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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h | 167 |
1 files changed, 0 insertions, 167 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h deleted file mode 100644 index 12cdafd1b6..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h +++ /dev/null @@ -1,167 +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. -*/ - - -#ifndef BT_MANIFOLD_RESULT_H -#define BT_MANIFOLD_RESULT_H - -class btCollisionObject; -struct btCollisionObjectWrapper; - -#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -class btManifoldPoint; - -#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" - -#include "LinearMath/btTransform.h" -#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" -#include "BulletCollision/CollisionDispatch/btCollisionObject.h" - -typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1); -extern ContactAddedCallback gContactAddedCallback; - -//#define DEBUG_PART_INDEX 1 - -/// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness -typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0,const btCollisionObject* body1); - -extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback; -extern CalculateCombinedCallback gCalculateCombinedFrictionCallback; -extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback; -extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback; -extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback; -extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback; - -///btManifoldResult is a helper class to manage contact results. -class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result -{ -protected: - - btPersistentManifold* m_manifoldPtr; - - const btCollisionObjectWrapper* m_body0Wrap; - const btCollisionObjectWrapper* m_body1Wrap; - int m_partId0; - int m_partId1; - int m_index0; - int m_index1; - - -public: - - btManifoldResult() - : -#ifdef DEBUG_PART_INDEX - - m_partId0(-1), - m_partId1(-1), - m_index0(-1), - m_index1(-1) -#endif //DEBUG_PART_INDEX - m_closestPointDistanceThreshold(0) - { - } - - btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); - - virtual ~btManifoldResult() {}; - - void setPersistentManifold(btPersistentManifold* manifoldPtr) - { - m_manifoldPtr = manifoldPtr; - } - - const btPersistentManifold* getPersistentManifold() const - { - return m_manifoldPtr; - } - btPersistentManifold* getPersistentManifold() - { - return m_manifoldPtr; - } - - virtual void setShapeIdentifiersA(int partId0,int index0) - { - m_partId0=partId0; - m_index0=index0; - } - - virtual void setShapeIdentifiersB( int partId1,int index1) - { - m_partId1=partId1; - m_index1=index1; - } - - - virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); - - SIMD_FORCE_INLINE void refreshContactPoints() - { - btAssert(m_manifoldPtr); - if (!m_manifoldPtr->getNumContacts()) - return; - - bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); - - if (isSwapped) - { - m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform()); - } else - { - m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform()); - } - } - - const btCollisionObjectWrapper* getBody0Wrap() const - { - return m_body0Wrap; - } - const btCollisionObjectWrapper* getBody1Wrap() const - { - return m_body1Wrap; - } - - void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap) - { - m_body0Wrap = obj0Wrap; - } - - void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap) - { - m_body1Wrap = obj1Wrap; - } - - const btCollisionObject* getBody0Internal() const - { - return m_body0Wrap->getCollisionObject(); - } - - const btCollisionObject* getBody1Internal() const - { - return m_body1Wrap->getCollisionObject(); - } - - btScalar m_closestPointDistanceThreshold; - - /// in the future we can let the user override the methods to combine restitution and friction - static btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1); - static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1); - static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1); - static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0,const btCollisionObject* body1); - static btScalar calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1); - static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1); -}; - -#endif //BT_MANIFOLD_RESULT_H |