SpuContactManifoldCollisionAlgorithm.cpp

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #include "SpuContactManifoldCollisionAlgorithm.h"
00017 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
00018 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
00019 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
00020 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
00021 
00022 
00023 
00024 
00025 void SpuContactManifoldCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00026 {
00027         btAssert(0);
00028 }
00029 
00030 btScalar SpuContactManifoldCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00031 {
00032         btAssert(0);
00033         return 1.f;
00034 }
00035 
00036 #ifndef __SPU__
00037 SpuContactManifoldCollisionAlgorithm::SpuContactManifoldCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObject* body0,const btCollisionObject* body1)
00038 :btCollisionAlgorithm(ci)
00039 #ifdef USE_SEPDISTANCE_UTIL
00040 ,m_sepDistance(body0->getCollisionShape()->getAngularMotionDisc(),body1->getCollisionShape()->getAngularMotionDisc())
00041 #endif //USE_SEPDISTANCE_UTIL
00042 {
00043         m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
00044         m_shapeType0 = body0->getCollisionShape()->getShapeType();
00045         m_shapeType1 = body1->getCollisionShape()->getShapeType();
00046         m_collisionMargin0 = body0->getCollisionShape()->getMargin();
00047         m_collisionMargin1 = body1->getCollisionShape()->getMargin();
00048         m_collisionObject0 = body0;
00049         m_collisionObject1 = body1;
00050 
00051         if (body0->getCollisionShape()->isPolyhedral())
00052         {
00053                 btPolyhedralConvexShape* convex0 = (btPolyhedralConvexShape*)body0->getCollisionShape();
00054                 m_shapeDimensions0 = convex0->getImplicitShapeDimensions();
00055         }
00056         if (body1->getCollisionShape()->isPolyhedral())
00057         {
00058                 btPolyhedralConvexShape* convex1 = (btPolyhedralConvexShape*)body1->getCollisionShape();
00059                 m_shapeDimensions1 = convex1->getImplicitShapeDimensions();
00060         }
00061 }
00062 #endif //__SPU__
00063 
00064 
00065 SpuContactManifoldCollisionAlgorithm::~SpuContactManifoldCollisionAlgorithm()
00066 {
00067         if (m_manifoldPtr)
00068                         m_dispatcher->releaseManifold(m_manifoldPtr);
00069 }