Blender  V3.3
btSphereSphereCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 #define CLEAR_MANIFOLD 1
16 
22 
24  : btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
25  m_ownManifold(false),
26  m_manifoldPtr(mf)
27 {
28  if (!m_manifoldPtr)
29  {
30  m_manifoldPtr = m_dispatcher->getNewManifold(col0Wrap->getCollisionObject(), col1Wrap->getCollisionObject());
31  m_ownManifold = true;
32  }
33 }
34 
36 {
37  if (m_ownManifold)
38  {
39  if (m_manifoldPtr)
40  m_dispatcher->releaseManifold(m_manifoldPtr);
41  }
42 }
43 
45 {
46  (void)dispatchInfo;
47 
48  if (!m_manifoldPtr)
49  return;
50 
51  resultOut->setPersistentManifold(m_manifoldPtr);
52 
53  btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
54  btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
55 
56  btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
57  btScalar len = diff.length();
58  btScalar radius0 = sphere0->getRadius();
59  btScalar radius1 = sphere1->getRadius();
60 
61 #ifdef CLEAR_MANIFOLD
62  m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
63 #endif
64 
66  if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
67  {
68 #ifndef CLEAR_MANIFOLD
69  resultOut->refreshContactPoints();
70 #endif //CLEAR_MANIFOLD
71  return;
72  }
74  btScalar dist = len - (radius0 + radius1);
75 
76  btVector3 normalOnSurfaceB(1, 0, 0);
77  if (len > SIMD_EPSILON)
78  {
79  normalOnSurfaceB = diff / len;
80  }
81 
85  btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
86 
88 
89  resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
90 
91 #ifndef CLEAR_MANIFOLD
92  resultOut->refreshContactPoints();
93 #endif //CLEAR_MANIFOLD
94 }
95 
97 {
98  (void)col0;
99  (void)col1;
100  (void)dispatchInfo;
101  (void)resultOut;
102 
103  //not yet
104  return btScalar(1.);
105 }
btCollisionObject
btPersistentManifold * m_manifoldPtr
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define SIMD_EPSILON
Definition: btScalar.h:543
btSphereShape(btScalar radius)
Definition: btSphereShape.h:29
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btManifoldResult is a helper class to manage contact results.
void setPersistentManifold(btPersistentManifold *manifoldPtr)
btScalar m_closestPointDistanceThreshold
SIMD_FORCE_INLINE void refreshContactPoints()
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btSphereSphereCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0Wrap, const btCollisionObjectWrapper *col1Wrap)
SyclQueue void void size_t num_bytes void
int len
Definition: draw_manager.c:108
IMETHOD Vector diff(const Vector &a, const Vector &b, double dt=1)
SIMD_FORCE_INLINE const btCollisionShape * getCollisionShape() const
SIMD_FORCE_INLINE const btTransform & getWorldTransform() const
SIMD_FORCE_INLINE const btCollisionObject * getCollisionObject() const