Bullet Collision Detection & Physics Library
btSoftRigidCollisionAlgorithm.h
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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 
16 #ifndef BT_SOFT_RIGID_COLLISION_ALGORITHM_H
17 #define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
18 
24 
25 #include "LinearMath/btVector3.h"
26 class btSoftBody;
27 
30 {
31  // bool m_ownManifold;
32  // btPersistentManifold* m_manifoldPtr;
33 
34  //btSoftBody* m_softBody;
35  //btCollisionObject* m_rigidCollisionObject;
36 
39 
40 public:
42 
44 
45  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
46 
47  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
48 
49  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
50  {
51  //we don't add any manifolds
52  }
53 
55  {
57  {
59  if (!m_swapped)
60  {
61  return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
62  }
63  else
64  {
65  return new (mem) btSoftRigidCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
66  }
67  }
68  };
69 };
70 
71 #endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btCollisionObject can be used to manage collision detection objects.
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btSoftBody is an class to simulate cloth and volumetric soft bodies.
Definition: btSoftBody.h:75
btSoftRigidCollisionAlgorithm provides collision detection between btSoftBody and btRigidBody
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btSoftRigidCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0, const btCollisionObjectWrapper *col1Wrap, bool isSwapped)
TODO: include all the shapes that the softbody can collide with alternatively, implement special case...
bool m_isSwapped
for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)