path: root/tests/bullet/src/BulletSoftBody/btSoftBodyInternals.h

/*
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.
*/
///btSoftBody implementation by Nathanael Presson

#ifndef _BT_SOFT_BODY_INTERNALS_H
#define _BT_SOFT_BODY_INTERNALS_H

#include "btSoftBody.h"


#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include <string.h> //for memset
//
// btSymMatrix
//
template <typename T>
struct btSymMatrix
{
	btSymMatrix() : dim(0)					{}
	btSymMatrix(int n,const T& init=T())	{ resize(n,init); }
	void					resize(int n,const T& init=T())			{ dim=n;store.resize((n*(n+1))/2,init); }
	int						index(int c,int r) const				{ if(c>r) btSwap(c,r);btAssert(r<dim);return((r*(r+1))/2+c); }
	T&						operator()(int c,int r)					{ return(store[index(c,r)]); }
	const T&				operator()(int c,int r) const			{ return(store[index(c,r)]); }
	btAlignedObjectArray<T>	store;
	int						dim;
};	

//
// btSoftBodyCollisionShape
//
class btSoftBodyCollisionShape : public btConcaveShape
{
public:
	btSoftBody*						m_body;

	btSoftBodyCollisionShape(btSoftBody* backptr)
	{
		m_shapeType = SOFTBODY_SHAPE_PROXYTYPE;
		m_body=backptr;
	}

	virtual ~btSoftBodyCollisionShape()
	{

	}

	void	processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
	{
		//not yet
		btAssert(0);
	}

	///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
	{
		/* t should be identity */ 
		aabbMin=m_body->m_bounds[0];
		aabbMax=m_body->m_bounds[1];
	}


	virtual void	setLocalScaling(const btVector3& /*scaling*/)
	{		
		///na
	}
	virtual const btVector3& getLocalScaling() const
	{
		static const btVector3 dummy(1,1,1);
		return dummy;
	}
	virtual void	calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
	{
		///not yet
		btAssert(0);
	}
	virtual const char*	getName()const
	{
		return "SoftBody";
	}

};

//
// btSoftClusterCollisionShape
//
class btSoftClusterCollisionShape : public btConvexInternalShape
{
public:
	const btSoftBody::Cluster*	m_cluster;

	btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); }


	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
	{
		btSoftBody::Node* const *						n=&m_cluster->m_nodes[0];
		btScalar										d=btDot(vec,n[0]->m_x);
		int												j=0;
		for(int i=1,ni=m_cluster->m_nodes.size();i<ni;++i)
		{
			const btScalar	k=btDot(vec,n[i]->m_x);
			if(k>d) { d=k;j=i; }
		}
		return(n[j]->m_x);
	}
	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
	{
		return(localGetSupportingVertex(vec));
	}
	//notice that the vectors should be unit length
	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
	{}


	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const
	{}

	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
	{}

	virtual int	getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; }

	//debugging
	virtual const char*	getName()const {return "SOFTCLUSTER";}

	virtual void	setMargin(btScalar margin)
	{
		btConvexInternalShape::setMargin(margin);
	}
	virtual btScalar	getMargin() const
	{
		return getMargin();
	}
};

//
// Inline's
//

//
templa