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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, 167 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h new file mode 100644 index 0000000000..12cdafd1b6 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btManifoldResult.h @@ -0,0 +1,167 @@ +/* +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 |