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source: code/branches/netp2/src/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp @ 2835

Last change on this file since 2835 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 4.1 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#include "btConvexPlaneCollisionAlgorithm.h"
17
18#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
19#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20#include "BulletCollision/CollisionShapes/btConvexShape.h"
21#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
22
23//#include <stdio.h>
24
25btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped)
26: btCollisionAlgorithm(ci),
27m_ownManifold(false),
28m_manifoldPtr(mf),
29m_isSwapped(isSwapped)
30{
31        btCollisionObject* convexObj = m_isSwapped? col1 : col0;
32        btCollisionObject* planeObj = m_isSwapped? col0 : col1;
33       
34        if (!m_manifoldPtr && m_dispatcher->needsCollision(convexObj,planeObj))
35        {
36                m_manifoldPtr = m_dispatcher->getNewManifold(convexObj,planeObj);
37                m_ownManifold = true;
38        }
39}
40
41
42btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm()
43{
44        if (m_ownManifold)
45        {
46                if (m_manifoldPtr)
47                        m_dispatcher->releaseManifold(m_manifoldPtr);
48        }
49}
50
51
52
53void btConvexPlaneCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
54{
55        (void)dispatchInfo;
56        (void)resultOut;
57        if (!m_manifoldPtr)
58                return;
59
60        btCollisionObject* convexObj = m_isSwapped? body1 : body0;
61        btCollisionObject* planeObj = m_isSwapped? body0: body1;
62
63        btConvexShape* convexShape = (btConvexShape*) convexObj->getCollisionShape();
64        btStaticPlaneShape* planeShape = (btStaticPlaneShape*) planeObj->getCollisionShape();
65
66        bool hasCollision = false;
67        const btVector3& planeNormal = planeShape->getPlaneNormal();
68        const btScalar& planeConstant = planeShape->getPlaneConstant();
69        btTransform planeInConvex;
70        planeInConvex= convexObj->getWorldTransform().inverse() * planeObj->getWorldTransform();
71        btTransform convexInPlaneTrans;
72        convexInPlaneTrans= planeObj->getWorldTransform().inverse() * convexObj->getWorldTransform();
73
74        btVector3 vtx = convexShape->localGetSupportingVertex(planeInConvex.getBasis()*-planeNormal);
75        btVector3 vtxInPlane = convexInPlaneTrans(vtx);
76        btScalar distance = (planeNormal.dot(vtxInPlane) - planeConstant);
77
78        btVector3 vtxInPlaneProjected = vtxInPlane - distance*planeNormal;
79        btVector3 vtxInPlaneWorld = planeObj->getWorldTransform() * vtxInPlaneProjected;
80
81        hasCollision = distance < m_manifoldPtr->getContactBreakingThreshold();
82        resultOut->setPersistentManifold(m_manifoldPtr);
83        if (hasCollision)
84        {
85                /// report a contact. internally this will be kept persistent, and contact reduction is done
86                btVector3 normalOnSurfaceB = planeObj->getWorldTransform().getBasis() * planeNormal;
87                btVector3 pOnB = vtxInPlaneWorld;
88                resultOut->addContactPoint(normalOnSurfaceB,pOnB,distance);
89        }
90        if (m_ownManifold)
91        {
92                if (m_manifoldPtr->getNumContacts())
93                {
94                        resultOut->refreshContactPoints();
95                }
96        }
97}
98
99btScalar btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
100{
101        (void)resultOut;
102        (void)dispatchInfo;
103        (void)col0;
104        (void)col1;
105
106        //not yet
107        return btScalar(1.);
108}
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