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author | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2008-11-13 00:16:53 +0300 |
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committer | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2008-11-13 00:16:53 +0300 |
commit | bdfe7d89e2f1292644577972c716931b4ce3c6c3 (patch) | |
tree | d00eb50b749cb001e2b08272c91791e66740b05d /extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | |
parent | 78a1c27c4a6abe0ed31ca93ad21910f3df04da56 (diff) | |
parent | 7e4db234cee71ead34ee81a12e27da4bd548eb4b (diff) |
Merge of trunk into blender 2.5:
svn merge https://svn.blender.org/svnroot/bf-blender/trunk/blender -r12987:17416
Issues:
* GHOST/X11 had conflicting changes. Some code was added in 2.5, which was
later added in trunk also, but reverted partially, specifically revision
16683. I have left out this reversion in the 2.5 branch since I think it is
needed there.
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16683
* Scons had various conflicting changes, I decided to go with trunk version
for everything except priorities and some library renaming.
* In creator.c, there were various fixes and fixes for fixes related to the -w
-W and -p options. In 2.5 -w and -W is not coded yet, and -p is done
differently. Since this is changed so much, and I don't think those fixes
would be needed in 2.5, I've left them out.
* Also in creator.c: there was code for a python bugfix where the screen was not
initialized when running with -P. The code that initializes the screen there
I had to disable, that can't work in 2.5 anymore but left it commented as a
reminder.
Further I had to disable some new function calls. using src/ and python/, as
was done already in this branch, disabled function calls:
* bpath.c: error reporting
* BME_conversions.c: editmesh conversion functions.
* SHD_dynamic: disabled almost completely, there is no python/.
* KX_PythonInit.cpp and Ketsji/ build files: Mathutils is not there, disabled.
* text.c: clipboard copy call.
* object.c: OB_SUPPORT_MATERIAL.
* DerivedMesh.c and subsurf_ccg, stipple_quarttone.
Still to be done:
* Go over files and functions that were moved to a different location but could
still use changes that were done in trunk.
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | 108 |
1 files changed, 108 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp new file mode 100644 index 00000000000..391cf6c7bc4 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -0,0 +1,108 @@ +/* +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 "btConvexPlaneCollisionAlgorithm.h" + +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionShapes/btConvexShape.h" +#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" + +//#include <stdio.h> + +btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped) +: btCollisionAlgorithm(ci), +m_ownManifold(false), +m_manifoldPtr(mf), +m_isSwapped(isSwapped) +{ + btCollisionObject* convexObj = m_isSwapped? col1 : col0; + btCollisionObject* planeObj = m_isSwapped? col0 : col1; + + if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj)) + { + m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj); + m_ownManifold = true; + } +} + + +btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + + + +void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)dispatchInfo; + (void)resultOut; + if (!m_manifoldPtr) + return; + + btCollisionObject* convexObj = m_isSwapped? body1 : body0; + btCollisionObject* planeObj = m_isSwapped? body0: body1; + + btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + + bool hasCollision = false; + const btVector3& planeNormal = planeShape->getPlaneNormal(); + const btScalar& planeConstant = planeShape->getPlaneConstant(); + btTransform planeInConvex; + planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform(); + btTransform convexInPlaneTrans; + convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform(); + + btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); + btVector3 vtxInPlane = convexInPlaneTrans(vtx); + btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); + + btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; + btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected; + + hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold(); + resultOut->setPersistentManifold(m_manifoldPtr); + if (hasCollision) + { + /// report a contact. internally this will be kept persistent, and contact reduction is done + btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal; + btVector3 pOnB = vtxInPlaneWorld; + resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); + } + if (m_ownManifold) + { + if (m_manifoldPtr->getNumContacts()) + { + resultOut->refreshContactPoints(); + } + } +} + +btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} |