/usr/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h is in libbullet-dev 2.87+dfsg-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 | /*! \file btGImpactShape.h
\author Francisco Leon Najera
*/
/*
This source file is part of GIMPACT Library.
For the latest info, see http://gimpact.sourceforge.net/
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
email: projectileman@yahoo.com
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_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btGImpactShape.h"
#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
//! Collision Algorithm for GImpact Shapes
/*!
For register this algorithm in Bullet, proceed as following:
\code
btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
\endcode
*/
class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
protected:
btCollisionAlgorithm * m_convex_algorithm;
btPersistentManifold * m_manifoldPtr;
btManifoldResult* m_resultOut;
const btDispatcherInfo * m_dispatchInfo;
int m_triface0;
int m_part0;
int m_triface1;
int m_part1;
//! Creates a new contact point
SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
{
m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
return m_manifoldPtr;
}
SIMD_FORCE_INLINE void destroyConvexAlgorithm()
{
if(m_convex_algorithm)
{
m_convex_algorithm->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
m_convex_algorithm = NULL;
}
}
SIMD_FORCE_INLINE void destroyContactManifolds()
{
if(m_manifoldPtr == NULL) return;
m_dispatcher->releaseManifold(m_manifoldPtr);
m_manifoldPtr = NULL;
}
SIMD_FORCE_INLINE void clearCache()
{
destroyContactManifolds();
destroyConvexAlgorithm();
m_triface0 = -1;
m_part0 = -1;
m_triface1 = -1;
m_part1 = -1;
}
SIMD_FORCE_INLINE btPersistentManifold* getLastManifold()
{
return m_manifoldPtr;
}
// Call before process collision
SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
if(getLastManifold() == 0)
{
newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
}
m_resultOut->setPersistentManifold(getLastManifold());
}
// Call before process collision
SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
checkManifold(body0Wrap,body1Wrap);
btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
return convex_algorithm ;
}
// Call before process collision
SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
if(m_convex_algorithm) return;
m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
}
void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btVector3 & point,
const btVector3 & normal,
btScalar distance);
//! Collision routines
//!@{
void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactMeshShapePart * shape0,
const btGImpactMeshShapePart * shape1,
const int * pairs, int pair_count);
void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactMeshShapePart * shape0,
const btGImpactMeshShapePart * shape1,
const int * pairs, int pair_count);
void shape_vs_shape_collision(
const btCollisionObjectWrapper* body0,
const btCollisionObjectWrapper* body1,
const btCollisionShape * shape0,
const btCollisionShape * shape1);
void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btCollisionShape* shape0,
const btCollisionShape* shape1);
void gimpact_vs_gimpact_find_pairs(
const btTransform & trans0,
const btTransform & trans1,
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1,btPairSet & pairset);
void gimpact_vs_shape_find_pairs(
const btTransform & trans0,
const btTransform & trans1,
const btGImpactShapeInterface * shape0,
const btCollisionShape * shape1,
btAlignedObjectArray<int> & collided_primitives);
void gimpacttrimeshpart_vs_plane_collision(
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactMeshShapePart * shape0,
const btStaticPlaneShape * shape1,bool swapped);
public:
btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
virtual ~btGImpactCollisionAlgorithm();
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)
{
if (m_manifoldPtr)
manifoldArray.push_back(m_manifoldPtr);
}
btManifoldResult* internalGetResultOut()
{
return m_resultOut;
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
}
};
//! Use this function for register the algorithm externally
static void registerAlgorithm(btCollisionDispatcher * dispatcher);
#ifdef TRI_COLLISION_PROFILING
//! Gets the average time in miliseconds of tree collisions
static float getAverageTreeCollisionTime();
//! Gets the average time in miliseconds of triangle collisions
static float getAverageTriangleCollisionTime();
#endif //TRI_COLLISION_PROFILING
//! Collides two gimpact shapes
/*!
\pre shape0 and shape1 couldn't be btGImpactMeshShape objects
*/
void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btGImpactShapeInterface * shape1);
void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
const btCollisionObjectWrapper* body1Wrap,
const btGImpactShapeInterface * shape0,
const btCollisionShape * shape1,bool swapped);
void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btCompoundShape * shape1,bool swapped);
void gimpact_vs_concave(
const btCollisionObjectWrapper * body0Wrap,
const btCollisionObjectWrapper * body1Wrap,
const btGImpactShapeInterface * shape0,
const btConcaveShape * shape1,bool swapped);
/// Accessor/Mutator pairs for Part and triangleID
void setFace0(int value)
{
m_triface0 = value;
}
int getFace0()
{
return m_triface0;
}
void setFace1(int value)
{
m_triface1 = value;
}
int getFace1()
{
return m_triface1;
}
void setPart0(int value)
{
m_part0 = value;
}
int getPart0()
{
return m_part0;
}
void setPart1(int value)
{
m_part1 = value;
}
int getPart1()
{
return m_part1;
}
};
//algorithm details
//#define BULLET_TRIANGLE_COLLISION 1
#define GIMPACT_VS_PLANE_COLLISION 1
#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
|