80 lines
3.4 KiB
C++
80 lines
3.4 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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#include "btBoxBoxCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btBoxBoxDetector.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#define USE_PERSISTENT_CONTACTS 1
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btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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: btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
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m_ownManifold = true;
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}
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}
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btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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return;
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const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
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const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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resultOut->setPersistentManifold(m_manifoldPtr);
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#ifndef USE_PERSISTENT_CONTACTS
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m_manifoldPtr->clearManifold();
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#endif //USE_PERSISTENT_CONTACTS
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btDiscreteCollisionDetectorInterface::ClosestPointInput input;
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input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
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input.m_transformA = body0Wrap->getWorldTransform();
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input.m_transformB = body1Wrap->getWorldTransform();
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btBoxBoxDetector detector(box0, box1);
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detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
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#ifdef USE_PERSISTENT_CONTACTS
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// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
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if (m_ownManifold)
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{
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resultOut->refreshContactPoints();
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}
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#endif //USE_PERSISTENT_CONTACTS
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}
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btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
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{
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//not yet
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return 1.f;
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}
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