Collision Algorithm for GImpact Shapes. More...

#include <btGImpactCollisionAlgorithm.h>

Inheritance diagram for btGImpactCollisionAlgorithm:

Classes
struct	CreateFunc
Protected Member Functions
SIMD_FORCE_INLINE btPersistentManifold *	newContactManifold (btCollisionObject body0, btCollisionObject body1)
	Creates a new contact point.
SIMD_FORCE_INLINE void	destroyConvexAlgorithm ()
SIMD_FORCE_INLINE void	destroyContactManifolds ()
SIMD_FORCE_INLINE void	clearCache ()
SIMD_FORCE_INLINE btPersistentManifold *	getLastManifold ()
SIMD_FORCE_INLINE void	checkManifold (btCollisionObject body0, btCollisionObject body1)
SIMD_FORCE_INLINE btCollisionAlgorithm *	newAlgorithm (btCollisionObject body0, btCollisionObject body1)
SIMD_FORCE_INLINE void	checkConvexAlgorithm (btCollisionObject body0, btCollisionObject body1)
void	addContactPoint (btCollisionObject body0, btCollisionObject body1, const btVector3 &point, const btVector3 &normal, btScalar distance)
Protected Attributes
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

void	collide_gjk_triangles (btCollisionObject body0, btCollisionObject body1, btGImpactMeshShapePart shape0, btGImpactMeshShapePart shape1, const int *pairs, int pair_count)
void	collide_sat_triangles (btCollisionObject body0, btCollisionObject body1, btGImpactMeshShapePart shape0, btGImpactMeshShapePart shape1, const int *pairs, int pair_count)
void	shape_vs_shape_collision (btCollisionObject body0, btCollisionObject body1, btCollisionShape shape0, btCollisionShape shape1)
void	convex_vs_convex_collision (btCollisionObject body0, btCollisionObject body1, btCollisionShape shape0, btCollisionShape shape1)
void	gimpact_vs_gimpact_find_pairs (const btTransform &trans0, const btTransform &trans1, btGImpactShapeInterface shape0, btGImpactShapeInterface shape1, btPairSet &pairset)
void	gimpact_vs_shape_find_pairs (const btTransform &trans0, const btTransform &trans1, btGImpactShapeInterface shape0, btCollisionShape shape1, btAlignedObjectArray< int > &collided_primitives)
void	gimpacttrimeshpart_vs_plane_collision (btCollisionObject body0, btCollisionObject body1, btGImpactMeshShapePart shape0, btStaticPlaneShape shape1, bool swapped)
	btGImpactCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, btCollisionObject body0, btCollisionObject body1)
virtual	~btGImpactCollisionAlgorithm ()
virtual void	processCollision (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)
void	gimpact_vs_gimpact (btCollisionObject body0, btCollisionObject body1, btGImpactShapeInterface shape0, btGImpactShapeInterface shape1)
	Collides two gimpact shapes.
void	gimpact_vs_shape (btCollisionObject body0, btCollisionObject body1, btGImpactShapeInterface shape0, btCollisionShape shape1, bool swapped)
void	gimpact_vs_compoundshape (btCollisionObject body0, btCollisionObject body1, btGImpactShapeInterface shape0, btCompoundShape shape1, bool swapped)
void	gimpact_vs_concave (btCollisionObject body0, btCollisionObject body1, btGImpactShapeInterface shape0, btConcaveShape shape1, bool swapped)
void	setFace0 (int value)
	Accessor/Mutator pairs for Part and triangleID.
int	getFace0 ()
void	setFace1 (int value)
int	getFace1 ()
void	setPart0 (int value)
int	getPart0 ()
void	setPart1 (int value)
int	getPart1 ()
static void	registerAlgorithm (btCollisionDispatcher *dispatcher)
	Use this function for register the algorithm externally.

Detailed Description

Collision Algorithm for GImpact Shapes.

For register this algorithm in Bullet, proceed as following:

btCollisionDispatcher * dispatcher = static_cast<btCollisionDispatcher *>(m_dynamicsWorld ->getDispatcher());
btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);

Definition at line 54 of file btGImpactCollisionAlgorithm.h.

