Blender  V3.3
btGImpactCollisionAlgorithm.h
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1 
4 /*
5 This source file is part of GIMPACT Library.
6 
7 For the latest info, see http://gimpact.sourceforge.net/
8 
9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10 email: projectileman@yahoo.com
11 
12 
13 This software is provided 'as-is', without any express or implied warranty.
14 In no event will the authors be held liable for any damages arising from the use of this software.
15 Permission is granted to anyone to use this software for any purpose,
16 including commercial applications, and to alter it and redistribute it freely,
17 subject to the following restrictions:
18 
19 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.
20 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
21 3. This notice may not be removed or altered from any source distribution.
22 */
23 
24 #ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
25 #define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
26 
31 class btDispatcher;
35 
37 
38 #include "btGImpactShape.h"
44 
46 
54 {
55 protected:
61  int m_part0;
63  int m_part1;
64 
67  {
68  m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1);
69  return m_manifoldPtr;
70  }
71 
73  {
75  {
79  }
80  }
81 
83  {
84  if (m_manifoldPtr == NULL) return;
87  }
88 
90  {
93 
94  m_triface0 = -1;
95  m_part0 = -1;
96  m_triface1 = -1;
97  m_part1 = -1;
98  }
99 
101  {
102  return m_manifoldPtr;
103  }
104 
105  // Call before process collision
107  {
108  if (getLastManifold() == 0)
109  {
110  newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
111  }
112 
114  }
115 
116  // Call before process collision
118  {
119  checkManifold(body0Wrap, body1Wrap);
120 
121  btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm(
122  body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
123  return convex_algorithm;
124  }
125 
126  // Call before process collision
128  {
129  if (m_convex_algorithm) return;
130  m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap);
131  }
132 
133  void addContactPoint(const btCollisionObjectWrapper* body0Wrap,
134  const btCollisionObjectWrapper* body1Wrap,
135  const btVector3& point,
136  const btVector3& normal,
138 
141 
142  void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
143  const btCollisionObjectWrapper* body1Wrap,
144  const btGImpactMeshShapePart* shape0,
145  const btGImpactMeshShapePart* shape1,
146  const int* pairs, int pair_count);
147 
148  void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
149  const btCollisionObjectWrapper* body1Wrap,
150  const btGImpactMeshShapePart* shape0,
151  const btGImpactMeshShapePart* shape1,
152  const int* pairs, int pair_count);
153 
155  const btCollisionObjectWrapper* body0,
156  const btCollisionObjectWrapper* body1,
157  const btCollisionShape* shape0,
158  const btCollisionShape* shape1);
159 
161  const btCollisionObjectWrapper* body1Wrap,
162  const btCollisionShape* shape0,
163  const btCollisionShape* shape1);
164 
166  const btTransform& trans0,
167  const btTransform& trans1,
168  const btGImpactShapeInterface* shape0,
169  const btGImpactShapeInterface* shape1, btPairSet& pairset);
170 
172  const btTransform& trans0,
173  const btTransform& trans1,
174  const btGImpactShapeInterface* shape0,
175  const btCollisionShape* shape1,
176  btAlignedObjectArray<int>& collided_primitives);
177 
179  const btCollisionObjectWrapper* body0Wrap,
180  const btCollisionObjectWrapper* body1Wrap,
181  const btGImpactMeshShapePart* shape0,
182  const btStaticPlaneShape* shape1, bool swapped);
183 
184 public:
186 
188 
189  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
190 
192 
193  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
194  {
195  if (m_manifoldPtr)
196  manifoldArray.push_back(m_manifoldPtr);
197  }
198 
200  {
201  return m_resultOut;
202  }
203 
205  {
207  {
209  return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap);
210  }
211  };
212 
214  static void registerAlgorithm(btCollisionDispatcher* dispatcher);
215 #ifdef TRI_COLLISION_PROFILING
217  static float getAverageTreeCollisionTime();
218 
220  static float getAverageTriangleCollisionTime();
221 #endif //TRI_COLLISION_PROFILING
222 
224 
228  void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
229  const btCollisionObjectWrapper* body1Wrap,
230  const btGImpactShapeInterface* shape0,
231  const btGImpactShapeInterface* shape1);
232 
233  void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
234  const btCollisionObjectWrapper* body1Wrap,
235  const btGImpactShapeInterface* shape0,
236  const btCollisionShape* shape1, bool swapped);
237 
239  const btCollisionObjectWrapper* body1Wrap,
240  const btGImpactShapeInterface* shape0,
241  const btCompoundShape* shape1, bool swapped);
242 
243  void gimpact_vs_concave(
244  const btCollisionObjectWrapper* body0Wrap,
245  const btCollisionObjectWrapper* body1Wrap,
246  const btGImpactShapeInterface* shape0,
247  const btConcaveShape* shape1, bool swapped);
