1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org 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 btTriIndexbtTriIndex39 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 getTriangleIndexbtTriIndex45 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 } getPartIdbtTriIndex52 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 } getUidbtTriIndex57 int getUid() const 58 { 59 return m_PartIdTriangleIndex; 60 } 61 }; 62 63 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called. 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 getAabbMin()95 SIMD_FORCE_INLINE const btVector3& getAabbMin() const 96 { 97 return m_aabbMin; 98 } getAabbMax()99 SIMD_FORCE_INLINE const btVector3& getAabbMax() const 100 { 101 return m_aabbMax; 102 } 103 }; 104 105 /// btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) trianges meshes. 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 getAllContactManifolds(btManifoldArray & manifoldArray)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 { CreateCollisionAlgorithmCreateFunc130 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 { CreateCollisionAlgorithmSwappedCreateFunc139 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 148