Constructor & Destructor Documentation

btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm	(	const btCollisionAlgorithmConstructionInfo &	ci,
		btCollisionObject *	body0,
		btCollisionObject *	body1
	)

Collision routines

Definition at line 196 of file btGImpactCollisionAlgorithm.cpp.

References m_convex_algorithm, m_manifoldPtr, and NULL.

Referenced by btGImpactCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm().

btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm ( ) [virtual]

Collision routines

Definition at line 203 of file btGImpactCollisionAlgorithm.cpp.

References clearCache().

Member Function Documentation

void btGImpactCollisionAlgorithm::addContactPoint	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btVector3 &	point,
		const btVector3 &	normal,
		btScalar	distance
	)		`[protected]`

Definition at line 212 of file btGImpactCollisionAlgorithm.cpp.

References btManifoldResult::addContactPoint(), checkManifold(), m_part0, m_part1, m_resultOut, m_triface0, m_triface1, btManifoldResult::setShapeIdentifiersA(), and btManifoldResult::setShapeIdentifiersB().

Referenced by collide_sat_triangles(), and gimpacttrimeshpart_vs_plane_collision().

btScalar btGImpactCollisionAlgorithm::calculateTimeOfImpact	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)		`[virtual]`

Collision routines

Implements btCollisionAlgorithm.

Definition at line 876 of file btGImpactCollisionAlgorithm.cpp.

SIMD_FORCE_INLINE void btGImpactCollisionAlgorithm::checkConvexAlgorithm	(	btCollisionObject *	body0,
		btCollisionObject *	body1
	)		`[inline, protected]`

Definition at line 130 of file btGImpactCollisionAlgorithm.h.

References m_convex_algorithm, and newAlgorithm().

Referenced by convex_vs_convex_collision().

SIMD_FORCE_INLINE void btGImpactCollisionAlgorithm::checkManifold	(	btCollisionObject *	body0,
		btCollisionObject *	body1
	)		`[inline, protected]`

Definition at line 109 of file btGImpactCollisionAlgorithm.h.

References getLastManifold(), m_resultOut, newContactManifold(), and btManifoldResult::setPersistentManifold().

Referenced by addContactPoint(), and newAlgorithm().

SIMD_FORCE_INLINE void btGImpactCollisionAlgorithm::clearCache ( ) [inline, protected]

Definition at line 91 of file btGImpactCollisionAlgorithm.h.

References destroyContactManifolds(), destroyConvexAlgorithm(), m_part0, m_part1, m_triface0, and m_triface1.

Referenced by processCollision(), and ~btGImpactCollisionAlgorithm().

void btGImpactCollisionAlgorithm::collide_gjk_triangles	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactMeshShapePart *	shape0,
		btGImpactMeshShapePart *	shape1,
		const int *	pairs,
		int	pair_count
	)		`[protected]`

Collision routines

Definition at line 362 of file btGImpactCollisionAlgorithm.cpp.

References convex_vs_convex_collision(), btGImpactMeshShapePart::getBulletTriangle(), btGImpactMeshShapePart::lockChildShapes(), m_triface0, m_triface1, btTriangleShapeEx::overlap_test_conservative(), and btGImpactMeshShapePart::unlockChildShapes().

Referenced by gimpact_vs_gimpact().

void btGImpactCollisionAlgorithm::collide_sat_triangles	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactMeshShapePart *	shape0,
		btGImpactMeshShapePart *	shape1,
		const int *	pairs,
		int	pair_count
	)		`[protected]`

Collision routines

Definition at line 401 of file btGImpactCollisionAlgorithm.cpp.

References addContactPoint(), btPrimitiveTriangle::applyTransform(), btPrimitiveTriangle::buildTriPlane(), btPrimitiveTriangle::find_triangle_collision_clip_method(), btGImpactShapeInterface::getPrimitiveTriangle(), btGImpactMeshShapePart::lockChildShapes(), GIM_TRIANGLE_CONTACT::m_penetration_depth, GIM_TRIANGLE_CONTACT::m_point_count, GIM_TRIANGLE_CONTACT::m_points, GIM_TRIANGLE_CONTACT::m_separating_normal, m_triface0, m_triface1, btPrimitiveTriangle::overlap_test_conservative(), and btGImpactMeshShapePart::unlockChildShapes().

