2162f6663d
improve CollisionDemo.cpp, show multi-contact generation using perturbation improve ColladaConverter: add hinge/point 2 point constraint conversion support, add btScaledTriangleMeshShape support Fix Dynamica MayaPlygin: remove 'active' flag, it has to be replaced by mass=0 for active, mass<>0 for passive Added missing projectfiles Fixed single-shot contact generation. it is disabled by default to improve performance Bugfixes for character controller, thanks to John McCutchan for reporting Constraint solver: better default settings btDefaultAllocator: aligned allocator uses non-aligned allocator (instead of directly malloc/free) disable memalign by default, use Bullet's aligned allocator
59 lines
2.5 KiB
C++
59 lines
2.5 KiB
C++
#include <stdio.h>
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#include "btHfFluidBuoyantShapeCollisionAlgorithm.h"
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#include "btHfFluidBuoyantConvexShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "btHfFluid.h"
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btHfFluidBuoyantShapeCollisionAlgorithm::btHfFluidBuoyantShapeCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
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: btCollisionAlgorithm(ci), m_convexConvexAlgorithm(NULL, ci, col0, col1, simplexSolver, pdSolver,0,0)
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{
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m_collisionObject0 = col0;
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m_collisionObject1 = col1;
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}
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btHfFluidBuoyantShapeCollisionAlgorithm::~btHfFluidBuoyantShapeCollisionAlgorithm()
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{
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}
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void btHfFluidBuoyantShapeCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
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btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
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btConvexShape* convexShape0 = tmpShape0->getConvexShape();
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btConvexShape* convexShape1 = tmpShape1->getConvexShape();
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body0->setCollisionShape (convexShape0);
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body1->setCollisionShape (convexShape1);
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m_convexConvexAlgorithm.processCollision (body0, body1, dispatchInfo,resultOut);
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body0->setCollisionShape (tmpShape0);
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body1->setCollisionShape (tmpShape1);
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}
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btScalar btHfFluidBuoyantShapeCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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btHfFluidBuoyantConvexShape* tmpShape0 = (btHfFluidBuoyantConvexShape*)body0->getCollisionShape();
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btHfFluidBuoyantConvexShape* tmpShape1 = (btHfFluidBuoyantConvexShape*)body1->getCollisionShape();
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btConvexShape* convexShape0 = tmpShape0->getConvexShape();
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btConvexShape* convexShape1 = tmpShape1->getConvexShape();
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body0->setCollisionShape (convexShape0);
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body1->setCollisionShape (convexShape1);
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btScalar toi = btScalar(0.0f);
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toi = m_convexConvexAlgorithm.calculateTimeOfImpact (body0, body1, dispatchInfo, resultOut);
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body0->setCollisionShape (tmpShape0);
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body1->setCollisionShape (tmpShape1);
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return toi;
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}
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