1 files changed, 33 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
new file mode 100644
index 00000000000..bb45e5215f3
--- /dev/null
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/ManifoldContactAddResult.cpp
@@ -0,0 +1,33 @@
+
+#include "ManifoldContactAddResult.h"
+#include "NarrowPhaseCollision/PersistentManifold.h"
+
+ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr)
+		:m_manifoldPtr(manifoldPtr)
+{
+	m_transAInv = transA.inverse();
+	m_transBInv = transB.inverse();
+
+}
+
+
+void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
+{
+	if (depth > m_manifoldPtr->GetManifoldMargin())
+		return;
+
+
+	SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
+	SimdVector3 localA = m_transAInv(pointA );
+	SimdVector3 localB = m_transBInv(pointInWorld);
+	ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+
+	int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
+	if (insertIndex >= 0)
+	{
+		m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
+	} else
+	{
+		m_manifoldPtr->AddManifoldPoint(newPt);
+	}
+}
+\ No newline at end of file