btSphereTriangleCollisionAlgorithm.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 
00017 #include "btSphereTriangleCollisionAlgorithm.h"
00018 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
00019 #include "BulletCollision/CollisionShapes/btSphereShape.h"
00020 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
00021 #include "SphereTriangleDetector.h"
00022 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
00023 
00024 btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped)
00025 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
00026 m_ownManifold(false),
00027 m_manifoldPtr(mf),
00028 m_swapped(swapped)
00029 {
00030         if (!m_manifoldPtr)
00031         {
00032                 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
00033                 m_ownManifold = true;
00034         }
00035 }
00036 
00037 btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm()
00038 {
00039         if (m_ownManifold)
00040         {
00041                 if (m_manifoldPtr)
00042                         m_dispatcher->releaseManifold(m_manifoldPtr);
00043         }
00044 }
00045 
00046 void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00047 {
00048         if (!m_manifoldPtr)
00049                 return;
00050 
00051         const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap;
00052         const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap;
00053 
00054         btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape();
00055         btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape();
00056         
00058         resultOut->setPersistentManifold(m_manifoldPtr);
00059         SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold());
00060         
00061         btDiscreteCollisionDetectorInterface::ClosestPointInput input;
00062         input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);
00063         input.m_transformA = sphereObjWrap->getWorldTransform();
00064         input.m_transformB = triObjWrap->getWorldTransform();
00065 
00066         bool swapResults = m_swapped;
00067 
00068         detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults);
00069 
00070         if (m_ownManifold)
00071                 resultOut->refreshContactPoints();
00072         
00073 }
00074 
00075 btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00076 {
00077         (void)resultOut;
00078         (void)dispatchInfo;
00079         (void)col0;
00080         (void)col1;
00081 
00082         //not yet
00083         return btScalar(1.);
00084 }