| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 1. 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
| #include "BulletCollision/CollisionShapes/btSphereShape.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
| |
| btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1) |
| : btActivatingCollisionAlgorithm(ci,col0,col1), |
| m_ownManifold(false), |
| m_manifoldPtr(mf) |
| { |
| if (!m_manifoldPtr) |
| { |
| m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1); |
| m_ownManifold = true; |
| } |
| } |
| |
| btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm() |
| { |
| if (m_ownManifold) |
| { |
| if (m_manifoldPtr) |
| m_dispatcher->releaseManifold(m_manifoldPtr); |
| } |
| } |
| |
| void btSphereSphereCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| (void)dispatchInfo; |
| |
| if (!m_manifoldPtr) |
| return; |
| |
| resultOut->setPersistentManifold(m_manifoldPtr); |
| |
| btSphereShape* sphere0 = (btSphereShape*)col0->getCollisionShape(); |
| btSphereShape* sphere1 = (btSphereShape*)col1->getCollisionShape(); |
| |
| btVector3 diff = col0->getWorldTransform().getOrigin()- col1->getWorldTransform().getOrigin(); |
| btScalar len = diff.length(); |
| btScalar radius0 = sphere0->getRadius(); |
| btScalar radius1 = sphere1->getRadius(); |
| |
| #ifdef CLEAR_MANIFOLD |
| m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting |
| #endif |
| |
| ///iff distance positive, don't generate a new contact |
| if ( len > (radius0+radius1)) |
| { |
| #ifndef CLEAR_MANIFOLD |
| resultOut->refreshContactPoints(); |
| #endif //CLEAR_MANIFOLD |
| return; |
| } |
| ///distance (negative means penetration) |
| btScalar dist = len - (radius0+radius1); |
| |
| btVector3 normalOnSurfaceB(1,0,0); |
| if (len > SIMD_EPSILON) |
| { |
| normalOnSurfaceB = diff / len; |
| } |
| |
| ///point on A (worldspace) |
| ///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; |
| ///point on B (worldspace) |
| btVector3 pos1 = col1->getWorldTransform().getOrigin() + radius1* normalOnSurfaceB; |
| |
| /// report a contact. internally this will be kept persistent, and contact reduction is done |
| |
| |
| resultOut->addContactPoint(normalOnSurfaceB,pos1,dist); |
| |
| #ifndef CLEAR_MANIFOLD |
| resultOut->refreshContactPoints(); |
| #endif //CLEAR_MANIFOLD |
| |
| } |
| |
| btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| (void)col0; |
| (void)col1; |
| (void)dispatchInfo; |
| (void)resultOut; |
| |
| //not yet |
| return btScalar(1.); |
| } |