Referenced by gimpact_vs_gimpact().

void btGImpactCollisionAlgorithm::convex_vs_convex_collision	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btCollisionShape *	shape0,
		btCollisionShape *	shape1
	)		`[protected]`

Collision routines

Definition at line 255 of file btGImpactCollisionAlgorithm.cpp.

References checkConvexAlgorithm(), m_convex_algorithm, m_dispatchInfo, m_part0, m_part1, m_resultOut, m_triface0, m_triface1, btCollisionAlgorithm::processCollision(), btManifoldResult::setShapeIdentifiersA(), and btManifoldResult::setShapeIdentifiersB().

Referenced by collide_gjk_triangles(), and gimpact_vs_gimpact().

SIMD_FORCE_INLINE void btGImpactCollisionAlgorithm::destroyContactManifolds ( ) [inline, protected]

Definition at line 84 of file btGImpactCollisionAlgorithm.h.

References btCollisionAlgorithm::m_dispatcher, m_manifoldPtr, NULL, and btDispatcher::releaseManifold().

Referenced by clearCache().

SIMD_FORCE_INLINE void btGImpactCollisionAlgorithm::destroyConvexAlgorithm ( ) [inline, protected]

Definition at line 74 of file btGImpactCollisionAlgorithm.h.

References btDispatcher::freeCollisionAlgorithm(), m_convex_algorithm, btCollisionAlgorithm::m_dispatcher, NULL, and btCollisionAlgorithm::~btCollisionAlgorithm().

Referenced by clearCache().

virtual void btGImpactCollisionAlgorithm::getAllContactManifolds ( btManifoldArray & manifoldArray ) [inline, virtual]

Collision routines

Implements btCollisionAlgorithm.

Definition at line 207 of file btGImpactCollisionAlgorithm.h.

References m_manifoldPtr, and btAlignedObjectArray< T >::push_back().

int btGImpactCollisionAlgorithm::getFace0 ( ) [inline]

Collision routines

Definition at line 268 of file btGImpactCollisionAlgorithm.h.

References m_triface0.

int btGImpactCollisionAlgorithm::getFace1 ( ) [inline]

Collision routines

Definition at line 276 of file btGImpactCollisionAlgorithm.h.

References m_triface1.

SIMD_FORCE_INLINE btPersistentManifold* btGImpactCollisionAlgorithm::getLastManifold ( ) [inline, protected]

Definition at line 102 of file btGImpactCollisionAlgorithm.h.

References m_manifoldPtr.

Referenced by checkManifold(), and newAlgorithm().

int btGImpactCollisionAlgorithm::getPart0 ( ) [inline]

Collision routines

Definition at line 284 of file btGImpactCollisionAlgorithm.h.

References m_part0.

int btGImpactCollisionAlgorithm::getPart1 ( ) [inline]

Collision routines

Definition at line 292 of file btGImpactCollisionAlgorithm.h.

References m_part1.

void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactShapeInterface *	shape0,
		btCompoundShape *	shape1,
		bool	swapped
	)

Collision routines

Definition at line 694 of file btGImpactCollisionAlgorithm.cpp.

References gimpact_vs_shape(), and i.

Referenced by gimpact_vs_shape().

void btGImpactCollisionAlgorithm::gimpact_vs_concave	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactShapeInterface *	shape0,
		btConcaveShape *	shape1,
		bool	swapped
	)

Collision routines

Definition at line 813 of file btGImpactCollisionAlgorithm.cpp.

References btGImpactTriangleCallback::algorithm, btGImpactTriangleCallback::body0, btGImpactTriangleCallback::body1, btGImpactShapeInterface::getAabb(), btConcaveShape::getMargin(), btGImpactTriangleCallback::gimpactshape0, btTransform::inverse(), btGImpactTriangleCallback::margin, btConcaveShape::processAllTriangles(), and btGImpactTriangleCallback::swapped.

