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btBoxBoxCollisionAlgorithm.cpp
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #include "btBoxBoxCollisionAlgorithm.h"
00017 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
00018 #include "BulletCollision/CollisionShapes/btBoxShape.h"
00019 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
00020 #include "btBoxBoxDetector.h"
00021 
00022 #define USE_PERSISTENT_CONTACTS 1
00023 
00024 btBoxBoxCollisionAlgorithm::btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* obj0,btCollisionObject* obj1)
00025 : btCollisionAlgorithm(ci),
00026 m_ownManifold(false),
00027 m_manifoldPtr(mf)
00028 {
00029        if (!m_manifoldPtr && m_dispatcher->needsCollision(obj0,obj1))
00030        {
00031               m_manifoldPtr = m_dispatcher->getNewManifold(obj0,obj1);
00032               m_ownManifold = true;
00033        }
00034 }
00035 
00036 btBoxBoxCollisionAlgorithm::~btBoxBoxCollisionAlgorithm()
00037 {
00038        if (m_ownManifold)
00039        {
00040               if (m_manifoldPtr)
00041                      m_dispatcher->releaseManifold(m_manifoldPtr);
00042        }
00043 }
00044 
00045 void btBoxBoxCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00046 {
00047        if (!m_manifoldPtr)
00048               return;
00049 
00050        btCollisionObject*   col0 = body0;
00051        btCollisionObject*   col1 = body1;
00052        btBoxShape* box0 = (btBoxShape*)col0->getCollisionShape();
00053        btBoxShape* box1 = (btBoxShape*)col1->getCollisionShape();
00054 
00055 
00056 
00058        resultOut->setPersistentManifold(m_manifoldPtr);
00059 #ifndef USE_PERSISTENT_CONTACTS    
00060        m_manifoldPtr->clearManifold();
00061 #endif //USE_PERSISTENT_CONTACTS
00062 
00063        btDiscreteCollisionDetectorInterface::ClosestPointInput input;
00064        input.m_maximumDistanceSquared = 1e30f;
00065        input.m_transformA = body0->getWorldTransform();
00066        input.m_transformB = body1->getWorldTransform();
00067 
00068        btBoxBoxDetector detector(box0,box1);
00069        detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
00070 
00071 #ifdef USE_PERSISTENT_CONTACTS
00072        //  refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
00073        if (m_ownManifold)
00074        {
00075               resultOut->refreshContactPoints();
00076        }
00077 #endif //USE_PERSISTENT_CONTACTS
00078 
00079 }
00080 
00081 btScalar btBoxBoxCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
00082 {
00083        //not yet
00084        return 1.f;
00085 }