75 lines
3.4 KiB
C++
75 lines
3.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.com
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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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Experimental Buoyancy fluid demo written by John McCutchan
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*/
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#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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