forked from bartvdbraak/blender
93 lines
2.4 KiB
C++
93 lines
2.4 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
*
|
|
* Permission to use, copy, modify, distribute and sell this software
|
|
* and its documentation for any purpose is hereby granted without fee,
|
|
* provided that the above copyright notice appear in all copies.
|
|
* Erwin Coumans makes no representations about the suitability
|
|
* of this software for any purpose.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
#ifndef CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
|
#define CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|
|
|
|
#include "BroadphaseCollision/CollisionAlgorithm.h"
|
|
#include "BroadphaseCollision/Dispatcher.h"
|
|
#include "BroadphaseCollision/BroadphaseInterface.h"
|
|
#include "CollisionShapes/TriangleCallback.h"
|
|
#include "NarrowPhaseCollision/PersistentManifold.h"
|
|
class Dispatcher;
|
|
#include "BroadphaseCollision/BroadphaseProxy.h"
|
|
|
|
|
|
|
|
class BoxTriangleCallback : public TriangleCallback
|
|
{
|
|
BroadphaseProxy* m_boxProxy;
|
|
BroadphaseProxy m_triangleProxy;
|
|
|
|
SimdVector3 m_aabbMin;
|
|
SimdVector3 m_aabbMax ;
|
|
|
|
Dispatcher* m_dispatcher;
|
|
float m_timeStep;
|
|
int m_stepCount;
|
|
bool m_useContinuous;
|
|
float m_collisionMarginTriangle;
|
|
|
|
public:
|
|
int m_triangleCount;
|
|
|
|
PersistentManifold* m_manifoldPtr;
|
|
|
|
BoxTriangleCallback(Dispatcher* dispatcher,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
|
|
|
void SetTimeStepAndCounters(float timeStep,int stepCount, float collisionMarginTriangle,bool useContinuous);
|
|
|
|
virtual ~BoxTriangleCallback();
|
|
|
|
virtual void ProcessTriangle(SimdVector3* triangle);
|
|
|
|
void ClearCache();
|
|
|
|
inline const SimdVector3& GetAabbMin() const
|
|
{
|
|
return m_aabbMin;
|
|
}
|
|
inline const SimdVector3& GetAabbMax() const
|
|
{
|
|
return m_aabbMax;
|
|
}
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
/// ConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges meshes.
|
|
class ConvexConcaveCollisionAlgorithm : public CollisionAlgorithm
|
|
{
|
|
|
|
BroadphaseProxy m_convex;
|
|
|
|
BroadphaseProxy m_concave;
|
|
|
|
BoxTriangleCallback m_boxTriangleCallback;
|
|
|
|
|
|
public:
|
|
|
|
ConvexConcaveCollisionAlgorithm( const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
|
|
|
|
virtual ~ConvexConcaveCollisionAlgorithm();
|
|
|
|
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount, bool useContinuous);
|
|
|
|
float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,float timeStep,int stepCount);
|
|
|
|
void ClearCache();
|
|
|
|
};
|
|
|
|
#endif //CONVEX_CONCAVE_COLLISION_ALGORITHM_H
|