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00016 #include "btBoxBoxCollisionAlgorithm.h"
00017 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
00018 #include "BulletCollision/CollisionShapes/btBoxShape.h"
00019 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
00020 #include "btBoxBoxDetector.h"
00021 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
00022 #define USE_PERSISTENT_CONTACTS 1
00023
00024 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
00025 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
00026 m_ownManifold(false),
00027 m_manifoldPtr(mf)
00028 {
00029 if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()))
00030 {
00031 m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
00032 m_ownManifold = true;
00033 }
00034 }
00035
00036 btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
00037 {
00038 if (m_ownManifold)
00039 {
00040 if (m_manifoldPtr)
00041 m_dispatcher->releaseManifold(m_manifoldPtr);
00042 }
00043 }
00044
00045 void btBoxBoxCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00046 {
00047 if (!m_manifoldPtr)
00048 return;
00049
00050
00051 const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
00052 const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
00053
00054
00055
00057 resultOut->setPersistentManifold(m_manifoldPtr);
00058 #ifndef USE_PERSISTENT_CONTACTS
00059 m_manifoldPtr->clearManifold();
00060 #endif //USE_PERSISTENT_CONTACTS
00061
00062 btDiscreteCollisionDetectorInterface::ClosestPointInput input;
00063 input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
00064 input.m_transformA = body0Wrap->getWorldTransform();
00065 input.m_transformB = body1Wrap->getWorldTransform();
00066
00067 btBoxBoxDetector detector(box0,box1);
00068 detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
00069
00070 #ifdef USE_PERSISTENT_CONTACTS
00071
00072 if (m_ownManifold)
00073 {
00074 resultOut->refreshContactPoints();
00075 }
00076 #endif //USE_PERSISTENT_CONTACTS
00077
00078 }
00079
00080 btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* ,btCollisionObject* ,const btDispatcherInfo& ,btManifoldResult* )
00081 {
00082
00083 return 1.f;
00084 }