79 lines
3.4 KiB
C++
79 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 "btSoftRigidCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "btSoftBody.h"
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#include "BulletSoftBody/btSoftBodySolvers.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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///TODO: include all the shapes that the softbody can collide with
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///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
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//#include <stdio.h>
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btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*, bool isSwapped)
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: btCollisionAlgorithm(ci),
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//m_ownManifold(false),
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//m_manifoldPtr(mf),
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m_isSwapped(isSwapped)
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{
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}
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btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
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{
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//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
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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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}
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#include <stdio.h>
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#include "LinearMath/btQuickprof.h"
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void btSoftRigidCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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BT_PROFILE("btSoftRigidCollisionAlgorithm::processCollision");
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(void)dispatchInfo;
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(void)resultOut;
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//printf("btSoftRigidCollisionAlgorithm\n");
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// const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
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// const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
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btSoftBody* softBody = m_isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
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const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped ? body0Wrap : body1Wrap;
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if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject()) == softBody->m_collisionDisabledObjects.size())
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{
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softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
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}
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}
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btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
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{
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(void)resultOut;
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(void)dispatchInfo;
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(void)col0;
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(void)col1;
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//not yet
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return btScalar(1.);
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}
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