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Differential D8762 Diff 28333 extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h

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extern/bullet2/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h

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class btDispatcher; class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class btSoftBody; class btSoftBody;
class btCollisionShape; class btCollisionShape;
#include "LinearMath/btHashMap.h" #include "LinearMath/btHashMap.h"
#include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h" //for definition of MAX_NUM_PARTS_IN_BITS
struct btTriIndex struct btTriIndex
{ {
int m_PartIdTriangleIndex; int m_PartIdTriangleIndex;
class btCollisionShape* m_childShape; class btCollisionShape* m_childShape;
btTriIndex(int partId,int triangleIndex,btCollisionShape* shape) btTriIndex(int partId, int triangleIndex, btCollisionShape* shape)
{ {
m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex; m_PartIdTriangleIndex = (partId << (31 - MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
m_childShape = shape; m_childShape = shape;
} }
int getTriangleIndex() const int getTriangleIndex() const
{ {
// Get only the lower bits where the triangle index is stored // Get only the lower bits where the triangle index is stored
unsigned int x = 0; unsigned int x = 0;
unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS); unsigned int y = (~(x & 0)) << (31 - MAX_NUM_PARTS_IN_BITS);
return (m_PartIdTriangleIndex&~(y)); return (m_PartIdTriangleIndex & ~(y));
} }
int getPartId() const int getPartId() const
{ {
// Get only the highest bits where the part index is stored // Get only the highest bits where the part index is stored
return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS)); return (m_PartIdTriangleIndex >> (31 - MAX_NUM_PARTS_IN_BITS));
} }
int getUid() const int getUid() const
{ {
return m_PartIdTriangleIndex; return m_PartIdTriangleIndex;
} }
}; };
///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
class btSoftBodyTriangleCallback : public btTriangleCallback class btSoftBodyTriangleCallback : public btTriangleCallback
{ {
btSoftBody* m_softBody; btSoftBody* m_softBody;
const btCollisionObject* m_triBody; const btCollisionObject* m_triBody;
btVector3 m_aabbMin; btVector3 m_aabbMin;
btVector3 m_aabbMax ; btVector3 m_aabbMax;
btManifoldResult* m_resultOut; btManifoldResult* m_resultOut;
btDispatcher* m_dispatcher; btDispatcher* m_dispatcher;
const btDispatcherInfo* m_dispatchInfoPtr; const btDispatcherInfo* m_dispatchInfoPtr;
btScalar m_collisionMarginTriangle; btScalar m_collisionMarginTriangle;
btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache; btHashMap<btHashKey<btTriIndex>, btTriIndex> m_shapeCache;
public: public:
int m_triangleCount; int m_triangleCount;
// btPersistentManifold* m_manifoldPtr; // btPersistentManifold* m_manifoldPtr;
btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); btSoftBodyTriangleCallback(btDispatcher* dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper* triObjWrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
virtual ~btSoftBodyTriangleCallback(); virtual ~btSoftBodyTriangleCallback();
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex); virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
void clearCache(); void clearCache();
SIMD_FORCE_INLINE const btVector3& getAabbMin() const SIMD_FORCE_INLINE const btVector3& getAabbMin() const
{ {
return m_aabbMin; return m_aabbMin;
} }
SIMD_FORCE_INLINE const btVector3& getAabbMax() const SIMD_FORCE_INLINE const btVector3& getAabbMax() const
{ {
return m_aabbMax; return m_aabbMax;
} }
}; };
/// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. /// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes.
class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
{ {
bool m_isSwapped; bool m_isSwapped;
btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback; btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
public: public:
btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped); btSoftBodyConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
virtual ~btSoftBodyConcaveCollisionAlgorithm(); virtual ~btSoftBodyConcaveCollisionAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray) virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
{ {
//we don't add any manifolds //we don't add any manifolds
} }
void clearCache(); void clearCache();
struct CreateFunc :public btCollisionAlgorithmCreateFunc struct CreateFunc : public btCollisionAlgorithmCreateFunc
{ {
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
{ {
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false); return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
} }
}; };
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
{ {
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
{ {
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm)); void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true); return new (mem) btSoftBodyConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
} }
}; };
}; };
#endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H