Bullet Collision Detection & Physics Library: btBoxBoxCollisionAlgorithm.cpp Source File

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- File List
- File Members

btBoxBoxCollisionAlgorithm.cpp
Go to the documentation of this file.
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 #include "btBoxBoxCollisionAlgorithm.h"
17 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
18 #include "BulletCollision/CollisionShapes/btBoxShape.h"
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20 #include "btBoxBoxDetector.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
22 #define USE_PERSISTENT_CONTACTS 1
23
24 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
25 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
26 m_ownManifold(false),
27 m_manifoldPtr(mf)
28 {
29 if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
30 {
31 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
32 m_ownManifold = true;
33 }
34 }
35
36 btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
37 {
38 if (m_ownManifold)
39 {
40 if (m_manifoldPtr)
41 m_dispatcher->releaseManifold(m_manifoldPtr);
42 }
43 }
44
45 void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
46 {
47 if (!m_manifoldPtr)
48 return;
49
50
51 const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
52 const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
53
54
55
57 resultOut->setPersistentManifold(m_manifoldPtr);
58 #ifndef USE_PERSISTENT_CONTACTS
59 m_manifoldPtr->clearManifold();
60 #endif //USE_PERSISTENT_CONTACTS
61
62 btDiscreteCollisionDetectorInterface::ClosestPointInput input;
63 input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
64 input.m_transformA = body0Wrap->getWorldTransform();
65 input.m_transformB = body1Wrap->getWorldTransform();
66
67 btBoxBoxDetector detector(box0,box1);
68 detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
69
70 #ifdef USE_PERSISTENT_CONTACTS
71 // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
72 if (m_ownManifold)
73 {
74 resultOut->refreshContactPoints();
75 }
76 #endif //USE_PERSISTENT_CONTACTS
77
78 }
79
80 btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,btCollisionObject* /*body1*/,const btDispatcherInfo& /*dispatchInfo*/,btManifoldResult* /*resultOut*/)
81 {
82 //not yet
83 return 1.f;
84 }
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:280
btBoxBoxDetector
btBoxBoxDetector wraps the ODE box-box collision detector re-distributed under the Zlib license with ...
Definition: btBoxBoxDetector.h:29
btBoxShape.h
btBoxBoxCollisionAlgorithm.h
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:70
btBoxBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:45
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:99
btBoxBoxDetector.h
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:49
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:60
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:50
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:51
btBoxBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:80
btBoxBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btBoxBoxCollisionAlgorithm.h:29
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:38
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBoxBoxDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btBoxBoxDetector.cpp:673
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btCollisionObjectWrapper.h
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition: btBoxBoxCollisionAlgorithm.h:33
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:40
btBoxShape
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:26
btPersistentManifold::clearManifold
void clearManifold()
Definition: btPersistentManifold.h:217
btCollisionDispatcher.h
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm
virtual ~btBoxBoxCollisionAlgorithm()
Definition: btBoxBoxCollisionAlgorithm.cpp:36
btCollisionObject.h
btBoxBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btBoxBoxCollisionAlgorithm.h:30
btDispatcherInfo
Definition: btDispatcher.h:30
btDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:42
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39