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ejcoumans
2006-05-25 19:18:29 +00:00
commit e061ec1ebf
1024 changed files with 349445 additions and 0 deletions
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33
Extras/BulletOdeCollide/BulletOdeManifoldResult.cpp Normal file
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#include "BulletOdeManifoldResult.h"
#include "NarrowPhaseCollision/PersistentManifold.h"
#include "BulletOdeTransformConvert.h"
BulletOdeManifoldResult::BulletOdeManifoldResult(dGeomID geom1,dGeomID geom2,PersistentManifold* manifoldPtr)
:m_manifoldPtr(manifoldPtr),
m_geom1(geom1),
m_geom2(geom2)
{
}
void BulletOdeManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
if (depth > m_manifoldPtr->GetManifoldMargin())
return;
SimdTransform transAInv = GetTransformFromGeom(m_geom1).inverse();
SimdTransform transBInv = GetTransformFromGeom(m_geom2).inverse();
SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
SimdVector3 localA = transAInv(pointA );
SimdVector3 localB = transBInv(pointInWorld);
ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
if (insertIndex >= 0)
{
m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
} else
{
m_manifoldPtr->AddManifoldPoint(newPt);
}
}