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

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btSoftBodyConcaveCollisionAlgorithm.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
24class btDispatcher;
25#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
26#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
27class btSoftBody;
28class 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
80public:
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
112public:
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
btBroadphaseInterface.h
btBroadphaseProxy.h
btCollisionAlgorithm.h
btCollisionCreateFunc.h
btDispatcher.h
btHashMap.h
btPersistentManifold.h
btQuantizedBvh.h
MAX_NUM_PARTS_IN_BITS
#define MAX_NUM_PARTS_IN_BITS
Definition: btQuantizedBvh.h:51
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btTriangleCallback.h
btAlignedObjectArray< btPersistentManifold * >
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btHashMap
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:220
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btSoftBodyConcaveCollisionAlgorithm
btSoftBodyConcaveCollisionAlgorithm supports collision between soft body shapes and (concave) triange...
Definition: btSoftBodyConcaveCollisionAlgorithm.h:107
btSoftBodyConcaveCollisionAlgorithm::clearCache
void clearCache()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:186
btSoftBodyConcaveCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:191
btSoftBodyConcaveCollisionAlgorithm::m_btSoftBodyTriangleCallback
btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback
Definition: btSoftBodyConcaveCollisionAlgorithm.h:110
btSoftBodyConcaveCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:121
btSoftBodyConcaveCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btSoftBodyConcaveCollisionAlgorithm.h:108
btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:214
btSoftBodyConcaveCollisionAlgorithm::~btSoftBodyConcaveCollisionAlgorithm
virtual ~btSoftBodyConcaveCollisionAlgorithm()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:42
btSoftBodyTriangleCallback
For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody),...
Definition: btSoftBodyConcaveCollisionAlgorithm.h:65
btSoftBodyTriangleCallback::m_triBody
const btCollisionObject * m_triBody
Definition: btSoftBodyConcaveCollisionAlgorithm.h:67
btSoftBodyTriangleCallback::processTriangle
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:79
btSoftBodyTriangleCallback::m_dispatchInfoPtr
const btDispatcherInfo * m_dispatchInfoPtr
Definition: btSoftBodyConcaveCollisionAlgorithm.h:75
btSoftBodyTriangleCallback::m_shapeCache
btHashMap< btHashKey< btTriIndex >, btTriIndex > m_shapeCache
Definition: btSoftBodyConcaveCollisionAlgorithm.h:78
btSoftBodyTriangleCallback::getAabbMax
const btVector3 & getAabbMax() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:99
btSoftBodyTriangleCallback::m_aabbMax
btVector3 m_aabbMax
Definition: btSoftBodyConcaveCollisionAlgorithm.h:70
btSoftBodyTriangleCallback::m_aabbMin
btVector3 m_aabbMin
Definition: btSoftBodyConcaveCollisionAlgorithm.h:69
btSoftBodyTriangleCallback::m_collisionMarginTriangle
btScalar m_collisionMarginTriangle
Definition: btSoftBodyConcaveCollisionAlgorithm.h:76
btSoftBodyTriangleCallback::clearCache
void clearCache()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:66
btSoftBodyTriangleCallback::m_resultOut
btManifoldResult * m_resultOut
Definition: btSoftBodyConcaveCollisionAlgorithm.h:72
btSoftBodyTriangleCallback::m_softBody
btSoftBody * m_softBody
Definition: btSoftBodyConcaveCollisionAlgorithm.h:66
btSoftBodyTriangleCallback::~btSoftBodyTriangleCallback
virtual ~btSoftBodyTriangleCallback()
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:60
btSoftBodyTriangleCallback::getAabbMin
const btVector3 & getAabbMin() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:95
btSoftBodyTriangleCallback::m_triangleCount
int m_triangleCount
Definition: btSoftBodyConcaveCollisionAlgorithm.h:81
btSoftBodyTriangleCallback::setTimeStepAndCounters
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btCollisionObjectWrapper *triObjWrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftBodyConcaveCollisionAlgorithm.cpp:166
btSoftBodyTriangleCallback::m_dispatcher
btDispatcher * m_dispatcher
Definition: btSoftBodyConcaveCollisionAlgorithm.h:74
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btTriangleCallback
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Definition: btTriangleCallback.h:24
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition: btDispatcher.h:31
btSoftBodyConcaveCollisionAlgorithm::CreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:129
btSoftBodyConcaveCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:130
btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc
Definition: btSoftBodyConcaveCollisionAlgorithm.h:138
btSoftBodyConcaveCollisionAlgorithm::SwappedCreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:139
btTriIndex
Definition: btSoftBodyConcaveCollisionAlgorithm.h:35
btTriIndex::getUid
int getUid() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:57
btTriIndex::getPartId
int getPartId() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:52
btTriIndex::getTriangleIndex
int getTriangleIndex() const
Definition: btSoftBodyConcaveCollisionAlgorithm.h:45
btTriIndex::m_childShape
class btCollisionShape * m_childShape
Definition: btSoftBodyConcaveCollisionAlgorithm.h:37
btTriIndex::btTriIndex
btTriIndex(int partId, int triangleIndex, btCollisionShape *shape)
Definition: btSoftBodyConcaveCollisionAlgorithm.h:39
btTriIndex::m_PartIdTriangleIndex
int m_PartIdTriangleIndex
Definition: btSoftBodyConcaveCollisionAlgorithm.h:36