Bullet Collision Detection & Physics Library: btSoftSoftCollisionAlgorithm.h Source File

Bullet Collision Detection & Physics Library

btSoftSoftCollisionAlgorithm.h
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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 #ifndef BT_SOFT_SOFT_COLLISION_ALGORITHM_H
17 #define BT_SOFT_SOFT_COLLISION_ALGORITHM_H
18
19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
22 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
23
24 class btPersistentManifold;
25 class btSoftBody;
26
28 class btSoftSoftCollisionAlgorithm : public btCollisionAlgorithm
29 {
30 bool m_ownManifold;
31 btPersistentManifold* m_manifoldPtr;
32
33 // btSoftBody* m_softBody0;
34 // btSoftBody* m_softBody1;
35
36 public:
37 btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
38 : btCollisionAlgorithm(ci) {}
39
40 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
41
42 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
43
44 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
45 {
46 if (m_manifoldPtr && m_ownManifold)
47 manifoldArray.push_back(m_manifoldPtr);
48 }
49
50 btSoftSoftCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
51
52 virtual ~btSoftSoftCollisionAlgorithm();
53
54 struct CreateFunc : public btCollisionAlgorithmCreateFunc
55 {
56 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
57 {
58 int bbsize = sizeof(btSoftSoftCollisionAlgorithm);
59 void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
60 return new (ptr) btSoftSoftCollisionAlgorithm(0, ci, body0Wrap, body1Wrap);
61 }
62 };
63 };
64
65 #endif //BT_SOFT_SOFT_COLLISION_ALGORITHM_H
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm
virtual ~btSoftSoftCollisionAlgorithm()
Definition: btSoftSoftCollisionAlgorithm.cpp:33
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btSoftSoftCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSoftSoftCollisionAlgorithm.h:56
btSoftSoftCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btSoftSoftCollisionAlgorithm.h:30
btSoftSoftCollisionAlgorithm::CreateFunc
Definition: btSoftSoftCollisionAlgorithm.h:55
btSoftSoftCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btSoftSoftCollisionAlgorithm.h:44
btSoftSoftCollisionAlgorithm
collision detection between two btSoftBody shapes
Definition: btSoftSoftCollisionAlgorithm.h:29
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btSoftSoftCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btSoftSoftCollisionAlgorithm.h:31
btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm
btSoftSoftCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition: btSoftSoftCollisionAlgorithm.h:37
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btSoftSoftCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftSoftCollisionAlgorithm.cpp:44
btDispatcherInfo
Definition: btDispatcher.h:31
btAlignedObjectArray< btPersistentManifold * >
btDispatcher.h
btCollisionCreateFunc.h
btBroadphaseProxy.h
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btSoftSoftCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftSoftCollisionAlgorithm.cpp:37
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btCollisionAlgorithm.h