71 lines
3.1 KiB
C++
71 lines
3.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://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 BT_SOFT_RIGID_COLLISION_ALGORITHM_H
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#define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
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class btPersistentManifold;
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "LinearMath/btVector3.h"
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class btSoftBody;
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/// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
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class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
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{
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// bool m_ownManifold;
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// btPersistentManifold* m_manifoldPtr;
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//btSoftBody* m_softBody;
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//btCollisionObject* m_rigidCollisionObject;
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///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
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bool m_isSwapped;
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public:
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btSoftRigidCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0, const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
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virtual ~btSoftRigidCollisionAlgorithm();
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virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
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virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
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{
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//we don't add any manifolds
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}
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struct CreateFunc : public btCollisionAlgorithmCreateFunc
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{
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virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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{
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void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
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if (!m_swapped)
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{
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return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
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}
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else
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{
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return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
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}
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}
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};
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};
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#endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
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