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

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btSphereSphereCollisionAlgorithm.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#define CLEAR_MANIFOLD 1
16
17#include "btSphereSphereCollisionAlgorithm.h"
18#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
19#include "BulletCollision/CollisionShapes/btSphereShape.h"
20#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
21#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22
23btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap)
24 : btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
25 m_ownManifold(false),
26 m_manifoldPtr(mf)
27{
28 if (!m_manifoldPtr)
29 {
30 m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(), col1Wrap->getCollisionObject());
31 m_ownManifold = true;
32 }
33}
34
35btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
36{
37 if (m_ownManifold)
38 {
39 if (m_manifoldPtr)
40 m_dispatcher->releaseManifold(m_manifoldPtr);
41 }
42}
43
44 void btSphereSphereCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
45{
46 (void)dispatchInfo;
47
48 if (!m_manifoldPtr)
49 return;
50
51 resultOut->setPersistentManifold(m_manifoldPtr);
52
53 btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
54 btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
55
56 btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
57 btScalar len = diff.length();
58 btScalar radius0 = sphere0->getRadius();
59 btScalar radius1 = sphere1->getRadius();
60
61#ifdef CLEAR_MANIFOLD
62 m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
63#endif
64
66 if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
67 {
68#ifndef CLEAR_MANIFOLD
69 resultOut->refreshContactPoints();
70#endif //CLEAR_MANIFOLD
71 return;
72 }
74 btScalar dist = len - (radius0 + radius1);
75
76 btVector3 normalOnSurfaceB(1, 0, 0);
77 if (len > SIMD_EPSILON)
78 {
79 normalOnSurfaceB = diff / len;
80 }
81
85 btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
86
88
89 resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
90
91#ifndef CLEAR_MANIFOLD
92 resultOut->refreshContactPoints();
93#endif //CLEAR_MANIFOLD
94}
95
96 btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
97{
98 (void)col0;
99 (void)col1;
100 (void)dispatchInfo;
101 (void)resultOut;
102
103 //not yet
104 return btScalar(1.);
105}
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
SIMD_EPSILON
#define SIMD_EPSILON
Definition btScalar.h:543
btSphereShape.h
btSphereSphereCollisionAlgorithm.h
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition btActivatingCollisionAlgorithm.h:23
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::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=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::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition btManifoldResult.h:152
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition btManifoldResult.h:105
btManifoldResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition btManifoldResult.cpp:103
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
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition btSphereShape.h:25
btSphereShape::getRadius
btScalar getRadius() const
Definition btSphereShape.h:48
btSphereSphereCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition btSphereSphereCollisionAlgorithm.h:31
btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm
virtual ~btSphereSphereCollisionAlgorithm()
Definition btSphereSphereCollisionAlgorithm.cpp:35
btSphereSphereCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btSphereSphereCollisionAlgorithm.h:32
btSphereSphereCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereSphereCollisionAlgorithm.cpp:96
btSphereSphereCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereSphereCollisionAlgorithm.cpp:44
btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm
btSphereSphereCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0Wrap, const btCollisionObjectWrapper *col1Wrap)
Definition btSphereSphereCollisionAlgorithm.cpp:23
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition btTransform.h:114
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::length
btScalar length() const
Return the length of the vector.
Definition btVector3.h:257
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
btDispatcherInfo
Definition btDispatcher.h:31