3fe3b11924
improved performance of constraint solver by precalculating the cross product/impulse arm added collision comparison code: ODE box-box, also sphere-triangle added safety check into GJK, and an assert for AABB's that are very large write partid/triangle index outside of GJK
73 lines
2.8 KiB
C++
73 lines
2.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BoxBoxCollisionAlgorithm.h"
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
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#include "BulletCollision/CollisionShapes/btBoxShape.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BoxBoxDetector.h"
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BoxBoxCollisionAlgorithm::BoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
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: btCollisionAlgorithm(ci),
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m_ownManifold(false),
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m_manifoldPtr(mf)
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{
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if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
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m_ownManifold = true;
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}
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}
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BoxBoxCollisionAlgorithm::~BoxBoxCollisionAlgorithm()
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{
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if (m_ownManifold)
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{
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if (m_manifoldPtr)
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m_dispatcher->releaseManifold(m_manifoldPtr);
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}
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}
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void BoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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if (!m_manifoldPtr)
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return;
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btCollisionObject* col0 = body0;
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btCollisionObject* col1 = body1;
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btBoxShape* box0 = (btBoxShape*)col0->m_collisionShape;
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btBoxShape* box1 = (btBoxShape*)col1->m_collisionShape;
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/// report a contact. internally this will be kept persistent, and contact reduction is done
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resultOut->setPersistentManifold(m_manifoldPtr);
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btDiscreteCollisionDetectorInterface::ClosestPointInput input;
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input.m_maximumDistanceSquared = 1e30f;
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input.m_transformA = body0->m_worldTransform;
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input.m_transformB = body1->m_worldTransform;
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BoxBoxDetector detector(box0,box1);
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detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
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}
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float BoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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//not yet
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return 1.f;
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}
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