1 /*! \file btGImpactShape.h 2 \author Francisco Leon Najera 3 */ 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 27 #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h" 28 #include "BulletCollision/BroadphaseCollision/btDispatcher.h" 29 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h" 30 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 31 class btDispatcher; 32 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" 33 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" 34 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" 35 36 #include "LinearMath/btAlignedObjectArray.h" 37 38 #include "btGImpactShape.h" 39 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" 40 #include "BulletCollision/CollisionShapes/btCompoundShape.h" 41 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h" 42 #include "LinearMath/btIDebugDraw.h" 43 44 45 46 //! Collision Algorithm for GImpact Shapes 47 /*! 48 For register this algorithm in Bullet, proceed as following: 49 \code 50 btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher()); 51 btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher); 52 \endcode 53 */ 54 class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm 55 { 56 protected: 57 btCollisionAlgorithm * m_convex_algorithm; 58 btPersistentManifold * m_manifoldPtr; 59 btManifoldResult* m_resultOut; 60 const btDispatcherInfo * m_dispatchInfo; 61 int m_triface0; 62 int m_part0; 63 int m_triface1; 64 int m_part1; 65 66 67 //! Creates a new contact point newContactManifold(btCollisionObject * body0,btCollisionObject * body1)68 SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(btCollisionObject* body0,btCollisionObject* body1) 69 { 70 m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1); 71 return m_manifoldPtr; 72 } 73 destroyConvexAlgorithm()74 SIMD_FORCE_INLINE void destroyConvexAlgorithm() 75 { 76 if(m_convex_algorithm) 77 { 78 m_convex_algorithm->~btCollisionAlgorithm(); 79 m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm); 80 m_convex_algorithm = NULL; 81 } 82 } 83 destroyContactManifolds()84 SIMD_FORCE_INLINE void destroyContactManifolds() 85 { 86 if(m_manifoldPtr == NULL) return; 87 m_dispatcher->releaseManifold(m_manifoldPtr); 88 m_manifoldPtr = NULL; 89 } 90 clearCache()91 SIMD_FORCE_INLINE void clearCache() 92 { 93 destroyContactManifolds(); 94 destroyConvexAlgorithm(); 95 96 m_triface0 = -1; 97 m_part0 = -1; 98 m_triface1 = -1; 99 m_part1 = -1; 100 } 101 getLastManifold()102 SIMD_FORCE_INLINE btPersistentManifold* getLastManifold() 103 { 104 return m_manifoldPtr; 105 } 106 107 108 // Call before process collision checkManifold(btCollisionObject * body0,btCollisionObject * body1)109 SIMD_FORCE_INLINE void checkManifold(btCollisionObject* body0,btCollisionObject* body1) 110 { 111 if(getLastManifold() == 0) 112 { 113 newContactManifold(body0,body1); 114 } 115 116 m_resultOut->setPersistentManifold(getLastManifold()); 117 } 118 119 // Call before process collision newAlgorithm(btCollisionObject * body0,btCollisionObject * body1)120 SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(btCollisionObject* body0,btCollisionObject* body1) 121 { 122 checkManifold(body0,body1); 123 124 btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( 125 body0,body1,getLastManifold()); 126 return convex_algorithm ; 127 } 128 129 // Call before process collision checkConvexAlgorithm(btCollisionObject * body0,btCollisionObject * body1)130 SIMD_FORCE_INLINE void checkConvexAlgorithm(btCollisionObject* body0,btCollisionObject* body1) 131 { 132 if(m_convex_algorithm) return; 133 m_convex_algorithm = newAlgorithm(body0,body1); 134 } 135 136 137 138 139 void addContactPoint(btCollisionObject * body0, 140 btCollisionObject * body1, 141 const btVector3 & point, 142 const btVector3 & normal, 143 btScalar distance); 144 145 //! Collision routines 146 //!