248 
250  void setFace0(int value)
251  {
252  m_triface0 = value;
253  }
254  int getFace0()
255  {
256  return m_triface0;
257  }
258  void setFace1(int value)
259  {
260  m_triface1 = value;
261  }
262  int getFace1()
263  {
264  return m_triface1;
265  }
266  void setPart0(int value)
267  {
268  m_part0 = value;
269  }
270  int getPart0()
271  {
272  return m_part0;
273  }
274  void setPart1(int value)
275  {
276  m_part1 = value;
277  }
278  int getPart1()
279  {
280  return m_part1;
281  }
282 };
283 
284 //algorithm details
285 //#define BULLET_TRIANGLE_COLLISION 1
286 #define GIMPACT_VS_PLANE_COLLISION 1
287 
288 #endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
in reality light always falls off quadratically Particle Retrieve the data of the particle that spawned the object for example to give variation to multiple instances of an object Point Retrieve information about points in a point cloud Retrieve the edges of an object as it appears to Cycles topology will always appear triangulated Convert a blackbody temperature to an RGB value Normal Generate a perturbed normal from an RGB normal map image Typically used for faking highly detailed surfaces Generate an OSL shader from a file or text data block Image Sample an image file as a texture Sky Generate a procedural sky texture Noise Generate fractal Perlin noise Wave Generate procedural bands or rings with noise Voronoi Generate Worley noise based on the distance to random points Typically used to generate textures such as or biological cells Brick Generate a procedural texture producing bricks Texture Retrieve multiple types of texture coordinates nTypically used as inputs for texture nodes Vector Convert a point
btCollisionObject
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btCompoundShape(bool enableDynamicAabbTree=true, const int initialChildCapacity=0)
btConcaveShape()
@ BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:70
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
btStaticPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
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.
SIMD_FORCE_INLINE void push_back(const T &_Val)
virtual void * allocateCollisionAlgorithm(int size)=0
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual void freeCollisionAlgorithm(void *ptr)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
Collision Algorithm for GImpact Shapes.
void gimpact_vs_concave(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btConcaveShape *shape1, bool swapped)
void gimpact_vs_shape_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, btAlignedObjectArray< int > &collided_primitives)
void setFace0(int value)
Accessor/Mutator pairs for Part and triangleID.
void collide_gjk_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
btCollisionAlgorithm * m_convex_algorithm
const btDispatcherInfo * m_dispatchInfo
void gimpact_vs_gimpact(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1)
Collides two gimpact shapes.
void gimpact_vs_compoundshape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCompoundShape *shape1, bool swapped)
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void gimpact_vs_gimpact_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1, btPairSet &pairset)
btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
SIMD_FORCE_INLINE btPersistentManifold * newContactManifold(const btCollisionObject *body0, const btCollisionObject *body1)
Creates a new contact point.
void gimpacttrimeshpart_vs_plane_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btStaticPlaneShape *shape1, bool swapped)
SIMD_FORCE_INLINE btPersistentManifold * getLastManifold()
void gimpact_vs_shape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, bool swapped)
SIMD_FORCE_INLINE void destroyContactManifolds()
SIMD_FORCE_INLINE void destroyConvexAlgorithm()
void convex_vs_convex_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btCollisionShape *shape0, const btCollisionShape *shape1)
static void registerAlgorithm(btCollisionDispatcher *dispatcher)
Use this function for register the algorithm externally.
SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
void collide_sat_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
void shape_vs_shape_collision(const btCollisionObjectWrapper *body0, const btCollisionObjectWrapper *body1, const btCollisionShape *shape0, const btCollisionShape *shape1)
void addContactPoint(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btVector3 &point, const btVector3 &normal, btScalar distance)
SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
Base class for gimpact shapes.
btManifoldResult is a helper class to manage contact results.
void setPersistentManifold(btPersistentManifold *manifoldPtr)
A pairset array.
Definition: btGImpactBvh.h:35
IconTextureDrawCall normal
T distance(const T &a, const T &b)
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
SIMD_FORCE_INLINE const btCollisionObject * getCollisionObject() const
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)