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

Bullet Collision Detection & Physics Library

btSphereTriangleCollisionAlgorithm.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 "btSphereTriangleCollisionAlgorithm.h"
17 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18 #include "BulletCollision/CollisionShapes/btSphereShape.h"
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20 #include "SphereTriangleDetector.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22
23 btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
24 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
25 m_ownManifold(false),
26 m_manifoldPtr(mf),
27 m_swapped(swapped)
28 {
29 if (!m_manifoldPtr)
30 {
31 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
32 m_ownManifold = true;
33 }
34 }
35
36 btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
37 {
38 if (m_ownManifold)
39 {
40 if (m_manifoldPtr)
41 m_dispatcher->releaseManifold(m_manifoldPtr);
42 }
43 }
44
45 void btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
46 {
47 if (!m_manifoldPtr)
48 return;
49
50 const btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
51 const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
52
53 btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
54 btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
55
57 resultOut->setPersistentManifold(m_manifoldPtr);
58 SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
59
60 btDiscreteCollisionDetectorInterface::ClosestPointInput input;
61 input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);
62 input.m_transformA = sphereObjWrap->getWorldTransform();
63 input.m_transformB = triObjWrap->getWorldTransform();
64
65 bool swapResults = m_swapped;
66
67 detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
68
69 if (m_ownManifold)
70 resultOut->refreshContactPoints();
71 }
72
73 btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
74 {
75 (void)resultOut;
76 (void)dispatchInfo;
77 (void)col0;
78 (void)col1;
79
80 //not yet
81 return btScalar(1.);
82 }
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btPersistentManifold::getContactBreakingThreshold
btScalar getContactBreakingThreshold() const
Definition: btPersistentManifold.cpp:242
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:296
btSphereTriangleCollisionAlgorithm.h
SphereTriangleDetector.h
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btSphereTriangleCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btSphereTriangleCollisionAlgorithm.h:30
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
Definition: btSphereShape.h:22
btTriangleShape
Definition: btTriangleShape.h:22
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:40
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btSphereTriangleCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btSphereTriangleCollisionAlgorithm.h:31
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:48
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btCollisionObjectWrapper.h
btSphereTriangleCollisionAlgorithm::m_swapped
bool m_swapped
Definition: btSphereTriangleCollisionAlgorithm.h:32
btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereTriangleCollisionAlgorithm.cpp:73
btCollisionDispatcher.h
btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm
virtual ~btSphereTriangleCollisionAlgorithm()
Definition: btSphereTriangleCollisionAlgorithm.cpp:36
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:38
SphereTriangleDetector
sphere-triangle to match the btDiscreteCollisionDetectorInterface
Definition: SphereTriangleDetector.h:25
btCollisionObject.h
btSphereTriangleCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereTriangleCollisionAlgorithm.cpp:45
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm
btSphereTriangleCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool swapped)
Definition: btSphereTriangleCollisionAlgorithm.cpp:23
btDispatcherInfo
Definition: btDispatcher.h:30
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:39
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btSphereShape.h
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294