| /* |
| 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/btBoxBoxCollisionAlgorithm.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
| #include "BulletCollision/CollisionShapes/btBoxShape.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
| #include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h" |
| |
| #define USE_PERSISTENT_CONTACTS 1 |
| |
| btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1) |
| : btActivatingCollisionAlgorithm(ci,obj0,obj1), |
| m_ownManifold(false), |
| m_manifoldPtr(mf) |
| { |
| if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1)) |
| { |
| m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1); |
| m_ownManifold = true; |
| } |
| } |
| |
| btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm() |
| { |
| if (m_ownManifold) |
| { |
| if (m_manifoldPtr) |
| m_dispatcher->releaseManifold(m_manifoldPtr); |
| } |
| } |
| |
| void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| if (!m_manifoldPtr) |
| return; |
| |
| btCollisionObject* col0 = body0; |
| btCollisionObject* col1 = body1; |
| btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape(); |
| btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape(); |
| |
| |
| |
| /// report a contact. internally this will be kept persistent, and contact reduction is done |
| resultOut->setPersistentManifold(m_manifoldPtr); |
| #ifndef USE_PERSISTENT_CONTACTS |
| m_manifoldPtr->clearManifold(); |
| #endif //USE_PERSISTENT_CONTACTS |
| |
| btDiscreteCollisionDetectorInterface::ClosestPointInput input; |
| input.m_maximumDistanceSquared = BT_LARGE_FLOAT; |
| input.m_transformA = body0->getWorldTransform(); |
| input.m_transformB = body1->getWorldTransform(); |
| |
| btBoxBoxDetector detector(box0,box1); |
| detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw); |
| |
| #ifdef USE_PERSISTENT_CONTACTS |
| // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added |
| if (m_ownManifold) |
| { |
| resultOut->refreshContactPoints(); |
| } |
| #endif //USE_PERSISTENT_CONTACTS |
| |
| } |
| |
| btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/) |
| { |
| //not yet |
| return 1.f; |
| } |