Referenced by gimpact_vs_shape().

void btGImpactCollisionAlgorithm::gimpact_vs_gimpact	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactShapeInterface *	shape0,
		btGImpactShapeInterface *	shape1
	)

Collides two gimpact shapes.

Precondition:: shape0 and shape1 couldn't be btGImpactMeshShape objects

Definition at line 474 of file btGImpactCollisionAlgorithm.cpp.

References btGImpactShapeInterface::childrenHasTransform(), collide_gjk_triangles(), collide_sat_triangles(), CONST_GIMPACT_TRIMESH_SHAPE, CONST_GIMPACT_TRIMESH_SHAPE_PART, convex_vs_convex_collision(), GIM_ShapeRetriever::getChildShape(), btGImpactShapeInterface::getChildTransform(), btGImpactShapeInterface::getGImpactShapeType(), btGImpactMeshShape::getMeshPart(), btGImpactMeshShape::getMeshPartCount(), gimpact_vs_gimpact_find_pairs(), i, btGImpactShapeInterface::lockChildShapes(), GIM_PAIR::m_index1, GIM_PAIR::m_index2, m_part0, m_part1, m_triface0, m_triface1, btAlignedObjectArray< T >::size(), and btGImpactShapeInterface::unlockChildShapes().

Referenced by processCollision().

void btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs	(	const btTransform &	trans0,
		const btTransform &	trans1,
		btGImpactShapeInterface *	shape0,
		btGImpactShapeInterface *	shape1,
		btPairSet &	pairset
	)		`[protected]`

Collision routines

Definition at line 283 of file btGImpactCollisionAlgorithm.cpp.

References btGImpactQuantizedBvh::find_collision(), btGImpactShapeInterface::getBoxSet(), btGImpactShapeInterface::getChildAabb(), btGImpactShapeInterface::getNumChildShapes(), btGImpactShapeInterface::hasBoxSet(), i, and btPairSet::push_pair().

Referenced by gimpact_vs_gimpact().

void btGImpactCollisionAlgorithm::gimpact_vs_shape	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactShapeInterface *	shape0,
		btCollisionShape *	shape1,
		bool	swapped
	)

Collision routines

Definition at line 584 of file btGImpactCollisionAlgorithm.cpp.

References btGImpactShapeInterface::childrenHasTransform(), CONST_GIMPACT_TRIMESH_SHAPE, CONST_GIMPACT_TRIMESH_SHAPE_PART, GIM_ShapeRetriever::getChildShape(), btGImpactShapeInterface::getChildTransform(), btGImpactShapeInterface::getGImpactShapeType(), btGImpactMeshShape::getMeshPart(), btGImpactMeshShape::getMeshPartCount(), btCollisionShape::getShapeType(), gimpact_vs_compoundshape(), gimpact_vs_concave(), gimpact_vs_shape_find_pairs(), gimpacttrimeshpart_vs_plane_collision(), i, btCollisionShape::isCompound(), btCollisionShape::isConcave(), btGImpactShapeInterface::lockChildShapes(), m_part0, m_part1, m_triface0, m_triface1, shape_vs_shape_collision(), btAlignedObjectArray< T >::size(), STATIC_PLANE_PROXYTYPE, and btGImpactShapeInterface::unlockChildShapes().

Referenced by gimpact_vs_compoundshape(), processCollision(), and btGImpactTriangleCallback::processTriangle().

void btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs	(	const btTransform &	trans0,
		const btTransform &	trans1,
		btGImpactShapeInterface *	shape0,
		btCollisionShape *	shape1,
		btAlignedObjectArray< int > &	collided_primitives
	)		`[protected]`

Collision routines

Definition at line 320 of file btGImpactCollisionAlgorithm.cpp.

