202 lines
8.5 KiB
C++
202 lines
8.5 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 "btManifoldResult.h"
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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///This is to allow MaterialCombiner/Custom Friction/Restitution values
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ContactAddedCallback gContactAddedCallback = 0;
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CalculateCombinedCallback gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution;
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CalculateCombinedCallback gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction;
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CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction;
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CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction;
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CalculateCombinedCallback gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping;
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CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness;
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btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction();
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const btScalar MAX_FRICTION = btScalar(10.);
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
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const btScalar MAX_FRICTION = btScalar(10.);
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
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btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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btScalar friction = body0->getFriction() * body1->getFriction();
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const btScalar MAX_FRICTION = btScalar(10.);
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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return body0->getRestitution() * body1->getRestitution();
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}
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btScalar btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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return body0->getContactDamping() + body1->getContactDamping();
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}
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btScalar btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1)
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{
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btScalar s0 = body0->getContactStiffness();
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btScalar s1 = body1->getContactStiffness();
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btScalar tmp0 = btScalar(1) / s0;
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btScalar tmp1 = btScalar(1) / s1;
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btScalar combinedStiffness = btScalar(1) / (tmp0 + tmp1);
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return combinedStiffness;
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}
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btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
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: m_manifoldPtr(0),
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m_body0Wrap(body0Wrap),
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m_body1Wrap(body1Wrap)
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,
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m_partId0(-1),
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m_partId1(-1),
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m_index0(-1),
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m_index1(-1)
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,
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m_closestPointDistanceThreshold(0)
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{
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}
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void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
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{
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btAssert(m_manifoldPtr);
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//order in manifold needs to match
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if (depth > m_manifoldPtr->getContactBreakingThreshold())
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// if (depth > m_manifoldPtr->getContactProcessingThreshold())
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return;
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bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
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bool isNewCollision = m_manifoldPtr->getNumContacts() == 0;
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btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
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btVector3 localA;
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btVector3 localB;
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if (isSwapped)
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{
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localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
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localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
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}
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else
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{
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localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
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localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
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}
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btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
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newPt.m_positionWorldOnA = pointA;
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newPt.m_positionWorldOnB = pointInWorld;
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int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
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newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
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newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
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newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
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newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
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if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
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(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
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{
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newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
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newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
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newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
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}
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if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
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(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR))
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{
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newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
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}
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btPlaneSpace1(newPt.m_normalWorldOnB, newPt.m_lateralFrictionDir1, newPt.m_lateralFrictionDir2);
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//BP mod, store contact triangles.
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if (isSwapped)
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{
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newPt.m_partId0 = m_partId1;
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newPt.m_partId1 = m_partId0;
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newPt.m_index0 = m_index1;
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newPt.m_index1 = m_index0;
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}
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else
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{
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newPt.m_partId0 = m_partId0;
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newPt.m_partId1 = m_partId1;
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newPt.m_index0 = m_index0;
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newPt.m_index1 = m_index1;
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}
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//printf("depth=%f\n",depth);
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///@todo, check this for any side effects
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if (insertIndex >= 0)
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{
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//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
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m_manifoldPtr->replaceContactPoint(newPt, insertIndex);
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}
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else
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{
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insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
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}
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//User can override friction and/or restitution
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if (gContactAddedCallback &&
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//and if either of the two bodies requires custom material
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((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
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(m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
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{
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//experimental feature info, for per-triangle material etc.
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const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
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const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
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(*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex), obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
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}
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if (gContactStartedCallback && isNewCollision)
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{
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gContactStartedCallback(m_manifoldPtr);
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}
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}
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