164 lines
5.5 KiB
C++
164 lines
5.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_MANIFOLD_RESULT_H
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#define BT_MANIFOLD_RESULT_H
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class btCollisionObject;
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struct btCollisionObjectWrapper;
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#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
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class btManifoldPoint;
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#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
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#include "LinearMath/btTransform.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1);
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extern ContactAddedCallback gContactAddedCallback;
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//#define DEBUG_PART_INDEX 1
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/// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness
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typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0, const btCollisionObject* body1);
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extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback;
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extern CalculateCombinedCallback gCalculateCombinedFrictionCallback;
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extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback;
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extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback;
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extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback;
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extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback;
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///btManifoldResult is a helper class to manage contact results.
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class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
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{
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protected:
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btPersistentManifold* m_manifoldPtr;
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const btCollisionObjectWrapper* m_body0Wrap;
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const btCollisionObjectWrapper* m_body1Wrap;
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int m_partId0;
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int m_partId1;
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int m_index0;
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int m_index1;
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public:
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btManifoldResult()
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:
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#ifdef DEBUG_PART_INDEX
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m_partId0(-1),
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m_partId1(-1),
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m_index0(-1),
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m_index1(-1)
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#endif //DEBUG_PART_INDEX
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m_closestPointDistanceThreshold(0)
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{
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}
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btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
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virtual ~btManifoldResult(){};
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void setPersistentManifold(btPersistentManifold* manifoldPtr)
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{
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m_manifoldPtr = manifoldPtr;
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}
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const btPersistentManifold* getPersistentManifold() const
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{
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return m_manifoldPtr;
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}
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btPersistentManifold* getPersistentManifold()
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{
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return m_manifoldPtr;
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}
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virtual void setShapeIdentifiersA(int partId0, int index0)
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{
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m_partId0 = partId0;
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m_index0 = index0;
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}
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virtual void setShapeIdentifiersB(int partId1, int index1)
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{
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m_partId1 = partId1;
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m_index1 = index1;
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}
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virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth);
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SIMD_FORCE_INLINE void refreshContactPoints()
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{
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btAssert(m_manifoldPtr);
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if (!m_manifoldPtr->getNumContacts())
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return;
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bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
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if (isSwapped)
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{
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m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(), m_body0Wrap->getCollisionObject()->getWorldTransform());
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}
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else
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{
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m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(), m_body1Wrap->getCollisionObject()->getWorldTransform());
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}
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}
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const btCollisionObjectWrapper* getBody0Wrap() const
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{
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return m_body0Wrap;
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}
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const btCollisionObjectWrapper* getBody1Wrap() const
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{
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return m_body1Wrap;
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}
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void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
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{
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m_body0Wrap = obj0Wrap;
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}
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void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
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{
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m_body1Wrap = obj1Wrap;
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}
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const btCollisionObject* getBody0Internal() const
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{
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return m_body0Wrap->getCollisionObject();
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}
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const btCollisionObject* getBody1Internal() const
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{
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return m_body1Wrap->getCollisionObject();
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}
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btScalar m_closestPointDistanceThreshold;
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/// in the future we can let the user override the methods to combine restitution and friction
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static btScalar calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1);
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static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1);
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static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1);
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static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1);
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static btScalar calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1);
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static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1);
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};
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#endif //BT_MANIFOLD_RESULT_H
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