References btGImpactQuantizedBvh::boxQuery(), btCollisionShape::getAabb(), btGImpactShapeInterface::getBoxSet(), btGImpactShapeInterface::getChildAabb(), btGImpactShapeInterface::getNumChildShapes(), btGImpactShapeInterface::hasBoxSet(), i, btTransform::inverse(), and btAlignedObjectArray< T >::push_back().

Referenced by gimpact_vs_shape().

void btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btGImpactMeshShapePart *	shape0,
		btStaticPlaneShape *	shape1,
		bool	swapped
	)		`[protected]`

Collision routines

Definition at line 720 of file btGImpactCollisionAlgorithm.cpp.

References addContactPoint(), BT_CONST_COLLIDE_PLANE, distance(), btGImpactShapeInterface::getAabb(), btGImpactMeshShapePart::getMargin(), btGImpactMeshShapePart::getVertex(), btGImpactMeshShapePart::getVertexCount(), btGImpactMeshShapePart::lockChildShapes(), and btGImpactMeshShapePart::unlockChildShapes().

Referenced by gimpact_vs_shape().

SIMD_FORCE_INLINE btCollisionAlgorithm* btGImpactCollisionAlgorithm::newAlgorithm	(	btCollisionObject *	body0,
		btCollisionObject *	body1
	)		`[inline, protected]`

Definition at line 120 of file btGImpactCollisionAlgorithm.h.

References checkManifold(), btDispatcher::findAlgorithm(), getLastManifold(), and btCollisionAlgorithm::m_dispatcher.

Referenced by checkConvexAlgorithm(), and shape_vs_shape_collision().

SIMD_FORCE_INLINE btPersistentManifold* btGImpactCollisionAlgorithm::newContactManifold	(	btCollisionObject *	body0,
		btCollisionObject *	body1
	)		`[inline, protected]`

Creates a new contact point.

Definition at line 68 of file btGImpactCollisionAlgorithm.h.

References btDispatcher::getNewManifold(), btCollisionAlgorithm::m_dispatcher, and m_manifoldPtr.

Referenced by checkManifold().

void btGImpactCollisionAlgorithm::processCollision	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)		`[virtual]`

Collision routines

Implements btCollisionAlgorithm.

Definition at line 842 of file btGImpactCollisionAlgorithm.cpp.

References clearCache(), GIMPACT_SHAPE_PROXYTYPE, gimpact_vs_gimpact(), gimpact_vs_shape(), m_dispatchInfo, and m_resultOut.

void btGImpactCollisionAlgorithm::registerAlgorithm ( btCollisionDispatcher * dispatcher ) [static]

Use this function for register the algorithm externally.

Definition at line 887 of file btGImpactCollisionAlgorithm.cpp.

References GIMPACT_SHAPE_PROXYTYPE, i, MAX_BROADPHASE_COLLISION_TYPES, and btCollisionDispatcher::registerCollisionCreateFunc().

Referenced by CcdPhysicsEnvironment::CcdPhysicsEnvironment().

void btGImpactCollisionAlgorithm::setFace0 ( int value ) [inline]

Accessor/Mutator pairs for Part and triangleID.

Definition at line 264 of file btGImpactCollisionAlgorithm.h.

References m_triface0.

Referenced by btGImpactTriangleCallback::processTriangle().

void btGImpactCollisionAlgorithm::setFace1 ( int value ) [inline]

Collision routines

Definition at line 272 of file btGImpactCollisionAlgorithm.h.

References m_triface1.

Referenced by btGImpactTriangleCallback::processTriangle().

void btGImpactCollisionAlgorithm::setPart0 ( int value ) [inline]

Collision routines

Definition at line 280 of file btGImpactCollisionAlgorithm.h.

References m_part0.

Referenced by btGImpactTriangleCallback::processTriangle().

void btGImpactCollisionAlgorithm::setPart1 ( int value ) [inline]

Collision routines

Definition at line 288 of file btGImpactCollisionAlgorithm.h.

References m_part1.

Referenced by btGImpactTriangleCallback::processTriangle().

void btGImpactCollisionAlgorithm::shape_vs_shape_collision	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		btCollisionShape *	shape0,
		btCollisionShape *	shape1
	)		`[protected]`