Blender  V3.3
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 
31 {
34 
37 
42 
43 public:
45 
47 
49 
50  btConvexTriangleCallback(btDispatcher * dispatcher, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
51 
52  void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut);
53 
55  {
56  m_convexBodyWrap = 0;
57  m_triBodyWrap = 0;
58  }
59  virtual ~btConvexTriangleCallback();
60 
61  virtual void processTriangle(btVector3 * triangle, int partId, int triangleIndex);
62 
63  void clearCache();
64 
66  {
67  return m_aabbMin;
68  }
70  {
71  return m_aabbMax;
72  }
73 };
74 
78 {
79  btConvexTriangleCallback m_btConvexTriangleCallback;
80 
82 
83 public:
85 
87 
89 
90  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
91 
93 
94  virtual void getAllContactManifolds(btManifoldArray & manifoldArray);
95 
96  void clearCache();
97 
99  {
101  {
103  return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
104  }
105  };
106 
108  {
110  {
112  return new (mem) btConvexConcaveCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
113  }
114  };
115 };
116 
117 #endif //BT_CONVEX_CONCAVE_COLLISION_ALGORITHM_H
btVector3 m_aabbMin
btCollisionObject
BT_DECLARE_ALIGNED_ALLOCATOR()
btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
virtual ~btConvexConcaveCollisionAlgorithm()
btManifoldResult * m_resultOut
btPersistentManifold * m_manifoldPtr
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
SIMD_FORCE_INLINE const btVector3 & getAabbMin() const
virtual ~btConvexTriangleCallback()
btScalar m_collisionMarginTriangle
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
btConvexTriangleCallback(btDispatcher *dispatcher, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
void clearCache()
SIMD_FORCE_INLINE const btVector3 & getAabbMax() const
const btCollisionObjectWrapper * m_triBodyWrap
const btDispatcherInfo * m_dispatchInfoPtr
btDispatcher * m_dispatcher
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo &dispatchInfo, const btCollisionObjectWrapper *convexBodyWrap, const btCollisionObjectWrapper *triBodyWrap, btManifoldResult *resultOut)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
const btCollisionObjectWrapper * m_convexBodyWrap
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.