@{ 147 148 void collide_gjk_triangles(btCollisionObject * body0, 149 btCollisionObject * body1, 150 btGImpactMeshShapePart * shape0, 151 btGImpactMeshShapePart * shape1, 152 const int * pairs, int pair_count); 153 154 void collide_sat_triangles(btCollisionObject * body0, 155 btCollisionObject * body1, 156 btGImpactMeshShapePart * shape0, 157 btGImpactMeshShapePart * shape1, 158 const int * pairs, int pair_count); 159 160 161 162 163 void shape_vs_shape_collision( 164 btCollisionObject * body0, 165 btCollisionObject * body1, 166 btCollisionShape * shape0, 167 btCollisionShape * shape1); 168 169 void convex_vs_convex_collision(btCollisionObject * body0, 170 btCollisionObject * body1, 171 btCollisionShape * shape0, 172 btCollisionShape * shape1); 173 174 175 176 void gimpact_vs_gimpact_find_pairs( 177 const btTransform & trans0, 178 const btTransform & trans1, 179 btGImpactShapeInterface * shape0, 180 btGImpactShapeInterface * shape1,btPairSet & pairset); 181 182 void gimpact_vs_shape_find_pairs( 183 const btTransform & trans0, 184 const btTransform & trans1, 185 btGImpactShapeInterface * shape0, 186 btCollisionShape * shape1, 187 btAlignedObjectArray<int> & collided_primitives); 188 189 190 void gimpacttrimeshpart_vs_plane_collision( 191 btCollisionObject * body0, 192 btCollisionObject * body1, 193 btGImpactMeshShapePart * shape0, 194 btStaticPlaneShape * shape1,bool swapped); 195 196 197 public: 198 199 btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1); 200 201 virtual ~btGImpactCollisionAlgorithm(); 202 203 virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 204 205 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); 206 getAllContactManifolds(btManifoldArray & manifoldArray)207 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) 208 { 209 if (m_manifoldPtr) 210 manifoldArray.push_back(m_manifoldPtr); 211 } 212 213 214 struct CreateFunc :public btCollisionAlgorithmCreateFunc 215 { CreateCollisionAlgorithmCreateFunc216 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) 217 { 218 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm)); 219 return new(mem) btGImpactCollisionAlgorithm(ci,body0,body1); 220 } 221 }; 222 223 //! Use this function for register the algorithm externally 224 static void registerAlgorithm(btCollisionDispatcher * dispatcher); 225 #ifdef TRI_COLLISION_PROFILING 226 //! Gets the average time in miliseconds of tree collisions 227 static float getAverageTreeCollisionTime(); 228 229 //! Gets the average time in miliseconds of triangle collisions 230 static float getAverageTriangleCollisionTime(); 231 #endif //TRI_COLLISION_PROFILING 232 233 //! Collides two gimpact shapes 234 /*! 235 \pre shape0 and shape1 couldn't be btGImpactMeshShape objects 236 */ 237 238 239 void gimpact_vs_gimpact(btCollisionObject * body0, 240 btCollisionObject * body1, 241 btGImpactShapeInterface * shape0, 242 btGImpactShapeInterface * shape1); 243 244 void gimpact_vs_shape(btCollisionObject * body0, 245 btCollisionObject * body1, 246 btGImpactShapeInterface * shape0, 247 btCollisionShape * shape1,bool swapped); 248 249 void gimpact_vs_compoundshape(btCollisionObject * body0, 250 btCollisionObject * body1, 251 btGImpactShapeInterface * shape0, 252 btCompoundShape * shape1,bool swapped); 253 254 void gimpact_vs_concave( 255 btCollisionObject * body0, 256 btCollisionObject * body1, 257 btGImpactShapeInterface * shape0, 258 btConcaveShape * shape1,bool swapped); 259 260 261 262 263 /// Accessor/Mutator pairs for Part and triangleID setFace0(int value)264 void setFace0(int value) 265 { 266 m_triface0 = value; 267 } getFace0()268 int getFace0() 269 { 270 return m_triface0; 271 } setFace1(int value)272 void setFace1(int value) 273 { 274 m_triface1 = value; 275 } getFace1()276 int getFace1() 277 { 278 return m_triface1; 279 } setPart0(int value)280 void setPart0(int value) 281 { 282 m_part0 = value; 283 } getPart0()284 int getPart0() 285 { 286 return m_part0; 287 } setPart1(int value)288 void setPart1(int value) 289 { 290 m_part1 = value; 291 } getPart1()292 int getPart1() 293 { 294 return m_part1; 295 } 296 297 }; 298 299 300 //algorithm details 301 //#define BULLET_TRIANGLE_COLLISION 1 302 #define GIMPACT_VS_PLANE_COLLISION 1 303 304 305 306 #endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H 307