95 lines
3.3 KiB
C++
95 lines
3.3 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 "btSoftRigidCollisionAlgorithm.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/SoftBody/btSoftBody.h"
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///TODO: include all the shapes that the softbody can collide with
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///alternatively, implement special case collision algorithms (just like for rigid collision shapes)
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//#include <stdio.h>
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btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
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: btCollisionAlgorithm(ci),
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//m_ownManifold(false),
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//m_manifoldPtr(mf),
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m_isSwapped(isSwapped)
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{
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m_softBody = m_isSwapped? (btSoftBody*)col1 : (btSoftBody*)col0;
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m_rigidCollisionObject = m_isSwapped? col0 : col1;
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//quick fix, add overlapping rigidbody to softbody, so it can be handled within btSoftBody::Step method
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m_softBody->m_overlappingRigidBodies.push_back(m_rigidCollisionObject);
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///store the contacts straight into the btSoftBody for now?
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/*if (!m_manifoldPtr && m_dispatcher->needsCollision(sphereObj,boxObj))
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{
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m_manifoldPtr = m_dispatcher->getNewManifold(sphereObj,boxObj);
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m_ownManifold = true;
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}
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*/
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}
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btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
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{
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m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
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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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}
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#include <stdio.h>
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void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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(void)dispatchInfo;
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(void)resultOut;
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//printf("btSoftRigidCollisionAlgorithm\n");
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btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
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btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
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///do your stuff here
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}
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btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
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{
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(void)resultOut;
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(void)dispatchInfo;
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(void)col0;
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(void)col1;
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//not yet
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return btScalar(1.);
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}
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