From ed047261f06f814eeb88a1f6ee2dd8abd7a14034 Mon Sep 17 00:00:00 2001 From: AndreaCatania Date: Tue, 1 Aug 2017 14:30:58 +0200 Subject: Vendor thirdparty Bullet source for upcoming physics server backend --- .../btSphereTriangleCollisionAlgorithm.cpp | 84 ++++++++++++++++++++++ 1 file changed, 84 insertions(+) create mode 100644 thirdparty/bullet/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp (limited to 'thirdparty/bullet/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp') diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp new file mode 100644 index 0000000000..86d4e74400 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -0,0 +1,84 @@ +/* +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 "btSphereTriangleCollisionAlgorithm.h" +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "SphereTriangleDetector.h" +#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" + +btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool swapped) +: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), +m_ownManifold(false), +m_manifoldPtr(mf), +m_swapped(swapped) +{ + if (!m_manifoldPtr) + { + m_manifoldPtr = m_dispatcher->getNewManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject()); + m_ownManifold = true; + } +} + +btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm() +{ + if (m_ownManifold) + { + if (m_manifoldPtr) + m_dispatcher->releaseManifold(m_manifoldPtr); + } +} + +void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* col0Wrap,const btCollisionObjectWrapper* col1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + if (!m_manifoldPtr) + return; + + const btCollisionObjectWrapper* sphereObjWrap = m_swapped? col1Wrap : col0Wrap; + const btCollisionObjectWrapper* triObjWrap = m_swapped? col0Wrap : col1Wrap; + + btSphereShape* sphere = (btSphereShape*)sphereObjWrap->getCollisionShape(); + btTriangleShape* triangle = (btTriangleShape*)triObjWrap->getCollisionShape(); + + /// report a contact. internally this will be kept persistent, and contact reduction is done + resultOut->setPersistentManifold(m_manifoldPtr); + SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold); + + btDiscreteCollisionDetectorInterface::ClosestPointInput input; + input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds + input.m_transformA = sphereObjWrap->getWorldTransform(); + input.m_transformB = triObjWrap->getWorldTransform(); + + bool swapResults = m_swapped; + + detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw,swapResults); + + if (m_ownManifold) + resultOut->refreshContactPoints(); + +} + +btScalar btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +{ + (void)resultOut; + (void)dispatchInfo; + (void)col0; + (void)col1; + + //not yet + return btScalar(1.); +} -- cgit v1.2.3