Bullet Collision Detection & Physics Library: btSoftRigidCollisionAlgorithm.cpp Source File

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btSoftRigidCollisionAlgorithm.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btSoftRigidCollisionAlgorithm.h"
17#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18#include "BulletCollision/CollisionShapes/btSphereShape.h"
19#include "BulletCollision/CollisionShapes/btBoxShape.h"
20#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
21#include "btSoftBody.h"
22#include "BulletSoftBody/btSoftBodySolvers.h"
23#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
24
27
28//#include <stdio.h>
29
30btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper*, const btCollisionObjectWrapper*, bool isSwapped)
31 : btCollisionAlgorithm(ci),
32 //m_ownManifold(false),
33 //m_manifoldPtr(mf),
34 m_isSwapped(isSwapped)
35{
36}
37
38btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
39{
40 //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
41
42 /*if (m_ownManifold)
43 {
44 if (m_manifoldPtr)
45 m_dispatcher->releaseManifold(m_manifoldPtr);
46 }
47 */
48}
49
50#include <stdio.h>
51#include "LinearMath/btQuickprof.h"
52 void btSoftRigidCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
53{
54 BT_PROFILE("btSoftRigidCollisionAlgorithm::processCollision");
55 (void)dispatchInfo;
56 (void)resultOut;
57 //printf("btSoftRigidCollisionAlgorithm\n");
58 // const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
59 // const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
60 btSoftBody* softBody = m_isSwapped ? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
61 const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped ? body0Wrap : body1Wrap;
62
63 if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject()) == softBody->m_collisionDisabledObjects.size())
64 {
65 softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
66 }
67}
68
69 btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
70{
71 (void)resultOut;
72 (void)dispatchInfo;
73 (void)col0;
74 (void)col1;
75
76 //not yet
77 return btScalar(1.);
78}
btBoxShape.h
btCollisionDispatcher.h
btCollisionObjectWrapper.h
btCollisionObject.h
btQuickprof.h
BT_PROFILE
#define BT_PROFILE(name)
Definition: btQuickprof.h:198
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSoftBodySolvers.h
btSoftBody.h
btSoftRigidCollisionAlgorithm.h
btSphereShape.h
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btAlignedObjectArray::findLinearSearch
int findLinearSearch(const T &key) const
Definition: btAlignedObjectArray.h:438
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btSoftBodySolver::processCollision
virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *)=0
Process a collision between one of the world's soft bodies and another collision object.
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btSoftBody::m_collisionDisabledObjects
btAlignedObjectArray< const class btCollisionObject * > m_collisionDisabledObjects
Definition: btSoftBody.h:77
btSoftBody::getSoftBodySolver
btSoftBodySolver * getSoftBodySolver()
Definition: btSoftBody.h:1140
btSoftRigidCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftRigidCollisionAlgorithm.cpp:69
btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm
virtual ~btSoftRigidCollisionAlgorithm()
Definition: btSoftRigidCollisionAlgorithm.cpp:38
btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm
btSoftRigidCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0, const btCollisionObjectWrapper *col1Wrap, bool isSwapped)
TODO: include all the shapes that the softbody can collide with alternatively, implement special case...
Definition: btSoftRigidCollisionAlgorithm.cpp:30
btSoftRigidCollisionAlgorithm::m_isSwapped
bool m_isSwapped
for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
Definition: btSoftRigidCollisionAlgorithm.h:38
btSoftRigidCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSoftRigidCollisionAlgorithm.cpp:52
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btDispatcherInfo
Definition: btDispatcher.h:31