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- #ifndef BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
- #define BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
- #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
- #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
- #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
- #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
- #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
- class btDispatcher;
- #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
- #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
- class btSoftBody;
- class btCollisionShape;
- #include "LinearMath/btHashMap.h"
- #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
- struct btTriIndex
- {
- int m_PartIdTriangleIndex;
- class btCollisionShape* m_childShape;
- btTriIndex(int partId,int triangleIndex,btCollisionShape* shape)
- {
- m_PartIdTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
- m_childShape = shape;
- }
- int getTriangleIndex() const
- {
-
- unsigned int x = 0;
- unsigned int y = (~(x&0))<<(31-MAX_NUM_PARTS_IN_BITS);
- return (m_PartIdTriangleIndex&~(y));
- }
- int getPartId() const
- {
-
- return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
- }
- int getUid() const
- {
- return m_PartIdTriangleIndex;
- }
- };
- class btSoftBodyTriangleCallback : public btTriangleCallback
- {
- btSoftBody* m_softBody;
- const btCollisionObject* m_triBody;
- btVector3 m_aabbMin;
- btVector3 m_aabbMax ;
- btManifoldResult* m_resultOut;
- btDispatcher* m_dispatcher;
- const btDispatcherInfo* m_dispatchInfoPtr;
- btScalar m_collisionMarginTriangle;
- btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
- public:
- int m_triangleCount;
-
- btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
- void setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
- virtual ~btSoftBodyTriangleCallback();
- virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
- void clearCache();
- SIMD_FORCE_INLINE const btVector3& getAabbMin() const
- {
- return m_aabbMin;
- }
- SIMD_FORCE_INLINE const btVector3& getAabbMax() const
- {
- return m_aabbMax;
- }
- };
- class btSoftBodyConcaveCollisionAlgorithm : public btCollisionAlgorithm
- {
- bool m_isSwapped;
- btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
- public:
- btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
- virtual ~btSoftBodyConcaveCollisionAlgorithm();
- 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);
- virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
- {
-
- }
- void clearCache();
- struct CreateFunc :public btCollisionAlgorithmCreateFunc
- {
- virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
- {
- void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
- return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
- }
- };
- struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
- {
- virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
- {
- void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
- return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
- }
- };
- };
- #endif
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