Blender  V3.3
btBoxBoxCollisionAlgorithm.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 
20 #include "btBoxBoxDetector.h"
22 #define USE_PERSISTENT_CONTACTS 1
23 
25  : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
26  m_ownManifold(false),
27  m_manifoldPtr(mf)
28 {
29  if (!m_manifoldPtr && m_dispatcher->needsCollision(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject()))
30  {
31  m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
32  m_ownManifold = true;
33  }
34 }
35 
37 {
38  if (m_ownManifold)
39  {
40  if (m_manifoldPtr)
41  m_dispatcher->releaseManifold(m_manifoldPtr);
42  }
43 }
44 
46 {
47  if (!m_manifoldPtr)
48  return;
49 
50  const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
51  const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
52 
54  resultOut->setPersistentManifold(m_manifoldPtr);
55 #ifndef USE_PERSISTENT_CONTACTS
56  m_manifoldPtr->clearManifold();
57 #endif //USE_PERSISTENT_CONTACTS
58 
60  input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
61  input.m_transformA = body0Wrap->getWorldTransform();
62  input.m_transformB = body1Wrap->getWorldTransform();
63 
64  btBoxBoxDetector detector(box0, box1);
65  detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
66 
67 #ifdef USE_PERSISTENT_CONTACTS
68  // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
69  if (m_ownManifold)
70  {
71  resultOut->refreshContactPoints();
72  }
73 #endif //USE_PERSISTENT_CONTACTS
74 }
75 
77 {
78  //not yet
79  return 1.f;
80 }
btBoxShape(const btVector3 &boxHalfExtents)
Definition: btBoxShape.cpp:17
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 BT_LARGE_FLOAT
Definition: btScalar.h:316
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btManifoldResult is a helper class to manage contact results.
void setPersistentManifold(btPersistentManifold *manifoldPtr)
SIMD_FORCE_INLINE void refreshContactPoints()
ccl_global KernelShaderEvalInput * input
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
SIMD_FORCE_INLINE const btCollisionShape * getCollisionShape() const
SIMD_FORCE_INLINE const btTransform & getWorldTransform() const
SIMD_FORCE_INLINE const btCollisionObject * getCollisionObject() const
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58