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

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btSoftRigidCollisionAlgorithm.h
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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#ifndef BT_SOFT_RIGID_COLLISION_ALGORITHM_H
17#define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
18
19#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22class btPersistentManifold;
23#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
24
25#include "LinearMath/btVector3.h"
26class btSoftBody;
27
29 class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
30{
31 // bool m_ownManifold;
32 // btPersistentManifold* m_manifoldPtr;
33
34 //btSoftBody* m_softBody;
35 //btCollisionObject* m_rigidCollisionObject;
36
38 bool m_isSwapped;
39
40public:
41 btSoftRigidCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0, const btCollisionObjectWrapper* col1Wrap, bool isSwapped);
42
43 virtual ~btSoftRigidCollisionAlgorithm();
44
45 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
46
47 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
48
49 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
50 {
51 //we don't add any manifolds
52 }
53
54 struct CreateFunc : public btCollisionAlgorithmCreateFunc
55 {
56 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
57 {
58 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
59 if (!m_swapped)
60 {
61 return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
62 }
63 else
64 {
65 return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
66 }
67 }
68 };
69};
70
71#endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
btBroadphaseProxy.h
btCollisionAlgorithm.h
btCollisionCreateFunc.h
btCollisionDispatcher.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btVector3.h
btAlignedObjectArray< btPersistentManifold * >
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
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
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
btSoftBody
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition btSoftBody.h:75
btSoftRigidCollisionAlgorithm
btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
Definition btSoftRigidCollisionAlgorithm.h:30
btSoftRigidCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btSoftRigidCollisionAlgorithm.h:49
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
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition btCollisionCreateFunc.h:27
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition btCollisionCreateFunc.h:28
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition btDispatcher.h:31
btSoftRigidCollisionAlgorithm::CreateFunc
Definition btSoftRigidCollisionAlgorithm.h:55
btSoftRigidCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btSoftRigidCollisionAlgorithm.h:56