80 lines
3.4 KiB
C++
80 lines
3.4 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "btBoxBoxCollisionAlgorithm.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
|
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
|
#include "btBoxBoxDetector.h"
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
|
|
#define USE_PERSISTENT_CONTACTS 1
|
|
|
|
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
|
|
: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
|
|
m_ownManifold(false),
|
|
m_manifoldPtr(mf)
|
|
{
|
|
if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
|
|
{
|
|
m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
|
|
m_ownManifold = true;
|
|
}
|
|
}
|
|
|
|
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
|
|
{
|
|
if (m_ownManifold)
|
|
{
|
|
if (m_manifoldPtr)
|
|
m_dispatcher->releaseManifold(m_manifoldPtr);
|
|
}
|
|
}
|
|
|
|
void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
|
|
{
|
|
if (!m_manifoldPtr)
|
|
return;
|
|
|
|
const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
|
|
const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
|
|
|
|
/// report a contact. internally this will be kept persistent, and contact reduction is done
|
|
resultOut->setPersistentManifold(m_manifoldPtr);
|
|
#ifndef USE_PERSISTENT_CONTACTS
|
|
m_manifoldPtr->clearManifold();
|
|
#endif //USE_PERSISTENT_CONTACTS
|
|
|
|
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
|
|
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
|
|
input.m_transformA = body0Wrap->getWorldTransform();
|
|
input.m_transformB = body1Wrap->getWorldTransform();
|
|
|
|
btBoxBoxDetector detector(box0, box1);
|
|
detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
|
|
|
|
#ifdef USE_PERSISTENT_CONTACTS
|
|
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
|
|
if (m_ownManifold)
|
|
{
|
|
resultOut->refreshContactPoints();
|
|
}
|
|
#endif //USE_PERSISTENT_CONTACTS
|
|
}
|
|
|
|
btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
|
|
{
|
|
//not yet
|
|
return 1.f;
|
|
}
|