Bullet Collision Detection & Physics Library
btSphereTriangleCollisionAlgorithm.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 
16 
21 #include "SphereTriangleDetector.h"
23 
25 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
26 m_ownManifold(false),
27 m_manifoldPtr(mf),
28 m_swapped(swapped)
29 {
30  if (!m_manifoldPtr)
31  {
33  m_ownManifold = true;
34  }
35 }
36 
38 {
39  if (m_ownManifold)
40  {
41  if (m_manifoldPtr)
43  }
44 }
45 
47 {
48  if (!m_manifoldPtr)
49  return;
50 
51  const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
52  const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
53 
54  btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
55  btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
56 
60 
63  input.m_transformA = sphereObjWrap->getWorldTransform();
64  input.m_transformB = triObjWrap->getWorldTransform();
65 
66  bool swapResults = m_swapped;
67 
68  detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults);
69 
70  if (m_ownManifold)
71  resultOut->refreshContactPoints();
72 
73 }
74 
76 {
77  (void)resultOut;
78  (void)dispatchInfo;
79  (void)col0;
80  (void)col1;
81 
82  //not yet
83  return btScalar(1.);
84 }
virtual void releaseManifold(btPersistentManifold *manifold)=0
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
#define BT_LARGE_FLOAT
Definition: btScalar.h:268
btScalar getContactBreakingThreshold() const
void setPersistentManifold(btPersistentManifold *manifoldPtr)
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
Definition: btSphereShape.h:22
btManifoldResult is a helper class to manage contact results.
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
const btTransform & getWorldTransform() const
btCollisionObject can be used to manage collision detection objects.
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
const btCollisionShape * getCollisionShape() const
sphere-triangle to match the btDiscreteCollisionDetectorInterface
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btSphereTriangleCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool swapped)
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