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source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp @ 8351

Last change on this file since 8351 was 8351, checked in by rgrieder, 13 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 4.4 KB
Line 
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                return;
69
70        bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
71
72        btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
73
74        btVector3 localA;
75        btVector3 localB;
76       
77        if (isSwapped)
78        {
79                localA = m_rootTransB.invXform(pointA );
80                localB = m_rootTransA.invXform(pointInWorld);
81        } else
82        {
83                localA = m_rootTransA.invXform(pointA );
84                localB = m_rootTransB.invXform(pointInWorld);
85        }
86
87        btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
88        newPt.m_positionWorldOnA = pointA;
89        newPt.m_positionWorldOnB = pointInWorld;
90       
91        int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
92
93        newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
94        newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
95
96   //BP mod, store contact triangles.
97        if (isSwapped)
98        {
99                newPt.m_partId0 = m_partId1;
100                newPt.m_partId1 = m_partId0;
101                newPt.m_index0  = m_index1;
102                newPt.m_index1  = m_index0;
103        } else
104        {
105                newPt.m_partId0 = m_partId0;
106                newPt.m_partId1 = m_partId1;
107                newPt.m_index0  = m_index0;
108                newPt.m_index1  = m_index1;
109        }
110        //printf("depth=%f\n",depth);
111        ///@todo, check this for any side effects
112        if (insertIndex >= 0)
113        {
114                //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
115                m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
116        } else
117        {
118                insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
119        }
120       
121        //User can override friction and/or restitution
122        if (gContactAddedCallback &&
123                //and if either of the two bodies requires custom material
124                 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
125                   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
126        {
127                //experimental feature info, for per-triangle material etc.
128                btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
129                btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
130                (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,newPt.m_partId0,newPt.m_index0,obj1,newPt.m_partId1,newPt.m_index1);
131        }
132
133}
134
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