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Added initial broadphase support for softbody versus softbody and softbody versus rigidbody (see btSoftSoftCollisionAlgorithm and btSoftRididCollisionAlgorithm)

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Added 	SOFTBODY_SHAPE_PROXYTYPE.
Some refactoring for btSoftBody, needs more work.
This commit is contained in:
erwin.coumans
2008-04-06 06:53:00 +00:00
parent 39d929cbb0
commit b37a37a28e
14 changed files with 2512 additions and 1859 deletions
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104
Demos/SoftDemo/btSoftSoftCollisionAlgorithm.cpp Normal file
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/*
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 "btSoftSoftCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/SoftBody/btSoftBody.h"
#define USE_PERSISTENT_CONTACTS 1
btSoftSoftCollisionAlgorithm::btSoftSoftCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
: btCollisionAlgorithm(ci)
//m_ownManifold(false),
//m_manifoldPtr(mf)
{
m_softBody0 = (btSoftBody*) obj0;
m_softBody1 = (btSoftBody*) obj1;
m_softBody0->m_overlappingSoftBodies.push_back(m_softBody1);
m_softBody1->m_overlappingSoftBodies.push_back(m_softBody0);
/*if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
{
m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
m_ownManifold = true;
}
*/
}
btSoftSoftCollisionAlgorithm::~btSoftSoftCollisionAlgorithm()
{
m_softBody0->m_overlappingSoftBodies.remove(m_softBody1);
m_softBody1->m_overlappingSoftBodies.remove(m_softBody0);
//this gets called when the overlap stops.
//here is where contacts (manifolds) should be removed
/*
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->releaseManifold(m_manifoldPtr);
}
*/
}
void btSoftSoftCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btCollisionObject* col0 = body0;
btCollisionObject* col1 = body1;
/*
btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut->setPersistentManifold(m_manifoldPtr);
#ifndef USE_PERSISTENT_CONTACTS
m_manifoldPtr->clearManifold();
#endif //USE_PERSISTENT_CONTACTS
btDiscreteCollisionDetectorInterface::ClosestPointInput input;
input.m_maximumDistanceSquared = 1e30f;
input.m_transformA = body0->getWorldTransform();
input.m_transformB = body1->getWorldTransform();
btBoxBoxDetector detector(box0,box1);
detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
#ifdef USE_PERSISTENT_CONTACTS
// refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
if (m_ownManifold)
{
resultOut->refreshContactPoints();
}
#endif //USE_PERSISTENT_CONTACTS
*/
}
btScalar btSoftSoftCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
//not yet
return 1.f;
}