bullet: Update to current svn, r2636
[blender.git] / extern / bullet2 / src / BulletSoftBody / btSoftBodyConcaveCollisionAlgorithm.h
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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
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
63
64 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
65 class btSoftBodyTriangleCallback : public btTriangleCallback
66 {
67         btSoftBody* m_softBody;
68         const btCollisionObject* m_triBody;
69
70         btVector3       m_aabbMin;
71         btVector3       m_aabbMax ;
72
73         btManifoldResult* m_resultOut;
74
75         btDispatcher*   m_dispatcher;
76         const btDispatcherInfo* m_dispatchInfoPtr;
77         btScalar m_collisionMarginTriangle;
78
79         btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
80
81 public:
82         int     m_triangleCount;
83
84         //      btPersistentManifold*   m_manifoldPtr;
85
86         btSoftBodyTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
87
88         void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btCollisionObjectWrapper* triObjWrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
89
90         virtual ~btSoftBodyTriangleCallback();
91
92         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
93
94         void clearCache();
95
96         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
97         {
98                 return m_aabbMin;
99         }
100         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
101         {
102                 return m_aabbMax;
103         }
104
105 };
106
107
108
109
110 /// btSoftBodyConcaveCollisionAlgorithm  supports collision between soft body shapes and (concave) trianges meshes.
111 class btSoftBodyConcaveCollisionAlgorithm  : public btCollisionAlgorithm
112 {
113
114         bool    m_isSwapped;
115
116         btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
117
118 public:
119
120         btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
121
122         virtual ~btSoftBodyConcaveCollisionAlgorithm();
123
124         virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
125
126         btScalar        calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
127
128         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
129         {
130                 //we don't add any manifolds
131         }
132
133         void    clearCache();
134
135         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
136         {
137                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
138                 {
139                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
140                         return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
141                 }
142         };
143
144         struct SwappedCreateFunc :public        btCollisionAlgorithmCreateFunc
145         {
146                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
147                 {
148                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
149                         return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
150                 }
151         };
152
153 };
154
155 #endif //BT_SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H