forked from LeenkxTeam/LNXSDK
87 lines
3.3 KiB
C++
87 lines
3.3 KiB
C++
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
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.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "btSoftRigidCollisionAlgorithm.h"
|
||
|
|
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
|
||
|
|
#include "BulletCollision/CollisionShapes/btSphereShape.h"
|
||
|
|
#include "BulletCollision/CollisionShapes/btBoxShape.h"
|
||
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
|
||
|
|
#include "btSoftBody.h"
|
||
|
|
#include "BulletSoftBody/btSoftBodySolvers.h"
|
||
|
|
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
|
||
|
|
|
||
|
|
///TODO: include all the shapes that the softbody can collide with
|
||
|
|
///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
|
||
|
|
|
||
|
|
//#include <stdio.h>
|
||
|
|
|
||
|
|
btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* , bool isSwapped)
|
||
|
|
: btCollisionAlgorithm(ci),
|
||
|
|
//m_ownManifold(false),
|
||
|
|
//m_manifoldPtr(mf),
|
||
|
|
m_isSwapped(isSwapped)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
|
||
|
|
{
|
||
|
|
|
||
|
|
//m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
|
||
|
|
|
||
|
|
/*if (m_ownManifold)
|
||
|
|
{
|
||
|
|
if (m_manifoldPtr)
|
||
|
|
m_dispatcher->releaseManifold(m_manifoldPtr);
|
||
|
|
}
|
||
|
|
*/
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
#include <stdio.h>
|
||
|
|
|
||
|
|
void btSoftRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||
|
|
{
|
||
|
|
(void)dispatchInfo;
|
||
|
|
(void)resultOut;
|
||
|
|
//printf("btSoftRigidCollisionAlgorithm\n");
|
||
|
|
// const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
|
||
|
|
// const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
|
||
|
|
btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
|
||
|
|
const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap;
|
||
|
|
|
||
|
|
if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size())
|
||
|
|
{
|
||
|
|
softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
|
||
|
|
{
|
||
|
|
(void)resultOut;
|
||
|
|
(void)dispatchInfo;
|
||
|
|
(void)col0;
|
||
|
|
(void)col1;
|
||
|
|
|
||
|
|
//not yet
|
||
|
|
return btScalar(1.);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|