btPersistentManifold.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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 PERSISTENT_MANIFOLD_H
#define PERSISTENT_MANIFOLD_H


#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "btManifoldPoint.h"
#include "LinearMath/btAlignedAllocator.h"

struct btCollisionResult;

extern btScalar gContactBreakingThreshold;

typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
extern ContactDestroyedCallback gContactDestroyedCallback;
extern ContactProcessedCallback gContactProcessedCallback;

//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
enum btContactManifoldTypes
{
    MIN_CONTACT_MANIFOLD_TYPE = 1024,
    BT_PERSISTENT_MANIFOLD_TYPE
};

#define MANIFOLD_CACHE_SIZE 4



ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
{

    btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];

    void* m_body0;
    void* m_body1;

    int m_cachedPoints;

    btScalar    m_contactBreakingThreshold;
    btScalar    m_contactProcessingThreshold;

    
    int sortCachedPoints(const btManifoldPoint& pt);

    int     findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);

public:

    BT_DECLARE_ALIGNED_ALLOCATOR();

    int m_companionIdA;
    int m_companionIdB;

    int m_index1a;

    btPersistentManifold();

    btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
        : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
    m_body0(body0),m_body1(body1),m_cachedPoints(0),
        m_contactBreakingThreshold(contactBreakingThreshold),
        m_contactProcessingThreshold(contactProcessingThreshold)
    {
    }

    SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
    SIMD_FORCE_INLINE void* getBody1() { return m_body1;}

    SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
    SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}

    void    setBodies(void* body0,void* body1)
    {
        m_body0 = body0;
        m_body1 = body1;
    }

    void clearUserCache(btManifoldPoint& pt);

#ifdef DEBUG_PERSISTENCY
    void    DebugPersistency();
#endif //
    
    SIMD_FORCE_INLINE int   getNumContacts() const { return m_cachedPoints;}

    SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
    {
        btAssert(index < m_cachedPoints);
        return m_pointCache[index];
    }

    SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
    {
        btAssert(index < m_cachedPoints);
        return m_pointCache[index];
    }

    btScalar    getContactBreakingThreshold() const;

    btScalar    getContactProcessingThreshold() const
    {
        return m_contactProcessingThreshold;
    }
    
    int getCacheEntry(const btManifoldPoint& newPoint) const;

    int addManifoldPoint( const btManifoldPoint& newPoint);

    void removeContactPoint (int index)
    {
        clearUserCache(m_pointCache[index]);

        int lastUsedIndex = getNumContacts() - 1;
//      m_pointCache[index] = m_pointCache[lastUsedIndex];
        if(index != lastUsedIndex) 
        {
            m_pointCache[index] = m_pointCache[lastUsedIndex]; 
            //get rid of duplicated userPersistentData pointer
            m_pointCache[lastUsedIndex].m_userPersistentData = 0;
            m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
            m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
            m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;

            m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
            m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
            m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
            m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
            m_pointCache[lastUsedIndex].m_lifeTime = 0;
        }

        btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
        m_cachedPoints--;
    }
    void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
    {
        btAssert(validContactDistance(newPoint));

#define MAINTAIN_PERSISTENCY 1
#ifdef MAINTAIN_PERSISTENCY
        int lifeTime = m_pointCache[insertIndex].getLifeTime();
        btScalar    appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
        btScalar    appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
        btScalar    appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
//      bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
        
        
            
        btAssert(lifeTime>=0);
        void* cache = m_pointCache[insertIndex].m_userPersistentData;
        
        m_pointCache[insertIndex] = newPoint;

        m_pointCache[insertIndex].m_userPersistentData = cache;
        m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
        m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
        m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
        
        m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse =  appliedImpulse;
        m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
        m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;


        m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else
        clearUserCache(m_pointCache[insertIndex]);
        m_pointCache[insertIndex] = newPoint;
    
#endif
    }

    bool validContactDistance(const btManifoldPoint& pt) const
    {
        if (pt.m_lifeTime >1)
        {
            return pt.m_distance1 <= getContactBreakingThreshold();
        }
        return pt.m_distance1 <= getContactProcessingThreshold();
    
    }
    void    refreshContactPoints(  const btTransform& trA,const btTransform& trB);

    
    SIMD_FORCE_INLINE   void    clearManifold()
    {
        int i;
        for (i=0;i<m_cachedPoints;i++)
        {
            clearUserCache(m_pointCache[i]);
        }
        m_cachedPoints = 0;
    }



}
;





#endif //PERSISTENT_MANIFOLD_H