diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp | 51 |
1 files changed, 26 insertions, 25 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp index b2e9bfaf593..cce2d95bcf9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @@ -19,10 +19,11 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" //#include <stdio.h> -btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold) +btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold) : btCollisionAlgorithm(ci), m_ownManifold(false), m_manifoldPtr(mf), @@ -30,12 +31,12 @@ m_isSwapped(isSwapped), m_numPerturbationIterations(numPerturbationIterations), m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold) { - btCollisionObject* convexObj = m_isSwapped? col1 : col0; - btCollisionObject* planeObj = m_isSwapped? col0 : col1; + const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? col1Wrap : col0Wrap; + const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? col0Wrap : col1Wrap; - if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj)) + if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject())) { - m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj); + m_manifoldPtr = m_dispatcher->getNewManifold(convexObjWrap->getCollisionObject(),planeObjWrap->getCollisionObject()); m_ownManifold = true; } } @@ -50,25 +51,25 @@ btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm() } } -void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { - btCollisionObject* convexObj = m_isSwapped? body1 : body0; - btCollisionObject* planeObj = m_isSwapped? body0: body1; + const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap; - btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); - btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape(); bool hasCollision = false; const btVector3& planeNormal = planeShape->getPlaneNormal(); const btScalar& planeConstant = planeShape->getPlaneConstant(); - btTransform convexWorldTransform = convexObj->getWorldTransform(); + btTransform convexWorldTransform = convexObjWrap->getWorldTransform(); btTransform convexInPlaneTrans; - convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexWorldTransform; + convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexWorldTransform; //now perturbe the convex-world transform convexWorldTransform.getBasis()*=btMatrix3x3(perturbeRot); btTransform planeInConvex; - planeInConvex= convexWorldTransform.inverse() * planeObj->getWorldTransform(); + planeInConvex= convexWorldTransform.inverse() * planeObjWrap->getWorldTransform(); btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal); @@ -76,53 +77,53 @@ void btConvexPlaneCollisionAlgorithm::collideSingleContact (const btQuaternion& btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant); btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal; - btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected; + btVector3 vtxInPlaneWorld = planeObjWrap->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 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal; btVector3 pOnB = vtxInPlaneWorld; resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); } } -void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexPlaneCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) { (void)dispatchInfo; if (!m_manifoldPtr) return; - btCollisionObject* convexObj = m_isSwapped? body1 : body0; - btCollisionObject* planeObj = m_isSwapped? body0: body1; + const btCollisionObjectWrapper* convexObjWrap = m_isSwapped? body1Wrap : body0Wrap; + const btCollisionObjectWrapper* planeObjWrap = m_isSwapped? body0Wrap: body1Wrap; - btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape(); - btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape(); + btConvexShape* convexShape = (btConvexShape*) convexObjWrap->getCollisionShape(); + btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObjWrap->getCollisionShape(); bool hasCollision = false; const btVector3& planeNormal = planeShape->getPlaneNormal(); const btScalar& planeConstant = planeShape->getPlaneConstant(); btTransform planeInConvex; - planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform(); + planeInConvex= convexObjWrap->getWorldTransform().inverse() * planeObjWrap->getWorldTransform(); btTransform convexInPlaneTrans; - convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform(); + convexInPlaneTrans= planeObjWrap->getWorldTransform().inverse() * convexObjWrap->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; + btVector3 vtxInPlaneWorld = planeObjWrap->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 normalOnSurfaceB = planeObjWrap->getWorldTransform().getBasis() * planeNormal; btVector3 pOnB = vtxInPlaneWorld; resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance); } @@ -148,7 +149,7 @@ void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0 { btScalar iterationAngle = i*(SIMD_2_PI/btScalar(m_numPerturbationIterations)); btQuaternion rotq(planeNormal,iterationAngle); - collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0,body1,dispatchInfo,resultOut); + collideSingleContact(rotq.inverse()*perturbeRot*rotq,body0Wrap,body1Wrap,dispatchInfo,resultOut); } } |