1926e84650
HELP BUILD SYSTEM MAINTAINERS: Please help with updating all build systems: the newly added files need to be added. Note that the src/SoftBody has been added for future extension of real-time soft bodies.
86 lines
3.2 KiB
C++
86 lines
3.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBoxBoxCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btBoxBoxDetector.h"
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#define USE_PERSISTENT_CONTACTS 1
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btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
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: btCollisionAlgorithm(ci),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
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m_ownManifold = true;
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}
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}
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btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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return;
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btCollisionObject* col0 = body0;
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btCollisionObject* col1 = body1;
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btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
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btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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resultOut->setPersistentManifold(m_manifoldPtr);
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#ifndef USE_PERSISTENT_CONTACTS
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m_manifoldPtr->clearManifold();
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#endif //USE_PERSISTENT_CONTACTS
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btDiscreteCollisionDetectorInterface::ClosestPointInput input;
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input.m_maximumDistanceSquared = 1e30f;
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input.m_transformA = body0->getWorldTransform();
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input.m_transformB = body1->getWorldTransform();
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btBoxBoxDetector detector(box0,box1);
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detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
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#ifdef USE_PERSISTENT_CONTACTS
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// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
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if (m_ownManifold)
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{
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resultOut->refreshContactPoints();
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}
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#endif //USE_PERSISTENT_CONTACTS
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}
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btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
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{
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//not yet
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return 1.f;
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}
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