| /* |
| 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/btSphereTriangleCollisionAlgorithm.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
| #include "BulletCollision/CollisionShapes/btSphereShape.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
| #include "BulletCollision/CollisionDispatch/SphereTriangleDetector.h" |
| |
| |
| btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,bool swapped) |
| : btActivatingCollisionAlgorithm(ci,col0,col1), |
| m_ownManifold(false), |
| m_manifoldPtr(mf), |
| m_swapped(swapped) |
| { |
| if (!m_manifoldPtr) |
| { |
| m_manifoldPtr = m_dispatcher->getNewManifold(col0,col1); |
| m_ownManifold = true; |
| } |
| } |
| |
| btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm() |
| { |
| if (m_ownManifold) |
| { |
| if (m_manifoldPtr) |
| m_dispatcher->releaseManifold(m_manifoldPtr); |
| } |
| } |
| |
| void btSphereTriangleCollisionAlgorithm::processCollision (btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| if (!m_manifoldPtr) |
| return; |
| |
| btCollisionObject* sphereObj = m_swapped? col1 : col0; |
| btCollisionObject* triObj = m_swapped? col0 : col1; |
| |
| btSphereShape* sphere = (btSphereShape*)sphereObj->getCollisionShape(); |
| btTriangleShape* triangle = (btTriangleShape*)triObj->getCollisionShape(); |
| |
| /// report a contact. internally this will be kept persistent, and contact reduction is done |
| resultOut->setPersistentManifold(m_manifoldPtr); |
| SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()); |
| |
| btDiscreteCollisionDetectorInterface::ClosestPointInput input; |
| input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds |
| input.m_transformA = sphereObj->getWorldTransform(); |
| input.m_transformB = triObj->getWorldTransform(); |
| |
| bool swapResults = m_swapped; |
| |
| detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults); |
| |
| if (m_ownManifold) |
| resultOut->refreshContactPoints(); |
| |
| } |
| |
| btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| (void)resultOut; |
| (void)dispatchInfo; |
| (void)col0; |
| (void)col1; |
| |
| //not yet |
| return btScalar(1.); |
| } |