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path: root/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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-rw-r--r--extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp151
1 files changed, 100 insertions, 51 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
index 4b2986a0087..770eb243691 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
@@ -13,142 +13,191 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#include "btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
///This is to allow MaterialCombiner/Custom Friction/Restitution values
-ContactAddedCallback gContactAddedCallback=0;
-
+ContactAddedCallback gContactAddedCallback = 0;
+CalculateCombinedCallback gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution;
+CalculateCombinedCallback gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction;
+CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction;
+CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction;
+CalculateCombinedCallback gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping;
+CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness;
-///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-inline btScalar calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1)
{
- btScalar friction = body0->getRollingFriction() * body1->getRollingFriction();
+ btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction();
- const btScalar MAX_FRICTION = btScalar(10.);
+ const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
-
}
+btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1)
+{
+ btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction();
+
+ const btScalar MAX_FRICTION = btScalar(10.);
+ if (friction < -MAX_FRICTION)
+ friction = -MAX_FRICTION;
+ if (friction > MAX_FRICTION)
+ friction = MAX_FRICTION;
+ return friction;
+}
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
-btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1)
{
btScalar friction = body0->getFriction() * body1->getFriction();
- const btScalar MAX_FRICTION = btScalar(10.);
+ const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
-
}
-btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
+btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1)
{
return body0->getRestitution() * body1->getRestitution();
}
+btScalar btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1)
+{
+ return body0->getContactDamping() + body1->getContactDamping();
+}
+
+btScalar btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1)
+{
+ btScalar s0 = body0->getContactStiffness();
+ btScalar s1 = body1->getContactStiffness();
+ btScalar tmp0 = btScalar(1) / s0;
+ btScalar tmp1 = btScalar(1) / s1;
+ btScalar combinedStiffness = btScalar(1) / (tmp0 + tmp1);
+ return combinedStiffness;
+}
-btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
- :m_manifoldPtr(0),
- m_body0Wrap(body0Wrap),
- m_body1Wrap(body1Wrap)
+btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
+ : m_manifoldPtr(0),
+ m_body0Wrap(body0Wrap),
+ m_body1Wrap(body1Wrap)
#ifdef DEBUG_PART_INDEX
- ,m_partId0(-1),
- m_partId1(-1),
- m_index0(-1),
- m_index1(-1)
-#endif //DEBUG_PART_INDEX
+ ,
+ m_partId0(-1),
+ m_partId1(-1),
+ m_index0(-1),
+ m_index1(-1)
+#endif //DEBUG_PART_INDEX
+ ,
+ m_closestPointDistanceThreshold(0)
{
}
-
-void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
{
btAssert(m_manifoldPtr);
//order in manifold needs to match
if (depth > m_manifoldPtr->getContactBreakingThreshold())
-// if (depth > m_manifoldPtr->getContactProcessingThreshold())
+ // if (depth > m_manifoldPtr->getContactProcessingThreshold())
return;
bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
+ bool isNewCollision = m_manifoldPtr->getNumContacts() == 0;
btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
btVector3 localA;
btVector3 localB;
-
+
if (isSwapped)
{
- localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+ localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
- } else
+ }
+ else
{
- localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA );
+ localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA);
localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld);
}
- btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
+ btManifoldPoint newPt(localA, localB, normalOnBInWorld, depth);
newPt.m_positionWorldOnA = pointA;
newPt.m_positionWorldOnB = pointInWorld;
-
+
int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
- newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
- newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
- newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
- btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);
-
+ newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+ newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+ newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+ newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
-
- //BP mod, store contact triangles.
+ if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
+ (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))
+ {
+ newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+ newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(), m_body1Wrap->getCollisionObject());
+ newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
+ }
+
+ if ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
+ (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_HAS_FRICTION_ANCHOR))
+ {
+ newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
+ }
+
+ btPlaneSpace1(newPt.m_normalWorldOnB, newPt.m_lateralFrictionDir1, newPt.m_lateralFrictionDir2);
+
+ //BP mod, store contact triangles.
if (isSwapped)
{
newPt.m_partId0 = m_partId1;
newPt.m_partId1 = m_partId0;
- newPt.m_index0 = m_index1;
- newPt.m_index1 = m_index0;
- } else
+ newPt.m_index0 = m_index1;
+ newPt.m_index1 = m_index0;
+ }
+ else
{
newPt.m_partId0 = m_partId0;
newPt.m_partId1 = m_partId1;
- newPt.m_index0 = m_index0;
- newPt.m_index1 = m_index1;
+ newPt.m_index0 = m_index0;
+ newPt.m_index1 = m_index1;
}
//printf("depth=%f\n",depth);
///@todo, check this for any side effects
if (insertIndex >= 0)
{
//const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
- m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
- } else
+ m_manifoldPtr->replaceContactPoint(newPt, insertIndex);
+ }
+ else
{
insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
}
-
+
//User can override friction and/or restitution
if (gContactAddedCallback &&
//and if either of the two bodies requires custom material
- ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
- (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
+ ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
+ (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
{
//experimental feature info, for per-triangle material etc.
- const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap;
- const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap;
- (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1);
+ const btCollisionObjectWrapper* obj0Wrap = isSwapped ? m_body1Wrap : m_body0Wrap;
+ const btCollisionObjectWrapper* obj1Wrap = isSwapped ? m_body0Wrap : m_body1Wrap;
+ (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex), obj0Wrap, newPt.m_partId0, newPt.m_index0, obj1Wrap, newPt.m_partId1, newPt.m_index1);
}
+ if (gContactStartedCallback && isNewCollision)
+ {
+ gContactStartedCallback(m_manifoldPtr);
+ }
}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 12:58:27 +0300