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

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btBoxBoxCollisionAlgorithm.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 "btBoxBoxCollisionAlgorithm.h"
17#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18#include "BulletCollision/CollisionShapes/btBoxShape.h"
19#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20#include "btBoxBoxDetector.h"
21#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22#define USE_PERSISTENT_CONTACTS 1
23
24 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
25 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
26 m_ownManifold(false),
27 m_manifoldPtr(mf)
28{
29 if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
30 {
31 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
32 m_ownManifold = true;
33 }
34}
35
36btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
37{
38 if (m_ownManifold)
39 {
40 if (m_manifoldPtr)
41 m_dispatcher->releaseManifold(m_manifoldPtr);
42 }
43}
44
45 void btBoxBoxCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
46{
47 if (!m_manifoldPtr)
48 return;
49
50 const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
51 const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
52
54 resultOut->setPersistentManifold(m_manifoldPtr);
55#ifndef USE_PERSISTENT_CONTACTS
56 m_manifoldPtr->clearManifold();
57#endif //USE_PERSISTENT_CONTACTS
58
59 btDiscreteCollisionDetectorInterface::ClosestPointInput input;
60 input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
61 input.m_transformA = body0Wrap->getWorldTransform();
62 input.m_transformB = body1Wrap->getWorldTransform();
63
64 btBoxBoxDetector detector(box0, box1);
65 detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
66
67#ifdef USE_PERSISTENT_CONTACTS
68 // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
69 if (m_ownManifold)
70 {
71 resultOut->refreshContactPoints();
72 }
73#endif //USE_PERSISTENT_CONTACTS
74}
75
76 btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/, btCollisionObject* /*body1*/, const btDispatcherInfo& /*dispatchInfo*/, btManifoldResult* /*resultOut*/)
77{
78 //not yet
79 return 1.f;
80}
btBoxBoxCollisionAlgorithm.h
btBoxBoxDetector.h
btBoxShape.h
btCollisionDispatcher.h
btCollisionObjectWrapper.h
btCollisionObject.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition btScalar.h:316
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition btActivatingCollisionAlgorithm.h:23
btBoxBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btBoxBoxCollisionAlgorithm.h:30
btBoxBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btBoxBoxCollisionAlgorithm.cpp:76
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition btBoxBoxCollisionAlgorithm.h:33
btBoxBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition btBoxBoxCollisionAlgorithm.h:29
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm
virtual ~btBoxBoxCollisionAlgorithm()
Definition btBoxBoxCollisionAlgorithm.cpp:36
btBoxBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btBoxBoxCollisionAlgorithm.cpp:45
btBoxShape
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition btBoxShape.h:28
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition btCollisionAlgorithm.h:56
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition btManifoldResult.h:48
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition btManifoldResult.h:77
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition btManifoldResult.h:105
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btPersistentManifold::clearManifold
void clearManifold()
Definition btPersistentManifold.h:248
btBoxBoxDetector
btBoxBoxDetector wraps the ODE box-box collision detector re-distributed under the Zlib license with ...
Definition btBoxBoxDetector.h:28
btBoxBoxDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition btBoxBoxDetector.cpp:730
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition btCollisionObjectWrapper.h:46
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition btCollisionObjectWrapper.h:45
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition btCollisionObjectWrapper.h:44
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition btDiscreteCollisionDetectorInterface.h:40
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition btDiscreteCollisionDetectorInterface.h:47
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition btDiscreteCollisionDetectorInterface.h:46
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition btDiscreteCollisionDetectorInterface.h:48
btDispatcherInfo
Definition btDispatcher.h:31
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition btDispatcher.h:58