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 }
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObjectWrapper.h
btSphereTriangleCollisionAlgorithm::m_swapped
bool m_swapped
Definition: btSphereTriangleCollisionAlgorithm.h:32
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btSphereTriangleCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereTriangleCollisionAlgorithm.cpp:45
btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereTriangleCollisionAlgorithm.cpp:73
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm
btSphereTriangleCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool swapped)
Definition: btSphereTriangleCollisionAlgorithm.cpp:23
SphereTriangleDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: SphereTriangleDetector.cpp:28
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:44
btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm
virtual ~btSphereTriangleCollisionAlgorithm()
Definition: btSphereTriangleCollisionAlgorithm.cpp:36
btTriangleShape
Definition: btTriangleShape.h:24
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:48
btSphereTriangleCollisionAlgorithm.h
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:46
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:47
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:46
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
SphereTriangleDetector
sphere-triangle to match the btDiscreteCollisionDetectorInterface
Definition: SphereTriangleDetector.h:26
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
btSphereShape.h
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btDispatcherInfo
Definition: btDispatcher.h:31
btSphereTriangleCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btSphereTriangleCollisionAlgorithm.h:30
SphereTriangleDetector.h
btSphereTriangleCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btSphereTriangleCollisionAlgorithm.h:31
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:23
btCollisionObject.h
btCollisionDispatcher.h
btPersistentManifold::getContactBreakingThreshold
btScalar getContactBreakingThreshold() const
Definition: btPersistentManifold.cpp:242
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:40