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source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.cpp @ 8331

Last change on this file since 8331 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 4.2 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{
51        m_rootTransA = body0->getWorldTransform();
52        m_rootTransB = body1->getWorldTransform();
53}
54
55
56void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
57{
58        btAssert(m_manifoldPtr);
59        //order in manifold needs to match
60       
61        if (depth > m_manifoldPtr->getContactBreakingThreshold())
62                return;
63
64        bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
65
66        btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
67
68        btVector3 localA;
69        btVector3 localB;
70       
71        if (isSwapped)
72        {
73                localA = m_rootTransB.invXform(pointA );
74                localB = m_rootTransA.invXform(pointInWorld);
75        } else
76        {
77                localA = m_rootTransA.invXform(pointA );
78                localB = m_rootTransB.invXform(pointInWorld);
79        }
80
81        btManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
82        newPt.m_positionWorldOnA = pointA;
83        newPt.m_positionWorldOnB = pointInWorld;
84       
85        int insertIndex = m_manifoldPtr->getCacheEntry(newPt);
86
87        newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
88        newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
89
90   //BP mod, store contact triangles.
91   newPt.m_partId0 = m_partId0;
92   newPt.m_partId1 = m_partId1;
93   newPt.m_index0  = m_index0;
94   newPt.m_index1  = m_index1;
95        //printf("depth=%f\n",depth);
96        ///@todo, check this for any side effects
97        if (insertIndex >= 0)
98        {
99                //const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
100                m_manifoldPtr->replaceContactPoint(newPt,insertIndex);
101        } else
102        {
103                insertIndex = m_manifoldPtr->addManifoldPoint(newPt);
104        }
105       
106        //User can override friction and/or restitution
107        if (gContactAddedCallback &&
108                //and if either of the two bodies requires custom material
109                 ((m_body0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK) ||
110                   (m_body1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)))
111        {
112                //experimental feature info, for per-triangle material etc.
113                btCollisionObject* obj0 = isSwapped? m_body1 : m_body0;
114                btCollisionObject* obj1 = isSwapped? m_body0 : m_body1;
115                (*gContactAddedCallback)(m_manifoldPtr->getContactPoint(insertIndex),obj0,m_partId0,m_index0,obj1,m_partId1,m_index1);
116        }
117
118}
119
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