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added basic sphere-box case for porting purposes. This way, we can have a basic sample without GJK.

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ejcoumans
2006-09-27 00:51:25 +00:00
parent a54f928b60
commit e48c81c55e
2 changed files with 302 additions and 0 deletions
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src/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h 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.
*/
#ifndef SPHERE_BOX_COLLISION_ALGORITHM_H
#define SPHERE_BOX_COLLISION_ALGORITHM_H
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
class PersistentManifold;
#include "LinearMath/SimdVector3.h"
/// SphereBoxCollisionAlgorithm provides sphere-box collision detection.
/// Other features are frame-coherency (persistent data) and collision response.
class SphereBoxCollisionAlgorithm : public CollisionAlgorithm
{
bool m_ownManifold;
PersistentManifold* m_manifoldPtr;
CollisionObject* m_boxColObj;
CollisionObject* m_sphereColObj;
public:
SphereBoxCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
virtual ~SphereBoxCollisionAlgorithm();
virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
SimdScalar GetSphereDistance( SimdVector3& v3PointOnBox, SimdVector3& v3PointOnSphere, const SimdVector3& v3SphereCenter, SimdScalar fRadius );
SimdScalar GetSpherePenetration( SimdVector3& v3PointOnBox, SimdVector3& v3PointOnSphere, const SimdVector3& v3SphereCenter, SimdScalar fRadius, const SimdVector3& aabbMin, const SimdVector3& aabbMax);
struct CreateFunc :public CollisionAlgorithmCreateFunc
{
virtual CollisionAlgorithm* CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo& ci, BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
{
if (!m_swapped)
{
return new SphereBoxCollisionAlgorithm(0,ci,proxy0,proxy1);
} else
{
return new SphereBoxCollisionAlgorithm(0,ci,proxy1,proxy0);
}
}
};
};
#endif //SPHERE_BOX_COLLISION_ALGORITHM_H