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source: code/branches/SuperOrxoBros_HS18/SuperOrxoBros_HS18/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp @ 12175

Last change on this file since 12175 was 12175, checked in by siramesh, 5 years ago

Super Orxo Bros (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 4.5 KB
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#include "btManifoldResult.h"
18#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
19#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20
21
22///This is to allow MaterialCombiner/Custom Friction/Restitution values
23ContactAddedCallback            gContactAddedCallback=0;
24
25///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
26inline btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1)
27{
28        btScalar friction = body0->getFriction() * body1->getFriction();
29
30        const btScalar MAX_FRICTION  = btScalar(10.);
31        if (friction < -MAX_FRICTION)
32                friction = -MAX_FRICTION;
33        if (friction > MAX_FRICTION)
34                friction = MAX_FRICTION;
35        return friction;
36
37}
38
39inline btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1)
40{
41        return body0->getRestitution() * body1->getRestitution();
42}
43
44
45
46btManifoldResult::btManifoldResult(btCollisionObject* body0,btCollisionObject* body1)
47                :m_manifoldPtr(0),
48                m_body0(body0),
49                m_body1(body1)
50#ifdef DEBUG_PART_INDEX
51                ,m_partId0(-1),
52        m_partId1(-1),
53        m_index0(-1),
54        m_index1(-1)
55#endif //DEBUG_PART_INDEX
56{
57        m_rootTransA = body0->getWorldTransform();
58        m_rootTransB = body1->getWorldTransform();
59}
60
61
62void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
63{
64        btAssert(m_manifoldPtr);
65        //order in manifold needs to match
66
67//      if (depth > m_manifoldPtr->getContactBreakingThreshold())
68        if (depth > m_manifoldPtr->getContactProcessingThreshold())
69                return;
70
71        bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
72
73        btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
74
75        btVector3 localA;
76        btVector3 localB;
77       
78        if (isSwapped)
79        {
80                localA = m_rootTransB.invXform(pointA );
81                localB = m_rootTransA.invXform(pointInWorld);
82        } else
83        {
84                localA = m_rootTransA.invXform(pointA );
85                localB = m_rootTransB.invXform(pointInWorld);
86        }
87
88        btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
89        newPt.m_positionWorldOnA = pointA;
90        newPt.m_positionWorldOnB = pointInWorld;
91       
92        int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
93
94        newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
95        newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
96
97   //BP mod, store contact triangles.
98        if (isSwapped)
99        {
100                newPt.m_partId0 = m_partId1;
101                newPt.m_partId1 = m_partId0;
102                newPt.m_index0  = m_index1;
103                newPt.m_index1  = m_index0;
104        } else
105        {
106                newPt.m_partId0 = m_partId0;
107                newPt.m_partId1 = m_partId1;
108                newPt.m_index0  = m_index0;
109                newPt.m_index1  = m_index1;
110        }
111        //printf("depth=%f\n",depth);
112        ///@todo, check this for any side effects
113        if (insertIndex >= 0)
114        {
115                //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
116                m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
117        } else
118        {
119                insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
120        }
121       
122        //User can override friction and/or restitution
123        if (gContactAddedCallback &&
124                //and if either of the two bodies requires custom material
125                 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
126                   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
127        {
128                //experimental feature info, for per-triangle material etc.
129                btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
130                btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
131                (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
132        }
133
134}
135
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