Bullet Collision Detection & Physics Library
btGImpactCollisionAlgorithm.h
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1
4/*
5This source file is part of GIMPACT Library.
6
7For the latest info, see http://gimpact.sourceforge.net/
8
9Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10email: projectileman@yahoo.com
11
12
13This software is provided 'as-is', without any express or implied warranty.
14In no event will the authors be held liable for any damages arising from the use of this software.
15Permission is granted to anyone to use this software for any purpose,
16including commercial applications, and to alter it and redistribute it freely,
17subject to the following restrictions:
18
191. 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.
202. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
213. 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
31class btDispatcher;
35
37
38#include "btGImpactShape.h"
44
45
47
55{
56protected:
65
66
69 {
71 return m_manifoldPtr;
72 }
73
75 {
77 {
80 m_convex_algorithm = NULL;
81 }
82 }
83
85 {
86 if(m_manifoldPtr == NULL) return;
88 m_manifoldPtr = NULL;
89 }
90
92 {
95
96 m_triface0 = -1;
97 m_part0 = -1;
98 m_triface1 = -1;
99 m_part1 = -1;
100 }
101
103 {
104 return m_manifoldPtr;
105 }
106
107
108 // Call before process collision
110 {
111 if(getLastManifold() == 0)
112 {
114 }
115
117 }
118
119 // Call before process collision
121 {
122 checkManifold(body0Wrap,body1Wrap);
123
124 btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
125 body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
126 return convex_algorithm ;
127 }
128
129 // Call before process collision
131 {
132 if(m_convex_algorithm) return;
133 m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
134 }
135
136
137
138
139 void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
140 const btCollisionObjectWrapper * body1Wrap,
141 const btVector3 & point,
142 const btVector3 & normal,
143 btScalar distance);
144
147
149 const btCollisionObjectWrapper* body1Wrap,
150 const btGImpactMeshShapePart * shape0,
151 const btGImpactMeshShapePart * shape1,
152 const int * pairs, int pair_count);
153
155 const btCollisionObjectWrapper* body1Wrap,
156 const btGImpactMeshShapePart * shape0,
157 const btGImpactMeshShapePart * shape1,
158 const int * pairs, int pair_count);
159
160
161
162
164 const btCollisionObjectWrapper* body0,
165 const btCollisionObjectWrapper* body1,
166 const btCollisionShape * shape0,
167 const btCollisionShape * shape1);
168
170 const btCollisionObjectWrapper* body1Wrap,
171 const btCollisionShape* shape0,
172 const btCollisionShape* shape1);
173
174
175
177 const btTransform & trans0,
178 const btTransform & trans1,
179 const btGImpactShapeInterface * shape0,
180 const btGImpactShapeInterface * shape1,btPairSet & pairset);
181
183 const btTransform & trans0,
184 const btTransform & trans1,
185 const btGImpactShapeInterface * shape0,
186 const btCollisionShape * shape1,
187 btAlignedObjectArray<int> & collided_primitives);
188
189
191 const btCollisionObjectWrapper * body0Wrap,
192 const btCollisionObjectWrapper * body1Wrap,
193 const btGImpactMeshShapePart * shape0,
194 const btStaticPlaneShape * shape1,bool swapped);
195
196
197public:
198
200
202
203 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
204
206
207 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
208 {
209 if (m_manifoldPtr)
210 manifoldArray.push_back(m_manifoldPtr);
211 }
212
214 {
215 return m_resultOut;
216 }
217
219 {
221 {
223 return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
224 }
225 };
226
228 static void registerAlgorithm(btCollisionDispatcher * dispatcher);
229#ifdef TRI_COLLISION_PROFILING
231 static float getAverageTreeCollisionTime();
232
234 static float getAverageTriangleCollisionTime();
235#endif //TRI_COLLISION_PROFILING
236
238
243 void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
244 const btCollisionObjectWrapper * body1Wrap,
245 const btGImpactShapeInterface * shape0,
246 const btGImpactShapeInterface * shape1);
247
248 void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
249 const btCollisionObjectWrapper* body1Wrap,
250 const btGImpactShapeInterface * shape0,
251 const btCollisionShape * shape1,bool swapped);
252
254 const btCollisionObjectWrapper * body1Wrap,
255 const btGImpactShapeInterface * shape0,
256 const btCompoundShape * shape1,bool swapped);
257
259 const btCollisionObjectWrapper * body0Wrap,
260 const btCollisionObjectWrapper * body1Wrap,
261 const btGImpactShapeInterface * shape0,
262 const btConcaveShape * shape1,bool swapped);
263
264
265
266
268 void setFace0(int value)
269 {
270 m_triface0 = value;
271 }
272 int getFace0()
273 {
274 return m_triface0;
275 }
276 void setFace1(int value)
277 {
278 m_triface1 = value;
279 }
280 int getFace1()
281 {
282 return m_triface1;
283 }
284 void setPart0(int value)
285 {
286 m_part0 = value;
287 }
288 int getPart0()
289 {
290 return m_part0;
291 }
292 void setPart1(int value)
293 {
294 m_part1 = value;
295 }
296 int getPart1()
297 {
298 return m_part1;
299 }
300
301};
302
303
304//algorithm details
305//#define BULLET_TRIANGLE_COLLISION 1
306#define GIMPACT_VS_PLANE_COLLISION 1
307
308
309
310#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
@ BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:69
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
void push_back(const T &_Val)
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
btCollisionObject can be used to manage collision detection objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
virtual void * allocateCollisionAlgorithm(int size)=0
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual void freeCollisionAlgorithm(void *ptr)=0
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
Collision Algorithm for GImpact Shapes.
btPersistentManifold * getLastManifold()
void gimpact_vs_concave(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btConcaveShape *shape1, bool swapped)
void gimpact_vs_shape_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, btAlignedObjectArray< int > &collided_primitives)
void setFace0(int value)
Accessor/Mutator pairs for Part and triangleID.
btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
void collide_gjk_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Collision routines.
btCollisionAlgorithm * m_convex_algorithm
const btDispatcherInfo * m_dispatchInfo
void checkConvexAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
void gimpact_vs_gimpact(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1)
Collides two gimpact shapes.
void gimpact_vs_compoundshape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCompoundShape *shape1, bool swapped)
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void gimpact_vs_gimpact_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1, btPairSet &pairset)
btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
void gimpacttrimeshpart_vs_plane_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btStaticPlaneShape *shape1, bool swapped)
void gimpact_vs_shape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, bool swapped)
btPersistentManifold * newContactManifold(const btCollisionObject *body0, const btCollisionObject *body1)
Creates a new contact point.
void convex_vs_convex_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btCollisionShape *shape0, const btCollisionShape *shape1)
void checkManifold(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
static void registerAlgorithm(btCollisionDispatcher *dispatcher)
Use this function for register the algorithm externally.
void collide_sat_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
void shape_vs_shape_collision(const btCollisionObjectWrapper *body0, const btCollisionObjectWrapper *body1, const btCollisionShape *shape0, const btCollisionShape *shape1)
void addContactPoint(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btVector3 &point, const btVector3 &normal, btScalar distance)
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
Base class for gimpact shapes.
btManifoldResult is a helper class to manage contact results.
void setPersistentManifold(btPersistentManifold *manifoldPtr)
A pairset array.
Definition: btGImpactBvh.h:36
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
const btCollisionObject * getCollisionObject() const
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)