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

Bullet Collision Detection & Physics Library

btSphereSphereCollisionAlgorithm.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 #define CLEAR_MANIFOLD 1
16
17 #include "btSphereSphereCollisionAlgorithm.h"
18 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
19 #include "BulletCollision/CollisionShapes/btSphereShape.h"
20 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22
23 btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
24 : btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
25 m_ownManifold(false),
26 m_manifoldPtr(mf)
27 {
28 if (!m_manifoldPtr)
29 {
30 m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(), col1Wrap->getCollisionObject());
31 m_ownManifold = true;
32 }
33 }
34
35 btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
36 {
37 if (m_ownManifold)
38 {
39 if (m_manifoldPtr)
40 m_dispatcher->releaseManifold(m_manifoldPtr);
41 }
42 }
43
44 void btSphereSphereCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
45 {
46 (void)dispatchInfo;
47
48 if (!m_manifoldPtr)
49 return;
50
51 resultOut->setPersistentManifold(m_manifoldPtr);
52
53 btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
54 btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
55
56 btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
57 btScalar len = diff.length();
58 btScalar radius0 = sphere0->getRadius();
59 btScalar radius1 = sphere1->getRadius();
60
61 #ifdef CLEAR_MANIFOLD
62 m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
63 #endif
64
66 if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
67 {
68 #ifndef CLEAR_MANIFOLD
69 resultOut->refreshContactPoints();
70 #endif //CLEAR_MANIFOLD
71 return;
72 }
74 btScalar dist = len - (radius0 + radius1);
75
76 btVector3 normalOnSurfaceB(1, 0, 0);
77 if (len > SIMD_EPSILON)
78 {
79 normalOnSurfaceB = diff / len;
80 }
81
85 btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
86
88
89 resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
90
91 #ifndef CLEAR_MANIFOLD
92 resultOut->refreshContactPoints();
93 #endif //CLEAR_MANIFOLD
94 }
95
96 btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
97 {
98 (void)col0;
99 (void)col1;
100 (void)dispatchInfo;
101 (void)resultOut;
102
103 //not yet
104 return btScalar(1.);
105 }
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btVector3::length
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:257
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
btSphereSphereCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btSphereSphereCollisionAlgorithm.h:32
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm
virtual ~btSphereSphereCollisionAlgorithm()
Definition: btSphereSphereCollisionAlgorithm.cpp:35
btSphereSphereCollisionAlgorithm.h
btPersistentManifold::clearManifold
void clearManifold()
Definition: btPersistentManifold.h:248
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:44
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btSphereSphereCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereSphereCollisionAlgorithm.cpp:96
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:46
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm
btSphereSphereCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0Wrap, const btCollisionObjectWrapper *col1Wrap)
Definition: btSphereSphereCollisionAlgorithm.cpp:23
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSphereShape.h
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btDispatcherInfo
Definition: btDispatcher.h:31
btSphereSphereCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btSphereSphereCollisionAlgorithm.h:31
btSphereSphereCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereSphereCollisionAlgorithm.cpp:44
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
btManifoldResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btManifoldResult.cpp:105
btCollisionDispatcher.h
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btSphereShape::getRadius
btScalar getRadius() const
Definition: btSphereShape.h:48