Bullet Collision Detection & Physics Library
btSphereSphereCollisionAlgorithm.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 #define CLEAR_MANIFOLD 1
16 
22 
24  : btActivatingCollisionAlgorithm(ci, col0Wrap, col1Wrap),
25  m_ownManifold(false),
26  m_manifoldPtr(mf)
27 {
28  if (!m_manifoldPtr)
29  {
31  m_ownManifold = true;
32  }
33 }
34 
36 {
37  if (m_ownManifold)
38  {
39  if (m_manifoldPtr)
41  }
42 }
43 
45 {
46  (void)dispatchInfo;
47 
48  if (!m_manifoldPtr)
49  return;
50 
52 
53  btSphereShape* sphere0 = (btSphereShape*)col0Wrap->getCollisionShape();
54  btSphereShape* sphere1 = (btSphereShape*)col1Wrap->getCollisionShape();
55 
56  btVector3 diff = col0Wrap->getWorldTransform().getOrigin() - col1Wrap->getWorldTransform().getOrigin();
57  btScalar len = diff.length();
58  btScalar radius0 = sphere0->getRadius();
59  btScalar radius1 = sphere1->getRadius();
60 
61 #ifdef CLEAR_MANIFOLD
62  m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
63 #endif
64 
66  if (len > (radius0 + radius1 + resultOut->m_closestPointDistanceThreshold))
67  {
68 #ifndef CLEAR_MANIFOLD
69  resultOut->refreshContactPoints();
70 #endif //CLEAR_MANIFOLD
71  return;
72  }
74  btScalar dist = len - (radius0 + radius1);
75 
76  btVector3 normalOnSurfaceB(1, 0, 0);
77  if (len > SIMD_EPSILON)
78  {
79  normalOnSurfaceB = diff / len;
80  }
81 
85  btVector3 pos1 = col1Wrap->getWorldTransform().getOrigin() + radius1 * normalOnSurfaceB;
86 
88 
89  resultOut->addContactPoint(normalOnSurfaceB, pos1, dist);
90 
91 #ifndef CLEAR_MANIFOLD
92  resultOut->refreshContactPoints();
93 #endif //CLEAR_MANIFOLD
94 }
95 
97 {
98  (void)col0;
99  (void)col1;
100  (void)dispatchInfo;
101  (void)resultOut;
102 
103  //not yet
104  return btScalar(1.);
105 }
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define SIMD_EPSILON
Definition: btScalar.h:543
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
btCollisionObject can be used to manage collision detection objects.
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btManifoldResult is a helper class to manage contact results.
void setPersistentManifold(btPersistentManifold *manifoldPtr)
btScalar m_closestPointDistanceThreshold
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
btScalar getRadius() const
Definition: btSphereShape.h:48
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btSphereSphereCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0Wrap, const btCollisionObjectWrapper *col1Wrap)
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:257
const btCollisionShape * getCollisionShape() const
const btCollisionObject * getCollisionObject() const
const btTransform & getWorldTransform() const