96 lines
3.0 KiB
C++
96 lines
3.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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#include "BroadphaseCollision/CollisionAlgorithm.h"
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#include "BroadphaseCollision/Dispatcher.h"
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#include "BroadphaseCollision/BroadphaseInterface.h"
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#include "CollisionShapes/TriangleCallback.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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class Dispatcher;
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#include "BroadphaseCollision/BroadphaseProxy.h"
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///For each triangle in the concave mesh that overlaps with the AABB of a convex (m_convexProxy), ProcessTriangle is called.
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class ConvexTriangleCallback : public TriangleCallback
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{
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BroadphaseProxy* m_convexProxy;
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BroadphaseProxy m_triangleProxy;
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SimdVector3 m_aabbMin;
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SimdVector3 m_aabbMax ;
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Dispatcher* m_dispatcher;
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const DispatcherInfo* m_dispatchInfoPtr;
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float m_collisionMarginTriangle;
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public:
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int m_triangleCount;
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PersistentManifold* m_manifoldPtr;
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ConvexTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
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void SetTimeStepAndCounters(float collisionMarginTriangle,const DispatcherInfo& dispatchInfo);
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virtual ~ConvexTriangleCallback();
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virtual void ProcessTriangle(SimdVector3* triangle, int partId, int triangleIndex);
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void ClearCache();
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inline const SimdVector3& GetAabbMin() const
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{
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return m_aabbMin;
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}
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inline const SimdVector3& GetAabbMax() const
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{
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return m_aabbMax;
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}
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};
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/// ConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
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class ConvexConcaveCollisionAlgorithm : public CollisionAlgorithm
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{
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BroadphaseProxy m_convex;
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BroadphaseProxy m_concave;
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ConvexTriangleCallback m_ConvexTriangleCallback;
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public:
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ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
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virtual ~ConvexConcaveCollisionAlgorithm();
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virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
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float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
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void ClearCache();
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};
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#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
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