diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp | 85 |
1 files changed, 85 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp new file mode 100644 index 00000000000..cd0c028012c --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp @@ -0,0 +1,85 @@ +/* +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 "btBoxBoxCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btBoxShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "btBoxBoxDetector.h" + +#define USE_PERSISTENT_CONTACTS 1 + +btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1) +: btCollisionAlgorithm(ci), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1)) + { + m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1); + m_ownManifold = true; + } +} + +btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + if (!m_manifoldPtr) + return; + + btCollisionObject* col0 = body0; + btCollisionObject* col1 = body1; + btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape(); + btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape(); + + + + /// report a contact. internally this will be kept persistent, and contact reduction is done + resultOut->setPersistentManifold(m_manifoldPtr); +#ifndef USE_PERSISTENT_CONTACTS + m_manifoldPtr->clearManifold(); +#endif //USE_PERSISTENT_CONTACTS + + btDiscreteCollisionDetectorInterface::ClosestPointInput input; + input.m_maximumDistanceSquared = 1e30f; + input.m_transformA = body0->getWorldTransform(); + input.m_transformB = body1->getWorldTransform(); + + btBoxBoxDetector detector(box0,box1); + detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); + +#ifdef USE_PERSISTENT_CONTACTS + // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added + if (m_ownManifold) + { + resultOut->refreshContactPoints(); + } +#endif //USE_PERSISTENT_CONTACTS + +} + +btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) +{ + //not yet + return 1.f; +} |