| /* |
| 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. |
| */ |
| |
| #ifndef SOFT_RIGID_COLLISION_ALGORITHM_H |
| #define SOFT_RIGID_COLLISION_ALGORITHM_H |
| |
| #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" |
| class btPersistentManifold; |
| #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
| |
| #include "LinearMath/btVector3.h" |
| class btSoftBody; |
| |
| /// btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody |
| class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm |
| { |
| // bool m_ownManifold; |
| // btPersistentManifold* m_manifoldPtr; |
| |
| btSoftBody* m_softBody; |
| btCollisionObject* m_rigidCollisionObject; |
| |
| ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean |
| bool m_isSwapped; |
| |
| public: |
| |
| btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped); |
| |
| virtual ~btSoftRigidCollisionAlgorithm(); |
| |
| virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); |
| |
| virtual void getAllContactManifolds(btManifoldArray& manifoldArray) |
| { |
| //we don't add any manifolds |
| } |
| |
| |
| struct CreateFunc :public btCollisionAlgorithmCreateFunc |
| { |
| virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1) |
| { |
| void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm)); |
| if (!m_swapped) |
| { |
| return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false); |
| } else |
| { |
| return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true); |
| } |
| } |
| }; |
| |
| }; |
| |
| #endif //SOFT_RIGID_COLLISION_ALGORITHM_H |
| |
| |