Bullet Collision Detection & Physics Library: btSoftBodyConcaveCollisionAlgorithm.h Source File

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
19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
21 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
22 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
23 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
24 class btDispatcher;
25 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
26 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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 {
36 int m_PartIdTriangleIndex;
37 class btCollisionShape* m_childShape;
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
64 class btSoftBodyTriangleCallback : public btTriangleCallback
65 {
66 btSoftBody* m_softBody;
67 const btCollisionObject* m_triBody;
68
69 btVector3 m_aabbMin;
70 btVector3 m_aabbMax;
71
72 btManifoldResult* m_resultOut;
73
74 btDispatcher* m_dispatcher;
75 const btDispatcherInfo* m_dispatchInfoPtr;
76 btScalar m_collisionMarginTriangle;
77
78 btHashMap<btHashKey<btTriIndex>, btTriIndex> m_shapeCache;
79
80 public:
81 int m_triangleCount;
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
89 virtual ~btSoftBodyTriangleCallback();
90
91 virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
92
93 void clearCache();
94
95 SIMD_FORCE_INLINE const btVector3& getAabbMin() const
96 {
97 return m_aabbMin;
98 }
99 SIMD_FORCE_INLINE const btVector3& getAabbMax() const
100 {
101 return m_aabbMax;
102 }
103 };
104
106 class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
107 {
108 bool m_isSwapped;
109
110 btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
111
112 public:
113 btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
114
115 virtual ~btSoftBodyConcaveCollisionAlgorithm();
116
117 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
118
119 btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
120
121 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
122 {
123 //we don't add any manifolds
124 }
125
126 void clearCache();
127
128 struct CreateFunc : public btCollisionAlgorithmCreateFunc
129 {
130 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
131 {
132 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
133 return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
134 }
135 };
136
137 struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
138 {
139 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
140 {
141 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
142 return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
143 }
144 };
145 };
146
147 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
btSoftBodyTriangleCallback::m_triBody
const btCollisionObject * m_triBody
Definition: btSoftBodyConcaveCollisionAlgorithm.h:67
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btSoftBodyTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:79
btSoftBodyConcaveCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:191
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:18
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btSoftBodyConcaveCollisionAlgorithm::CreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:129
btTriIndex::btTriIndex
btTriIndex(int partId, int triangleIndex, btCollisionShape *shape)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:39
btTriIndex::getUid
int getUid() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:57
btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:139
btSoftBodyConcaveCollisionAlgorithm::btSoftBodyConcaveCollisionAlgorithm
btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:35
btTriIndex::m_PartIdTriangleIndex
int m_PartIdTriangleIndex
Definition: btSoftBodyConcaveCollisionAlgorithm.h:36
btSoftBodyTriangleCallback::m_dispatchInfoPtr
const btDispatcherInfo * m_dispatchInfoPtr
Definition: btSoftBodyConcaveCollisionAlgorithm.h:75
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
MAX_NUM_PARTS_IN_BITS
#define MAX_NUM_PARTS_IN_BITS
Definition: btQuantizedBvh.h:51
btSoftBodyTriangleCallback::btSoftBodyTriangleCallback
btSoftBodyTriangleCallback(btDispatcher *dispatcher, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:46
btTriIndex::getPartId
int getPartId() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:52
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btSoftBodyTriangleCallback::m_triangleCount
int m_triangleCount
Definition: btSoftBodyConcaveCollisionAlgorithm.h:81
btHashMap
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:220
btSoftBodyTriangleCallback::m_shapeCache
btHashMap< btHashKey< btTriIndex >, btTriIndex > m_shapeCache
Definition: btSoftBodyConcaveCollisionAlgorithm.h:78
btTriIndex
Definition: btSoftBodyConcaveCollisionAlgorithm.h:35
btSoftBodyTriangleCallback
For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody),...
Definition: btSoftBodyConcaveCollisionAlgorithm.h:65
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btSoftBodyTriangleCallback::m_softBody
btSoftBody * m_softBody
Definition: btSoftBodyConcaveCollisionAlgorithm.h:66
btSoftBodyTriangleCallback::clearCache
void clearCache()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:66
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback
virtual ~btSoftBodyTriangleCallback()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:60
btSoftBodyTriangleCallback::setTimeStepAndCounters
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper *triObjWrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:166
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btSoftBodyConcaveCollisionAlgorithm::clearCache
void clearCache()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:186
btSoftBodyTriangleCallback::m_aabbMax
btVector3 m_aabbMax
Definition: btSoftBodyConcaveCollisionAlgorithm.h:70
btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:138
btTriIndex::getTriangleIndex
int getTriangleIndex() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:45
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm
virtual ~btSoftBodyConcaveCollisionAlgorithm()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:42
btSoftBodyTriangleCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btSoftBodyConcaveCollisionAlgorithm.h:74
btSoftBodyConcaveCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:121
btQuantizedBvh.h
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btBroadphaseInterface.h
btDispatcherInfo
Definition: btDispatcher.h:31
btAlignedObjectArray< btPersistentManifold * >
btDispatcher.h
btSoftBodyConcaveCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btSoftBodyConcaveCollisionAlgorithm.h:108
btCollisionCreateFunc.h
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btPersistentManifold.h
btHashMap.h
btBroadphaseProxy.h
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:73
btSoftBodyConcaveCollisionAlgorithm::m_btSoftBodyTriangleCallback
btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback
Definition: btSoftBodyConcaveCollisionAlgorithm.h:110
btSoftBodyTriangleCallback::getAabbMin
const btVector3 & getAabbMin() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:95
btSoftBodyTriangleCallback::m_aabbMin
btVector3 m_aabbMin
Definition: btSoftBodyConcaveCollisionAlgorithm.h:69
btTriIndex::m_childShape
class btCollisionShape * m_childShape
Definition: btSoftBodyConcaveCollisionAlgorithm.h:37
btSoftBodyConcaveCollisionAlgorithm
btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) triange...
Definition: btSoftBodyConcaveCollisionAlgorithm.h:107
btSoftBodyTriangleCallback::getAabbMax
const btVector3 & getAabbMax() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:99
btTriangleCallback.h
btSoftBodyConcaveCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:130
btSoftBodyTriangleCallback::m_resultOut
btManifoldResult * m_resultOut
Definition: btSoftBodyConcaveCollisionAlgorithm.h:72
btCollisionAlgorithm.h
btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:215
btSoftBodyTriangleCallback::m_collisionMarginTriangle
btScalar m_collisionMarginTriangle
Definition: btSoftBodyConcaveCollisionAlgorithm.h:76