Bullet Collision Detection & Physics Library: btSoftRigidCollisionAlgorithm.cpp Source File

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btSoftRigidCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btSoftRigidCollisionAlgorithm.h"
17 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18 #include "BulletCollision/CollisionShapes/btSphereShape.h"
19 #include "BulletCollision/CollisionShapes/btBoxShape.h"
20 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
21 #include "btSoftBody.h"
22 #include "BulletSoftBody/btSoftBodySolvers.h"
23 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
24
27
28 //#include <stdio.h>
29
30 btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* , bool isSwapped)
31 : btCollisionAlgorithm(ci),
32 //m_ownManifold(false),
33 //m_manifoldPtr(mf),
34 m_isSwapped(isSwapped)
35 {
36 }
37
38
39 btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
40 {
41
42 //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
43
44 /*if (m_ownManifold)
45 {
46 if (m_manifoldPtr)
47 m_dispatcher->releaseManifold(m_manifoldPtr);
48 }
49 */
50
51 }
52
53
54 #include <stdio.h>
55
56 void btSoftRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
57 {
58 (void)dispatchInfo;
59 (void)resultOut;
60 //printf("btSoftRigidCollisionAlgorithm\n");
61 // const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
62 // const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
63 btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
64 const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap;
65
66 if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size())
67 {
68 softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
69 }
70
71
72 }
73
74 btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
75 {
76 (void)resultOut;
77 (void)dispatchInfo;
78 (void)col0;
79 (void)col1;
80
81 //not yet
82 return btScalar(1.);
83 }
84
85
86
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm
virtual ~btSoftRigidCollisionAlgorithm()
Definition: btSoftRigidCollisionAlgorithm.cpp:39
btSoftBodySolvers.h
btBoxShape.h
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btSoftBodySolver::processCollision
virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *)=0
Process a collision between one of the world&#39;s soft bodies and another collision object.
btSoftBody.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:155
btSoftRigidCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftRigidCollisionAlgorithm.cpp:56
btSoftBody::getSoftBodySolver
btSoftBodySolver * getSoftBodySolver()
Definition: btSoftBody.h:915
btSoftRigidCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftRigidCollisionAlgorithm.cpp:74
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btSoftRigidCollisionAlgorithm.h
btCollisionObjectWrapper.h
btCollisionDispatcher.h
btAlignedObjectArray::findLinearSearch
int findLinearSearch(const T &key) const
Definition: btAlignedObjectArray.h:463
btCollisionObject.h
btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm
btSoftRigidCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0, const btCollisionObjectWrapper *col1Wrap, bool isSwapped)
TODO: include all the shapes that the softbody can collide with alternatively, implement special case...
Definition: btSoftRigidCollisionAlgorithm.cpp:30
btSoftBody::m_collisionDisabledObjects
btAlignedObjectArray< const class btCollisionObject * > m_collisionDisabledObjects
Definition: btSoftBody.h:74
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:71
btSphereShape.h
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btSoftRigidCollisionAlgorithm::m_isSwapped
bool m_isSwapped
for rigid versus soft (instead of soft versus rigid), we use this swapped boolean ...
Definition: btSoftRigidCollisionAlgorithm.h:38
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39