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

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- File List
- File Members

btSphereTriangleCollisionAlgorithm.cpp
Go to the documentation of this file.
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 "btSphereTriangleCollisionAlgorithm.h"
17#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18#include "BulletCollision/CollisionShapes/btSphereShape.h"
19#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20#include "SphereTriangleDetector.h"
21#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22
23btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped)
24 : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
25 m_ownManifold(false),
26 m_manifoldPtr(mf),
27 m_swapped(swapped)
28{
29 if (!m_manifoldPtr)
30 {
31 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
32 m_ownManifold = true;
33 }
34}
35
36btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
37{
38 if (m_ownManifold)
39 {
40 if (m_manifoldPtr)
41 m_dispatcher->releaseManifold(m_manifoldPtr);
42 }
43}
44
45 void btSphereTriangleCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* col0Wrap, const btCollisionObjectWrapper* col1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
46{
47 if (!m_manifoldPtr)
48 return;
49
50 const btCollisionObjectWrapper* sphereObjWrap = m_swapped ? col1Wrap : col0Wrap;
51 const btCollisionObjectWrapper* triObjWrap = m_swapped ? col0Wrap : col1Wrap;
52
53 btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
54 btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
55
57 resultOut->setPersistentManifold(m_manifoldPtr);
58 SphereTriangleDetector detector(sphere, triangle, m_manifoldPtr->getContactBreakingThreshold() + resultOut->m_closestPointDistanceThreshold);
59
60 btDiscreteCollisionDetectorInterface::ClosestPointInput input;
61 input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);
62 input.m_transformA = sphereObjWrap->getWorldTransform();
63 input.m_transformB = triObjWrap->getWorldTransform();
64
65 bool swapResults = m_swapped;
66
67 detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw, swapResults);
68
69 if (m_ownManifold)
70 resultOut->refreshContactPoints();
71}
72
73 btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0, btCollisionObject* col1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
74{
75 (void)resultOut;
76 (void)dispatchInfo;
77 (void)col0;
78 (void)col1;
79
80 //not yet
81 return btScalar(1.);
82}
SphereTriangleDetector.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
btSphereShape.h
btSphereTriangleCollisionAlgorithm.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
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btPersistentManifold::getContactBreakingThreshold
btScalar getContactBreakingThreshold() const
Definition btPersistentManifold.cpp:242
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition btSphereShape.h:25
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm
btSphereTriangleCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool swapped)
Definition btSphereTriangleCollisionAlgorithm.cpp:23
btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereTriangleCollisionAlgorithm.cpp:73
btSphereTriangleCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition btSphereTriangleCollisionAlgorithm.h:30
btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm
virtual ~btSphereTriangleCollisionAlgorithm()
Definition btSphereTriangleCollisionAlgorithm.cpp:36
btSphereTriangleCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btSphereTriangleCollisionAlgorithm.h:31
btSphereTriangleCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereTriangleCollisionAlgorithm.cpp:45
btSphereTriangleCollisionAlgorithm::m_swapped
bool m_swapped
Definition btSphereTriangleCollisionAlgorithm.h:32
btTriangleShape
Definition btTriangleShape.h:24
SphereTriangleDetector
sphere-triangle to match the btDiscreteCollisionDetectorInterface
Definition SphereTriangleDetector.h:26
SphereTriangleDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition SphereTriangleDetector.cpp:28
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