Bullet Collision Detection & Physics Library
btConvexConcaveCollisionAlgorithm.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_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
17 #define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
18 
24 class btDispatcher;
26 #include "btCollisionCreateFunc.h"
27 
31 {
34 
37 
42 
43 public:
45 
47 
49 
50  btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
51 
52  void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
53 
55  {
56  m_convexBodyWrap = 0;
57  m_triBodyWrap = 0;
58  }
59  virtual ~btConvexTriangleCallback();
60 
61  virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
62 
63  void clearCache();
64 
66  {
67  return m_aabbMin;
68  }
70  {
71  return m_aabbMax;
72  }
73 };
74 
78 {
80 
82 
83 public:
85 
87 
89 
90  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
91 
93 
94  virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
95 
96  void clearCache();
97 
99  {
101  {
103  return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
104  }
105  };
106 
108  {
110  {
112  return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
113  }
114  };
115 };
116 
117 #endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
btConvexConcaveCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btConvexConcaveCollisionAlgorithm.h:81
btConvexTriangleCallback::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexConcaveCollisionAlgorithm.h:48
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btConvexTriangleCallback::m_resultOut
btManifoldResult * m_resultOut
Definition: btConvexConcaveCollisionAlgorithm.h:38
getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btEmptyCollisionAlgorithm.h:35
btActivatingCollisionAlgorithm.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btConvexTriangleCallback::m_dispatchInfoPtr
const btDispatcherInfo * m_dispatchInfoPtr
Definition: btConvexConcaveCollisionAlgorithm.h:40
btConvexTriangleCallback::m_convexBodyWrap
const btCollisionObjectWrapper * m_convexBodyWrap
Definition: btConvexConcaveCollisionAlgorithm.h:35
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btConvexConcaveCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvexConcaveCollisionAlgorithm.h:100
btConvexConcaveCollisionAlgorithm::CreateFunc
Definition: btConvexConcaveCollisionAlgorithm.h:98
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btConvexConcaveCollisionAlgorithm::SwappedCreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvexConcaveCollisionAlgorithm.h:109
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btConvexTriangleCallback::m_aabbMax
btVector3 m_aabbMax
Definition: btConvexConcaveCollisionAlgorithm.h:33
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btConvexTriangleCallback::clearWrapperData
void clearWrapperData()
Definition: btConvexConcaveCollisionAlgorithm.h:54
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btConvexConcaveCollisionAlgorithm
btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges mes...
Definition: btConvexConcaveCollisionAlgorithm.h:76
btConvexTriangleCallback::m_triBodyWrap
const btCollisionObjectWrapper * m_triBodyWrap
Definition: btConvexConcaveCollisionAlgorithm.h:36
btConvexTriangleCallback::m_triangleCount
int m_triangleCount
Definition: btConvexConcaveCollisionAlgorithm.h:46
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:23
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
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
btConvexConcaveCollisionAlgorithm::SwappedCreateFunc
Definition: btConvexConcaveCollisionAlgorithm.h:107
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btConvexTriangleCallback
For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy),...
Definition: btConvexConcaveCollisionAlgorithm.h:29
btBroadphaseInterface.h
btDispatcherInfo
Definition: btDispatcher.h:30
btAlignedObjectArray< btPersistentManifold * >
btDispatcher.h
btCollisionCreateFunc.h
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btPersistentManifold.h
btBroadphaseProxy.h
btConvexTriangleCallback::getAabbMax
const btVector3 & getAabbMax() const
Definition: btConvexConcaveCollisionAlgorithm.h:69
btConvexConcaveCollisionAlgorithm::m_btConvexTriangleCallback
btConvexTriangleCallback m_btConvexTriangleCallback
Definition: btConvexConcaveCollisionAlgorithm.h:79
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btConvexTriangleCallback::getAabbMin
const btVector3 & getAabbMin() const
Definition: btConvexConcaveCollisionAlgorithm.h:65
btConvexTriangleCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btConvexConcaveCollisionAlgorithm.h:39
btTriangleCallback.h
btConvexTriangleCallback::m_aabbMin
btVector3 m_aabbMin
Definition: btConvexConcaveCollisionAlgorithm.h:32
btConvexTriangleCallback::m_collisionMarginTriangle
btScalar m_collisionMarginTriangle
Definition: btConvexConcaveCollisionAlgorithm.h:41