74 lines
3.3 KiB
C++
74 lines
3.3 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_SPHERE_BOX_COLLISION_ALGORITHM_H
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#define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
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#include "btActivatingCollisionAlgorithm.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 "btCollisionDispatcher.h"
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#include "LinearMath/btVector3.h"
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/// btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
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/// Other features are frame-coherency (persistent data) and collision response.
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class btSphereBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
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{
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bool m_ownManifold;
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btPersistentManifold* m_manifoldPtr;
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bool m_isSwapped;
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public:
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btSphereBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped);
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virtual ~btSphereBoxCollisionAlgorithm();
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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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if (m_manifoldPtr && m_ownManifold)
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{
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manifoldArray.push_back(m_manifoldPtr);
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}
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}
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bool getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance);
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btScalar getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal);
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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(btSphereBoxCollisionAlgorithm));
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if (!m_swapped)
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{
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return new (mem) btSphereBoxCollisionAlgorithm(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) btSphereBoxCollisionAlgorithm(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_SPHERE_BOX_COLLISION_ALGORITHM_H
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