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btConvexConcaveCollisionAlgorithm.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
00017 #define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
00018 
00019 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
00020 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
00021 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
00022 #include "BulletCollision/CollisionShapes/btTriangleCallback.h"
00023 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
00024 class btDispatcher;
00025 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
00026 #include "btCollisionCreateFunc.h"
00027 
00029 class btConvexTriangleCallback : public btTriangleCallback
00030 {
00031        btCollisionObject* m_convexBody;
00032        btCollisionObject* m_triBody;
00033 
00034        btVector3     m_aabbMin;
00035        btVector3     m_aabbMax ;
00036 
00037        btManifoldResult* m_resultOut;
00038 
00039        btDispatcher* m_dispatcher;
00040        const btDispatcherInfo* m_dispatchInfoPtr;
00041        btScalar m_collisionMarginTriangle;
00042        
00043 public:
00044 int    m_triangleCount;
00045        
00046        btPersistentManifold*       m_manifoldPtr;
00047 
00048        btConvexTriangleCallback(btDispatcher* dispatcher,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
00049 
00050        void   setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00051 
00052        virtual ~btConvexTriangleCallback();
00053 
00054        virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex);
00055        
00056        void clearCache();
00057 
00058        SIMD_FORCE_INLINE const btVector3& getAabbMin() const
00059        {
00060               return m_aabbMin;
00061        }
00062        SIMD_FORCE_INLINE const btVector3& getAabbMax() const
00063        {
00064               return m_aabbMax;
00065        }
00066 
00067 };
00068 
00069 
00070 
00071 
00073 class btConvexConcaveCollisionAlgorithm  : public btCollisionAlgorithm
00074 {
00075 
00076        bool   m_isSwapped;
00077 
00078        btConvexTriangleCallback m_btConvexTriangleCallback;
00079 
00080 
00081 public:
00082 
00083        btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
00084 
00085        virtual ~btConvexConcaveCollisionAlgorithm();
00086 
00087        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00088 
00089        btScalar      calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
00090 
00091        void   clearCache();
00092 
00093        struct CreateFunc :public   btCollisionAlgorithmCreateFunc
00094        {
00095               virtual       btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
00096               {
00097                      void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
00098                      return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,false);
00099               }
00100        };
00101 
00102        struct SwappedCreateFunc :public   btCollisionAlgorithmCreateFunc
00103        {
00104               virtual       btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
00105               {
00106                      void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
00107                      return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0,body1,true);
00108               }
00109        };
00110 
00111 };
00112 
00113 #endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H