Bullet Collision Detection & Physics Library
btBoxBoxCollisionAlgorithm.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
20 #include "btBoxBoxDetector.h"
22 #define USE_PERSISTENT_CONTACTS 1
23 
25  : btActivatingCollisionAlgorithm(ci, body0Wrap, body1Wrap),
26  m_ownManifold(false),
27  m_manifoldPtr(mf)
28 {
30  {
32  m_ownManifold = true;
33  }
34 }
35 
37 {
38  if (m_ownManifold)
39  {
40  if (m_manifoldPtr)
42  }
43 }
44 
46 {
47  if (!m_manifoldPtr)
48  return;
49 
50  const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
51  const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
52 
55 #ifndef USE_PERSISTENT_CONTACTS
57 #endif //USE_PERSISTENT_CONTACTS
58 
61  input.m_transformA = body0Wrap->getWorldTransform();
62  input.m_transformB = body1Wrap->getWorldTransform();
63 
64  btBoxBoxDetector detector(box0, box1);
65  detector.getClosestPoints(input, *resultOut, dispatchInfo.m_debugDraw);
66 
67 #ifdef USE_PERSISTENT_CONTACTS
68  // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
69  if (m_ownManifold)
70  {
71  resultOut->refreshContactPoints();
72  }
73 #endif //USE_PERSISTENT_CONTACTS
74 }
75 
77 {
78  //not yet
79  return 1.f;
80 }
btBoxBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btBoxBoxCollisionAlgorithm.h:29
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btBoxShape
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:26
btCollisionObjectWrapper.h
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btPersistentManifold::clearManifold
void clearManifold()
Definition: btPersistentManifold.h:248
btDispatcherInfo::m_debugDraw
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
btCollisionObjectWrapper::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObjectWrapper.h:44
btBoxBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:45
btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm
virtual ~btBoxBoxCollisionAlgorithm()
Definition: btBoxBoxCollisionAlgorithm.cpp:36
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btDispatcher::needsCollision
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:48
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:46
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:47
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btCollisionObjectWrapper::getCollisionShape
const btCollisionShape * getCollisionShape() const
Definition: btCollisionObjectWrapper.h:46
btBoxBoxDetector.h
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btBoxShape.h
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btDispatcherInfo
Definition: btDispatcher.h:30
btBoxBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btBoxBoxCollisionAlgorithm.h:30
btBoxBoxDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btBoxBoxDetector.cpp:730
btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition: btBoxBoxCollisionAlgorithm.h:33
btBoxBoxDetector
btBoxBoxDetector wraps the ODE box-box collision detector re-distributed under the Zlib license with ...
Definition: btBoxBoxDetector.h:27
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btCollisionObject.h
btBoxBoxCollisionAlgorithm.h
btBoxBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btBoxBoxCollisionAlgorithm.cpp:76
btCollisionDispatcher.h
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:39