Bullet Collision Detection & Physics Library
btConvexConcaveCollisionAlgorithm.h
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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_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
17 #define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
18 
24 class btDispatcher;
26 #include "btCollisionCreateFunc.h"
27 
30 {
33 
36 
37 
42 
43 public:
45 
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 
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 
64  {
65  return m_aabbMin;
66  }
68  {
69  return m_aabbMax;
70  }
71 
72 };
73 
74 
75 
76 
79 {
80 
82 
84 
85 
86 
87 public:
88 
90 
92 
93  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
94 
96 
97  virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
98 
99  void clearCache();
100 
102  {
104  {
106  return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
107  }
108  };
109 
111  {
113  {
115  return new(mem) btConvexConcaveCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
116  }
117  };
118 
119 };
120 
121 #endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
const btDispatcherInfo * m_dispatchInfoPtr
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btManifoldResult is a helper class to manage contact results.
const btCollisionObjectWrapper * m_convexBodyWrap
virtual void * allocateCollisionAlgorithm(int size)=0
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btCollisionObject can be used to manage collision detection objects.
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo &dispatchInfo, const btCollisionObjectWrapper *convexBodyWrap, const btCollisionObjectWrapper *triBodyWrap, btManifoldResult *resultOut)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges mes...
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
const btCollisionObjectWrapper * m_triBodyWrap
btConvexTriangleCallback(btDispatcher *dispatcher, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278