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

Bullet Collision Detection & Physics Library

btBoxBoxCollisionAlgorithm.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 "btBoxBoxCollisionAlgorithm.h"
17 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18 #include "BulletCollision/CollisionShapes/btBoxShape.h"
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20 #include "btBoxBoxDetector.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22 #define USE_PERSISTENT_CONTACTS 1
23
24 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
25 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
26 m_ownManifold(false),
27 m_manifoldPtr(mf)
28 {
29 if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
30 {
31 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
32 m_ownManifold = true;
33 }
34 }
35
36 btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
37 {
38 if (m_ownManifold)
39 {
40 if (m_manifoldPtr)
41 m_dispatcher->releaseManifold(m_manifoldPtr);
42 }
43 }
44
45 void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
46 {
47 if (!m_manifoldPtr)
48 return;
49
50 const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
51 const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
52
54 resultOut->setPersistentManifold(m_manifoldPtr);
55 #ifndef USE_PERSISTENT_CONTACTS
56 m_manifoldPtr->clearManifold();
57 #endif //USE_PERSISTENT_CONTACTS
58
59 btDiscreteCollisionDetectorInterface::ClosestPointInput input;
60 input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
61 input.m_transformA = body0Wrap->getWorldTransform();
62 input.m_transformB = body1Wrap->getWorldTransform();
63
64 btBoxBoxDetector detector(box0, box1);
65 detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
66
67 #ifdef USE_PERSISTENT_CONTACTS
68 // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
69 if (m_ownManifold)
70 {
71 resultOut->refreshContactPoints();
72 }
73 #endif //USE_PERSISTENT_CONTACTS
74 }
75
76 btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
77 {
78 //not yet
79 return 1.f;
80 }
btBoxBoxCollisionAlgorithm.h
btBoxBoxDetector.h
btBoxShape.h
btCollisionDispatcher.h
btCollisionObjectWrapper.h
btCollisionObject.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:23
btBoxBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btBoxBoxCollisionAlgorithm.h:30
btBoxBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:76
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition: btBoxBoxCollisionAlgorithm.h:33
btBoxBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btBoxBoxCollisionAlgorithm.h:29
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm
virtual ~btBoxBoxCollisionAlgorithm()
Definition: btBoxBoxCollisionAlgorithm.cpp:36
btBoxBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:45
btBoxShape
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:28
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btPersistentManifold::clearManifold
void clearManifold()
Definition: btPersistentManifold.h:248
btBoxBoxDetector
btBoxBoxDetector wraps the ODE box-box collision detector re-distributed under the Zlib license with ...
Definition: btBoxBoxDetector.h:28
btBoxBoxDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btBoxBoxDetector.cpp:730
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:46
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:44
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:40
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:47
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:46
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:48
btDispatcherInfo
Definition: btDispatcher.h:31
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58