81 lines
2.7 KiB
C++
81 lines
2.7 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_CONTACT_CACHE_H
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#define B3_CONTACT_CACHE_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3AlignedAllocator.h"
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///maximum contact breaking and merging threshold
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extern b3Scalar gContactBreakingThreshold;
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#define MANIFOLD_CACHE_SIZE 4
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///b3ContactCache is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
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///Those contact points are created by the collision narrow phase.
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///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
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///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
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///reduces the cache to 4 points, when more then 4 points are added, using following rules:
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///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
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///note that some pairs of objects might have more then one contact manifold.
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B3_ATTRIBUTE_ALIGNED16( class) b3ContactCache
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{
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/// sort cached points so most isolated points come first
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int sortCachedPoints(const b3Vector3& pt);
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public:
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B3_DECLARE_ALIGNED_ALLOCATOR();
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int addManifoldPoint( const b3Vector3& newPoint);
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/*void replaceContactPoint(const b3Vector3& newPoint,int insertIndex)
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{
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b3Assert(validContactDistance(newPoint));
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m_pointCache[insertIndex] = newPoint;
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}
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*/
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static bool validContactDistance(const b3Vector3& pt);
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/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
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static void refreshContactPoints( const b3Transform& trA,const b3Transform& trB, struct b3Contact4Data& newContactCache);
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static void removeContactPoint(struct b3Contact4Data& newContactCache,int i);
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};
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#endif //B3_CONTACT_CACHE_H
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