108 lines
3.8 KiB
C++
108 lines
3.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#define CLEAR_MANIFOLD 1
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#include "btSphereSphereCollisionAlgorithm.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 "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap)
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: btActivatingCollisionAlgorithm(ci,col0Wrap,col1Wrap),
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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)
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(),col1Wrap->getCollisionObject());
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m_ownManifold = true;
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}
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}
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btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
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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 btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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(void)dispatchInfo;
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if (!m_manifoldPtr)
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return;
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resultOut->setPersistentManifold(m_manifoldPtr);
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btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
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btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
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btVector3 diff = col0Wrap->getWorldTransform().getOrigin()- col1Wrap->getWorldTransform().getOrigin();
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btScalar len = diff.length();
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btScalar radius0 = sphere0->getRadius();
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btScalar radius1 = sphere1->getRadius();
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#ifdef CLEAR_MANIFOLD
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m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
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#endif
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///iff distance positive, don't generate a new contact
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if ( len > (radius0+radius1+resultOut->m_closestPointDistanceThreshold))
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{
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#ifndef CLEAR_MANIFOLD
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resultOut->refreshContactPoints();
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#endif //CLEAR_MANIFOLD
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return;
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}
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///distance (negative means penetration)
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btScalar dist = len - (radius0+radius1);
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btVector3 normalOnSurfaceB(1,0,0);
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if (len > SIMD_EPSILON)
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{
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normalOnSurfaceB = diff / len;
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}
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///point on A (worldspace)
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///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
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///point on B (worldspace)
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btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB;
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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resultOut->addContactPoint(normalOnSurfaceB,pos1,dist);
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#ifndef CLEAR_MANIFOLD
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resultOut->refreshContactPoints();
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#endif //CLEAR_MANIFOLD
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}
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btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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(void)col0;
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(void)col1;
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(void)dispatchInfo;
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(void)resultOut;
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//not yet
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return btScalar(1.);
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}
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