mirror of https://github.com/axmolengine/axmol.git
118 lines
4.7 KiB
C++
118 lines
4.7 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
|
#define BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
|
|
|
#include "btActivatingCollisionAlgorithm.h"
|
|
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
|
|
#include "BulletCollision/CollisionShapes/btTriangleCallback.h"
|
|
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
|
|
class btDispatcher;
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
|
|
#include "btCollisionCreateFunc.h"
|
|
|
|
///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), processTriangle is called.
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btConvexTriangleCallback : public btTriangleCallback
|
|
{
|
|
btVector3 m_aabbMin;
|
|
btVector3 m_aabbMax;
|
|
|
|
const btCollisionObjectWrapper* m_convexBodyWrap;
|
|
const btCollisionObjectWrapper* m_triBodyWrap;
|
|
|
|
btManifoldResult* m_resultOut;
|
|
btDispatcher* m_dispatcher;
|
|
const btDispatcherInfo* m_dispatchInfoPtr;
|
|
btScalar m_collisionMarginTriangle;
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
int m_triangleCount;
|
|
|
|
btPersistentManifold* m_manifoldPtr;
|
|
|
|
btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
|
|
|
|
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
|
|
|
|
void clearWrapperData()
|
|
{
|
|
m_convexBodyWrap = 0;
|
|
m_triBodyWrap = 0;
|
|
}
|
|
virtual ~btConvexTriangleCallback();
|
|
|
|
virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
|
|
|
|
void clearCache();
|
|
|
|
SIMD_FORCE_INLINE const btVector3& getAabbMin() const
|
|
{
|
|
return m_aabbMin;
|
|
}
|
|
SIMD_FORCE_INLINE const btVector3& getAabbMax() const
|
|
{
|
|
return m_aabbMax;
|
|
}
|
|
};
|
|
|
|
/// btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btConvexConcaveCollisionAlgorithm : public btActivatingCollisionAlgorithm
|
|
{
|
|
btConvexTriangleCallback m_btConvexTriangleCallback;
|
|
|
|
bool m_isSwapped;
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
|
|
|
|
virtual ~btConvexConcaveCollisionAlgorithm();
|
|
|
|
virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
|
|
|
|
btScalar calculateTimeOfImpact(btCollisionObject * body0, btCollisionObject * body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
|
|
|
|
virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
|
|
|
|
void clearCache();
|
|
|
|
struct CreateFunc : public btCollisionAlgorithmCreateFunc
|
|
{
|
|
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
|
|
{
|
|
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
|
|
return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
|
|
}
|
|
};
|
|
|
|
struct SwappedCreateFunc : public btCollisionAlgorithmCreateFunc
|
|
{
|
|
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
|
|
{
|
|
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConcaveCollisionAlgorithm));
|
|
return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
|
|
}
|
|
};
|
|
};
|
|
|
|
#endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|