Bullet Collision Detection & Physics Library
btSoftRigidCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
21 #include "btSoftBody.h"
24 
27 
28 //#include <stdio.h>
29 
32 //m_ownManifold(false),
33 //m_manifoldPtr(mf),
34 m_isSwapped(isSwapped)
35 {
36 }
37 
38 
40 {
41 
42  //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
43 
44  /*if (m_ownManifold)
45  {
46  if (m_manifoldPtr)
47  m_dispatcher->releaseManifold(m_manifoldPtr);
48  }
49  */
50 
51 }
52 
53 
54 #include <stdio.h>
55 
57 {
58  (void)dispatchInfo;
59  (void)resultOut;
60  //printf("btSoftRigidCollisionAlgorithm\n");
61 // const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
62 // const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
63  btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
64  const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap;
65 
66  if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size())
67  {
68  softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
69  }
70 
71 
72 }
73 
75 {
76  (void)resultOut;
77  (void)dispatchInfo;
78  (void)col0;
79  (void)col1;
80 
81  //not yet
82  return btScalar(1.);
83 }
84 
85 
86 
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btManifoldResult is a helper class to manage contact results.
virtual void processCollision(btSoftBody *, const struct btCollisionObjectWrapper *)=0
Process a collision between one of the world's soft bodies and another collision object.
int size() const
return the number of elements in the array
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btSoftBodySolver * getSoftBodySolver()
Definition: btSoftBody.h:913
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btCollisionObject can be used to manage collision detection objects.
int findLinearSearch(const T &key) const
btSoftRigidCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0, const btCollisionObjectWrapper *col1Wrap, bool isSwapped)
TODO: include all the shapes that the softbody can collide with alternatively, implement special case...
btAlignedObjectArray< const class btCollisionObject * > m_collisionDisabledObjects
Definition: btSoftBody.h:74
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:71
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
bool m_isSwapped
for rigid versus soft (instead of soft versus rigid), we use this swapped boolean ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
const btCollisionObject * getCollisionObject() const