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

Bullet Collision Detection & Physics Library

btSoftRigidCollisionAlgorithm.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_RIGID_COLLISION_ALGORITHM_H
17 #define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
18
19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22 class btPersistentManifold;
23 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
24
25 #include "LinearMath/btVector3.h"
26 class btSoftBody;
27
29 class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
30 {
31 // bool m_ownManifold;
32 // btPersistentManifold* m_manifoldPtr;
33
34 //btSoftBody* m_softBody;
35 //btCollisionObject* m_rigidCollisionObject;
36
38 bool m_isSwapped;
39
40 public:
41 btSoftRigidCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0, const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
42
43 virtual ~btSoftRigidCollisionAlgorithm();
44
45 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
46
47 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
48
49 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
50 {
51 //we don't add any manifolds
52 }
53
54 struct CreateFunc : public btCollisionAlgorithmCreateFunc
55 {
56 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
57 {
58 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
59 if (!m_swapped)
60 {
61 return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
62 }
63 else
64 {
65 return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
66 }
67 }
68 };
69 };
70
71 #endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
btBroadphaseProxy.h
btCollisionAlgorithm.h
btCollisionCreateFunc.h
btCollisionDispatcher.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btVector3.h
btAlignedObjectArray< btPersistentManifold * >
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btSoftRigidCollisionAlgorithm
btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
Definition: btSoftRigidCollisionAlgorithm.h:30
btSoftRigidCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btSoftRigidCollisionAlgorithm.h:49
btSoftRigidCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftRigidCollisionAlgorithm.cpp:69
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm
virtual ~btSoftRigidCollisionAlgorithm()
Definition: btSoftRigidCollisionAlgorithm.cpp:38
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
btSoftRigidCollisionAlgorithm::m_isSwapped
bool m_isSwapped
for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
Definition: btSoftRigidCollisionAlgorithm.h:38
btSoftRigidCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftRigidCollisionAlgorithm.cpp:52
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition: btDispatcher.h:31
btSoftRigidCollisionAlgorithm::CreateFunc
Definition: btSoftRigidCollisionAlgorithm.h:55
btSoftRigidCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSoftRigidCollisionAlgorithm.h:56