From 37c920db63a7b8b3c9f74d8c3ee11685c28bdef8 Mon Sep 17 00:00:00 2001 From: ejcoumans Date: Fri, 8 Sep 2006 00:53:29 +0000 Subject: [PATCH] Alternative sphere-sphere collision algorithm --- .../SphereSphereCollisionAlgorithm.cpp | 79 +++++++++++++++++++ .../SphereSphereCollisionAlgorithm.h | 54 +++++++++++++ 2 files changed, 133 insertions(+) create mode 100644 Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp create mode 100644 Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h diff --git a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp new file mode 100644 index 000000000..5191e69ea --- /dev/null +++ b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp @@ -0,0 +1,79 @@ +/* +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 "SphereSphereCollisionAlgorithm.h" +#include "CollisionDispatch/CollisionDispatcher.h" +#include "CollisionShapes/SphereShape.h" +#include "CollisionDispatch/CollisionObject.h" + +SphereSphereCollisionAlgorithm::SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) +: CollisionAlgorithm(ci), +m_ownManifold(false), +m_manifoldPtr(mf) +{ + if (!m_manifoldPtr && m_dispatcher->NeedsCollision(*proxy0,*proxy1)) + { + m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject); + m_ownManifold = true; + } +} + +SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->ReleaseManifold(m_manifoldPtr); + } +} + +void SphereSphereCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo) +{ + + if (!m_manifoldPtr) + return; + + CollisionObject* col0 = static_cast(proxy0->m_clientObject); + CollisionObject* col1 = static_cast(proxy1->m_clientObject); + + SphereShape* sphere0 = (SphereShape*)col0->m_collisionShape; + SphereShape* sphere1 = (SphereShape*)col1->m_collisionShape; + + SimdScalar radius0 = sphere0->GetRadius(); + SimdScalar radius1 = sphere1->GetRadius(); + + SimdVector3 diff = col0->m_worldTransform.getOrigin()- + col1->m_worldTransform.getOrigin(); + + float len = diff.length(); + if ( len > (radius0+radius1)) + return; + + SimdScalar dist = len - (radius0+radius1); + + SimdVector3 normalOnSurfaceB = diff / len; + SimdVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB; + SimdVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB; + + ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr); + resultOut->AddContactPoint(normalOnSurfaceB,pos1,dist); + +} + +float SphereSphereCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo) +{ + //not yet + return 1.f; +} diff --git a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h new file mode 100644 index 000000000..954e9c380 --- /dev/null +++ b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.h @@ -0,0 +1,54 @@ +/* +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 SPHERE_SPHERE_COLLISION_ALGORITHM_H +#define SPHERE_SPHERE_COLLISION_ALGORITHM_H + +#include "BroadphaseCollision/CollisionAlgorithm.h" +#include "BroadphaseCollision/BroadphaseProxy.h" +#include "CollisionDispatch/CollisionCreateFunc.h" +class PersistentManifold; + +/// SphereSphereCollisionAlgorithm provides sphere-sphere collision detection. +/// Other features are frame-coherency (persistent data) and collision response. +/// Also provides the most basic sample for custom/user CollisionAlgorithm +class SphereSphereCollisionAlgorithm : public CollisionAlgorithm +{ + bool m_ownManifold; + PersistentManifold* m_manifoldPtr; + +public: + SphereSphereCollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci) + : CollisionAlgorithm(ci) {} + + virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo); + + virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo); + + SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1); + + virtual ~SphereSphereCollisionAlgorithm(); + + struct CreateFunc :public CollisionAlgorithmCreateFunc + { + virtual CollisionAlgorithm* CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo& ci, BroadphaseProxy* proxy0,BroadphaseProxy* proxy1) + { + return new SphereSphereCollisionAlgorithm(0,ci,proxy0,proxy1); + } + }; + +}; + +#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H \ No newline at end of file