| /* |
| 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/btManifoldResult.h" |
| #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
| |
| |
| ///This is to allow MaterialCombiner/Custom Friction/Restitution values |
| ContactAddedCallback gContactAddedCallback=0; |
| |
| ///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback; |
| inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1) |
| { |
| btScalar friction = body0->getFriction() * body1->getFriction(); |
| |
| const btScalar MAX_FRICTION = btScalar(10.); |
| if (friction < -MAX_FRICTION) |
| friction = -MAX_FRICTION; |
| if (friction > MAX_FRICTION) |
| friction = MAX_FRICTION; |
| return friction; |
| |
| } |
| |
| inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1) |
| { |
| return body0->getRestitution() * body1->getRestitution(); |
| } |
| |
| |
| |
| btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1) |
| :m_manifoldPtr(0), |
| m_body0(body0), |
| m_body1(body1) |
| #ifdef DEBUG_PART_INDEX |
| ,m_partId0(-1), |
| m_partId1(-1), |
| m_index0(-1), |
| m_index1(-1) |
| #endif //DEBUG_PART_INDEX |
| { |
| m_rootTransA = body0->getWorldTransform(); |
| m_rootTransB = body1->getWorldTransform(); |
| } |
| |
| |
| void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) |
| { |
| btAssert(m_manifoldPtr); |
| //order in manifold needs to match |
| |
| if (depth > m_manifoldPtr->getContactBreakingThreshold()) |
| return; |
| |
| bool isSwapped = m_manifoldPtr->getBody0() != m_body0; |
| |
| btVector3 pointA = pointInWorld + normalOnBInWorld * depth; |
| |
| btVector3 localA; |
| btVector3 localB; |
| |
| if (isSwapped) |
| { |
| localA = m_rootTransB.invXform(pointA ); |
| localB = m_rootTransA.invXform(pointInWorld); |
| } else |
| { |
| localA = m_rootTransA.invXform(pointA ); |
| localB = m_rootTransB.invXform(pointInWorld); |
| } |
| |
| btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth); |
| newPt.m_positionWorldOnA = pointA; |
| newPt.m_positionWorldOnB = pointInWorld; |
| |
| int insertIndex = m_manifoldPtr->getCacheEntry(newPt); |
| |
| newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1); |
| newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1); |
| |
| //BP mod, store contact triangles. |
| if (isSwapped) |
| { |
| newPt.m_partId0 = m_partId1; |
| newPt.m_partId1 = m_partId0; |
| newPt.m_index0 = m_index1; |
| newPt.m_index1 = m_index0; |
| } else |
| { |
| newPt.m_partId0 = m_partId0; |
| newPt.m_partId1 = m_partId1; |
| newPt.m_index0 = m_index0; |
| newPt.m_index1 = m_index1; |
| } |
| //printf("depth=%f\n",depth); |
| ///@todo, check this for any side effects |
| if (insertIndex >= 0) |
| { |
| //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); |
| m_manifoldPtr->replaceContactPoint(newPt,insertIndex); |
| } else |
| { |
| insertIndex = m_manifoldPtr->addManifoldPoint(newPt); |
| } |
| |
| //User can override friction and/or restitution |
| if (gContactAddedCallback && |
| //and if either of the two bodies requires custom material |
| ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) || |
| (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK))) |
| { |
| //experimental feature info, for per-triangle material etc. |
| btCollisionObject* obj0 = isSwapped? m_body1 : m_body0; |
| btCollisionObject* obj1 = isSwapped? m_body0 : m_body1; |
| (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1); |
| } |
| |
| } |
| |