btSoftRigidCollisionAlgorithm.cpp

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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 "btSoftRigidCollisionAlgorithm.h"
00017 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
00018 #include "BulletCollision/CollisionShapes/btSphereShape.h"
00019 #include "BulletCollision/CollisionShapes/btBoxShape.h"
00020 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
00021 #include "btSoftBody.h"
00022 #include "BulletSoftBody/btSoftBodySolvers.h"
00023 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
00024 
00027 
00028 //#include <stdio.h>
00029 
00030 btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* ,const btCollisionObjectWrapper* , bool isSwapped)
00031 : btCollisionAlgorithm(ci),
00032 //m_ownManifold(false),
00033 //m_manifoldPtr(mf),
00034 m_isSwapped(isSwapped)
00035 {
00036 }
00037 
00038 
00039 btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm()
00040 {
00041 
00042         //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject);
00043 
00044         /*if (m_ownManifold)
00045         {
00046         if (m_manifoldPtr)
00047         m_dispatcher->releaseManifold(m_manifoldPtr);
00048         }
00049         */
00050 
00051 }
00052 
00053 
00054 #include <stdio.h>
00055 
00056 void btSoftRigidCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00057 {
00058         (void)dispatchInfo;
00059         (void)resultOut;
00060         //printf("btSoftRigidCollisionAlgorithm\n");
00061 //      const btCollisionObjectWrapper* softWrap = m_isSwapped?body1Wrap:body0Wrap;
00062 //      const btCollisionObjectWrapper* rigidWrap = m_isSwapped?body0Wrap:body1Wrap;
00063         btSoftBody* softBody =  m_isSwapped? (btSoftBody*)body1Wrap->getCollisionObject() : (btSoftBody*)body0Wrap->getCollisionObject();
00064         const btCollisionObjectWrapper* rigidCollisionObjectWrap = m_isSwapped? body0Wrap : body1Wrap;
00065         
00066         if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObjectWrap->getCollisionObject())==softBody->m_collisionDisabledObjects.size())
00067         {
00068                 softBody->getSoftBodySolver()->processCollision(softBody, rigidCollisionObjectWrap);
00069         }
00070 
00071 
00072 }
00073 
00074 btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00075 {
00076         (void)resultOut;
00077         (void)dispatchInfo;
00078         (void)col0;
00079         (void)col1;
00080 
00081         //not yet
00082         return btScalar(1.);
00083 }
00084 
00085 
00086