diff options
author | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
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committer | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
commit | ed59822857de7e7b41b33b79c306f5e9b8755c62 (patch) | |
tree | aa15011ba1df16a98d023acf2a276b265bd3ceda /extern/bullet2/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp | |
parent | 22bca493b23904c4dee7130f5737005f8558a26d (diff) |
== SoC Bullet - Bullet Upgrade to 2.76 ==
Updated Blender's Bullet to 2.76 in this branch only.
This update was done by:
1) deleting the contents of the existing extern/bullet2/src directory (leaving the .svn folder in place),
2) copy/pasting the contents of the bullet/src directory (from unzipped Bullet archive) into this newly cleared folder.
Hopefully there aren't any patches that are still needed from the Bullet we had in source.
---
Note: I didn't use Moguri's patch, since that was giving me compile errors with headers not being able to be found.
[[Split portion of a mixed commit.]]
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp | 105 |
1 files changed, 105 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/extern/bullet2/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp new file mode 100644 index 00000000000..5c4e78fe518 --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp @@ -0,0 +1,105 @@ +/* +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 "btSphereSphereCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" + +btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1) +: btActivatingCollisionAlgorithm(ci,col0,col1), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr) + { + m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1); + m_ownManifold = true; + } +} + +btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + + if (!m_manifoldPtr) + return; + + resultOut->setPersistentManifold(m_manifoldPtr); + + btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape(); + btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape(); + + btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin(); + btScalar len = diff.length(); + btScalar radius0 = sphere0->getRadius(); + btScalar radius1 = sphere1->getRadius(); + +#ifdef CLEAR_MANIFOLD + m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting +#endif + + ///iff distance positive, don't generate a new contact + if ( len > (radius0+radius1)) + { +#ifndef CLEAR_MANIFOLD + resultOut->refreshContactPoints(); +#endif //CLEAR_MANIFOLD + return; + } + ///distance (negative means penetration) + btScalar dist = len - (radius0+radius1); + + btVector3 normalOnSurfaceB(1,0,0); + if (len > SIMD_EPSILON) + { + normalOnSurfaceB = diff / len; + } + + ///point on A (worldspace) + ///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; + ///point on B (worldspace) + btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB; + + /// report a contact. internally this will be kept persistent, and contact reduction is done + + + resultOut->addContactPoint(normalOnSurfaceB,pos1,dist); + +#ifndef CLEAR_MANIFOLD + resultOut->refreshContactPoints(); +#endif //CLEAR_MANIFOLD + +} + +btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)col0; + (void)col1; + (void)dispatchInfo; + (void)resultOut; + + //not yet + return btScalar(1.); +} |