83 lines
3.5 KiB
C++
83 lines
3.5 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 "btSphereTriangleCollisionAlgorithm.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/CollisionDispatch/btCollisionObject.h"
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#include "SphereTriangleDetector.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
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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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m_swapped(swapped)
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{
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if (!m_manifoldPtr)
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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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btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
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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 btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, 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 btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
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const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
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btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
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btTriangleShape* triangle = (btTriangleShape*)triObjWrap->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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SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
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btDiscreteCollisionDetectorInterface::ClosestPointInput input;
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input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT); ///@todo: tighter bounds
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input.m_transformA = sphereObjWrap->getWorldTransform();
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input.m_transformB = triObjWrap->getWorldTransform();
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bool swapResults = m_swapped;
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detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
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if (m_ownManifold)
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resultOut->refreshContactPoints();
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}
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btScalar btSphereTriangleCollisionAlgorithm::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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