merge runk 16887:16950
[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 SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H
17 #define 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                 return (m_PartIdTriangleIndex&~((~0)<<(31-MAX_NUM_PARTS_IN_BITS)));
49         }
50         int     getPartId() const
51         {
52                 // Get only the highest bits where the part index is stored
53                 return (m_PartIdTriangleIndex>>(31-MAX_NUM_PARTS_IN_BITS));
54         }
55         int     getUid() const
56         {
57                 return m_PartIdTriangleIndex;
58         }
59 };
60
61
62 ///For each triangle in the concave mesh that overlaps with the AABB of a soft body (m_softBody), processTriangle is called.
63 class btSoftBodyTriangleCallback : public btTriangleCallback
64 {
65         btSoftBody* m_softBody;
66         btCollisionObject* m_triBody;
67
68         btVector3       m_aabbMin;
69         btVector3       m_aabbMax ;
70
71         btManifoldResult* m_resultOut;
72
73         btDispatcher*   m_dispatcher;
74         const btDispatcherInfo* m_dispatchInfoPtr;
75         btScalar m_collisionMarginTriangle;
76
77         btHashMap<btHashKey<btTriIndex>,btTriIndex> m_shapeCache;
78         
79 public:
80 int     m_triangleCount;
81         
82 //      btPersistentManifold*   m_manifoldPtr;
83
84         btSoftBodyTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
85
86         void    setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
87
88         virtual ~btSoftBodyTriangleCallback();
89
90         virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
91         
92         void clearCache();
93
94         SIMD_FORCE_INLINE const btVector3& getAabbMin() const
95         {
96                 return m_aabbMin;
97         }
98         SIMD_FORCE_INLINE const btVector3& getAabbMax() const
99         {
100                 return m_aabbMax;
101         }
102
103 };
104
105
106
107
108 /// btSoftBodyConcaveCollisionAlgorithm  supports collision between soft body shapes and (concave) trianges meshes.
109 class btSoftBodyConcaveCollisionAlgorithm  : public btCollisionAlgorithm
110 {
111
112         bool    m_isSwapped;
113
114         btSoftBodyTriangleCallback m_btSoftBodyTriangleCallback;
115
116 public:
117
118         btSoftBodyConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
119
120         virtual ~btSoftBodyConcaveCollisionAlgorithm();
121
122         virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
123
124         btScalar        calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
125
126         virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
127         {
128                 //we don't add any manifolds
129         }
130
131         void    clearCache();
132
133         struct CreateFunc :public       btCollisionAlgorithmCreateFunc
134         {
135                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
136                 {
137                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
138                         return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,false);
139                 }
140         };
141
142         struct SwappedCreateFunc :public        btCollisionAlgorithmCreateFunc
143         {
144                 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
145                 {
146                         void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftBodyConcaveCollisionAlgorithm));
147                         return new(mem) btSoftBodyConcaveCollisionAlgorithm(ci,body0,body1,true);
148                 }
149         };
150
151 };
152
153 #endif //SOFT_BODY_CONCAVE_COLLISION_ALGORITHM_H