::shape_vs_shape_collision
void shape_vs_shape_collision(const btCollisionObjectWrapper *body0, const btCollisionObjectWrapper *body1, const btCollisionShape *shape0, const btCollisionShape *shape1)
Definition: btGImpactCollisionAlgorithm.cpp:207
btGImpactCollisionAlgorithm::getPart0
int getPart0()
Definition: btGImpactCollisionAlgorithm.h:270