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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp | 207 |
1 files changed, 0 insertions, 207 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp deleted file mode 100644 index 23c73c8825..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp +++ /dev/null @@ -1,207 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - - -#include "btManifoldResult.h" -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" -#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" - -///This is to allow MaterialCombiner/Custom Friction/Restitution values -ContactAddedCallback gContactAddedCallback=0; - -CalculateCombinedCallback gCalculateCombinedRestitutionCallback = &btManifoldResult::calculateCombinedRestitution; -CalculateCombinedCallback gCalculateCombinedFrictionCallback = &btManifoldResult::calculateCombinedFriction; -CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback = &btManifoldResult::calculateCombinedRollingFriction; -CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback = &btManifoldResult::calculateCombinedSpinningFriction; -CalculateCombinedCallback gCalculateCombinedContactDampingCallback = &btManifoldResult::calculateCombinedContactDamping; -CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback = &btManifoldResult::calculateCombinedContactStiffness; - -btScalar btManifoldResult::calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1) -{ - btScalar friction = body0->getRollingFriction() * body1->getFriction() + body1->getRollingFriction() * body0->getFriction(); - - const btScalar MAX_FRICTION = btScalar(10.); - if (friction < -MAX_FRICTION) - friction = -MAX_FRICTION; - if (friction > MAX_FRICTION) - friction = MAX_FRICTION; - return friction; - -} - -btScalar btManifoldResult::calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1) -{ - btScalar friction = body0->getSpinningFriction() * body1->getFriction() + body1->getSpinningFriction() * body0->getFriction(); - - const btScalar MAX_FRICTION = btScalar(10.); - if (friction < -MAX_FRICTION) - friction = -MAX_FRICTION; - if (friction > MAX_FRICTION) - friction = MAX_FRICTION; - return friction; -} - -///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback; -btScalar btManifoldResult::calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1) -{ - btScalar friction = body0->getFriction() * body1->getFriction(); - - const btScalar MAX_FRICTION = btScalar(10.); - if (friction < -MAX_FRICTION) - friction = -MAX_FRICTION; - if (friction > MAX_FRICTION) - friction = MAX_FRICTION; - return friction; - -} - -btScalar btManifoldResult::calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1) -{ - return body0->getRestitution() * body1->getRestitution(); -} - -btScalar btManifoldResult::calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1) -{ - return body0->getContactDamping() + body1->getContactDamping(); -} - -btScalar btManifoldResult::calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1) -{ - - btScalar s0 = body0->getContactStiffness(); - btScalar s1 = body1->getContactStiffness(); - - btScalar tmp0 = btScalar(1)/s0; - btScalar tmp1 = btScalar(1)/s1; - btScalar combinedStiffness = btScalar(1) / (tmp0+tmp1); - return combinedStiffness; -} - - -btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) - :m_manifoldPtr(0), - m_body0Wrap(body0Wrap), - m_body1Wrap(body1Wrap) -#ifdef DEBUG_PART_INDEX - ,m_partId0(-1), - m_partId1(-1), - m_index0(-1), - m_index1(-1) -#endif //DEBUG_PART_INDEX - , m_closestPointDistanceThreshold(0) -{ -} - - -void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) -{ - btAssert(m_manifoldPtr); - //order in manifold needs to match - - if (depth > m_manifoldPtr->getContactBreakingThreshold()) -// if (depth > m_manifoldPtr->getContactProcessingThreshold()) - return; - - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); - bool isNewCollision = m_manifoldPtr->getNumContacts() == 0; - - btVector3 pointA = pointInWorld + normalOnBInWorld * depth; - - btVector3 localA; - btVector3 localB; - - if (isSwapped) - { - localA = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointA ); - localB = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld); - } else - { - localA = m_body0Wrap->getCollisionObject()->getWorldTransform().invXform(pointA ); - localB = m_body1Wrap->getCollisionObject()->getWorldTransform().invXform(pointInWorld); - } - - btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth); - newPt.m_positionWorldOnA = pointA; - newPt.m_positionWorldOnB = pointInWorld; - - int insertIndex = m_manifoldPtr->getCacheEntry(newPt); - - newPt.m_combinedFriction = gCalculateCombinedFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); - newPt.m_combinedRestitution = gCalculateCombinedRestitutionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); - newPt.m_combinedRollingFriction = gCalculateCombinedRollingFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); - newPt.m_combinedSpinningFriction = gCalculateCombinedSpinningFrictionCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); - - if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) || - (m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING)) - { - newPt.m_combinedContactDamping1 = gCalculateCombinedContactDampingCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); - newPt.m_combinedContactStiffness1 = gCalculateCombinedContactStiffnessCallback(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject()); - newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING; - } - - if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR) || - (m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR)) - { - newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR; - } - - btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2); - - - - //BP mod, store contact triangles. - if (isSwapped) - { - newPt.m_partId0 = m_partId1; - newPt.m_partId1 = m_partId0; - newPt.m_index0 = m_index1; - newPt.m_index1 = m_index0; - } else - { - newPt.m_partId0 = m_partId0; - newPt.m_partId1 = m_partId1; - newPt.m_index0 = m_index0; - newPt.m_index1 = m_index1; - } - //printf("depth=%f\n",depth); - ///@todo, check this for any side effects - if (insertIndex >= 0) - { - //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex); - m_manifoldPtr->replaceContactPoint(newPt,insertIndex); - } else - { - insertIndex = m_manifoldPtr->addManifoldPoint(newPt); - } - - //User can override friction and/or restitution - if (gContactAddedCallback && - //and if either of the two bodies requires custom material - ((m_body0Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) || - (m_body1Wrap->getCollisionObject()->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK))) - { - //experimental feature info, for per-triangle material etc. - const btCollisionObjectWrapper* obj0Wrap = isSwapped? m_body1Wrap : m_body0Wrap; - const btCollisionObjectWrapper* obj1Wrap = isSwapped? m_body0Wrap : m_body1Wrap; - (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0Wrap,newPt.m_partId0,newPt.m_index0,obj1Wrap,newPt.m_partId1,newPt.m_index1); - } - - if (gContactStartedCallback && isNewCollision) - { - gContactStartedCallback(m_manifoldPtr); - } -} - |