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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
00083 return btScalar(1.);
00084 }