Bullet Collision Detection & Physics Library
btBoxBoxCollisionAlgorithm.cpp
Go to the documentation of this file.
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 
20 #include "btBoxBoxDetector.h"
22 #define USE_PERSISTENT_CONTACTS 1
23 
25 : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
26 m_ownManifold(false),
27 m_manifoldPtr(mf)
28 {
30  {
32  m_ownManifold = true;
33  }
34 }
35 
37 {
38  if (m_ownManifold)
39  {
40  if (m_manifoldPtr)
42  }
43 }
44 
46 {
47  if (!m_manifoldPtr)
48  return;
49 
50 
51  const btBoxShape* box0 = (btBoxShape*)body0Wrap->getCollisionShape();
52  const btBoxShape* box1 = (btBoxShape*)body1Wrap->getCollisionShape();
53 
54 
55 
58 #ifndef USE_PERSISTENT_CONTACTS
60 #endif //USE_PERSISTENT_CONTACTS
61 
64  input.m_transformA = body0Wrap->getWorldTransform();
65  input.m_transformB = body1Wrap->getWorldTransform();
66 
67  btBoxBoxDetector detector(box0,box1);
68  detector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
69 
70 #ifdef USE_PERSISTENT_CONTACTS
71  // refreshContactPoints is only necessary when using persistent contact points. otherwise all points are newly added
72  if (m_ownManifold)
73  {
74  resultOut->refreshContactPoints();
75  }
76 #endif //USE_PERSISTENT_CONTACTS
77 
78 }
79 
81 {
82  //not yet
83  return 1.f;
84 }
virtual void releaseManifold(btPersistentManifold *manifold)=0
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
#define BT_LARGE_FLOAT
Definition: btScalar.h:280
btBoxBoxDetector wraps the ODE box-box collision detector re-distributed under the Zlib license with ...
void setPersistentManifold(btPersistentManifold *manifoldPtr)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
btManifoldResult is a helper class to manage contact results.
class btIDebugDraw * m_debugDraw
Definition: btDispatcher.h:58
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
const btTransform & getWorldTransform() const
btCollisionObject can be used to manage collision detection objects.
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
const btCollisionShape * getCollisionShape() const
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:26
btPersistentManifold * m_manifoldPtr
virtual bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1)=0
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
const btCollisionObject * getCollisionObject() const