1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
17#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
18
19#include "btActivatingCollisionAlgorithm.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 "btCollisionCreateFunc.h"
27
28///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
29class btConvexTriangleCallback : public btTriangleCallback
30{
31	const btCollisionObjectWrapper* m_convexBodyWrap;
32	const btCollisionObjectWrapper* m_triBodyWrap;
33
34	btVector3	m_aabbMin;
35	btVector3	m_aabbMax ;
36
37
38	btManifoldResult* m_resultOut;
39	btDispatcher*	m_dispatcher;
40	const btDispatcherInfo* m_dispatchInfoPtr;
41	btScalar m_collisionMarginTriangle;
42
43public:
44int	m_triangleCount;
45
46	btPersistentManifold*	m_manifoldPtr;
47
48	btConvexTriangleCallback(btDispatcher* dispatcher,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
49
50	void	setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
51
52	void	clearWrapperData()
53	{
54		m_convexBodyWrap = 0;
55		m_triBodyWrap = 0;
56	}
57	virtual ~btConvexTriangleCallback();
58
59	virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
60
61	void clearCache();
62
63	SIMD_FORCE_INLINE const btVector3& getAabbMin() const
64	{
65		return m_aabbMin;
66	}
67	SIMD_FORCE_INLINE const btVector3& getAabbMax() const
68	{
69		return m_aabbMax;
70	}
71
72};
73
74
75
76
77/// btConvexConcaveCollisionAlgorithm  supports collision between convex shapes and (concave) trianges meshes.
78class btConvexConcaveCollisionAlgorithm  : public btActivatingCollisionAlgorithm
79{
80
81	bool	m_isSwapped;
82
83	btConvexTriangleCallback m_btConvexTriangleCallback;
84
85
86
87public:
88
89	btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
90
91	virtual ~btConvexConcaveCollisionAlgorithm();
92
93	virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
94
95	btScalar	calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
96
97	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray);
98
99	void	clearCache();
100
101	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
102	{
103		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
104		{
105			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
106			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
107		}
108	};
109
110	struct SwappedCreateFunc :public 	btCollisionAlgorithmCreateFunc
111	{
112		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
113		{
114			void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
115			return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
116		}
117	};
118
119};
120
121#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
122