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source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h @ 10986

Last change on this file since 10986 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 3.2 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#ifndef BT_MANIFOLD_RESULT_H
18#define BT_MANIFOLD_RESULT_H
19
20class btCollisionObject;
21#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22class btManifoldPoint;
23
24#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
25
26#include "LinearMath/btTransform.h"
27
28typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,       const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1);
29extern ContactAddedCallback             gContactAddedCallback;
30
31//#define DEBUG_PART_INDEX 1
32
33
34///btManifoldResult is a helper class to manage  contact results.
35class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
36{
37protected:
38
39        btPersistentManifold* m_manifoldPtr;
40
41        //we need this for compounds
42        btTransform     m_rootTransA;
43        btTransform     m_rootTransB;
44
45        btCollisionObject* m_body0;
46        btCollisionObject* m_body1;
47        int     m_partId0;
48        int m_partId1;
49        int m_index0;
50        int m_index1;
51       
52
53public:
54
55        btManifoldResult()
56#ifdef DEBUG_PART_INDEX
57                :
58        m_partId0(-1),
59        m_partId1(-1),
60        m_index0(-1),
61        m_index1(-1)
62#endif //DEBUG_PART_INDEX
63        {
64        }
65
66        btManifoldResult(btCollisionObject* body0,btCollisionObject* body1);
67
68        virtual ~btManifoldResult() {};
69
70        void    setPersistentManifold(btPersistentManifold* manifoldPtr)
71        {
72                m_manifoldPtr = manifoldPtr;
73        }
74
75        const btPersistentManifold*     getPersistentManifold() const
76        {
77                return m_manifoldPtr;
78        }
79        btPersistentManifold*   getPersistentManifold()
80        {
81                return m_manifoldPtr;
82        }
83
84        virtual void setShapeIdentifiersA(int partId0,int index0)
85        {
86                m_partId0=partId0;
87                m_index0=index0;
88        }
89
90        virtual void setShapeIdentifiersB(      int partId1,int index1)
91        {
92                m_partId1=partId1;
93                m_index1=index1;
94        }
95
96
97        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
98
99        SIMD_FORCE_INLINE       void refreshContactPoints()
100        {
101                btAssert(m_manifoldPtr);
102                if (!m_manifoldPtr->getNumContacts())
103                        return;
104
105                bool isSwapped = m_manifoldPtr->getBody0() != m_body0;
106
107                if (isSwapped)
108                {
109                        m_manifoldPtr->refreshContactPoints(m_rootTransB,m_rootTransA);
110                } else
111                {
112                        m_manifoldPtr->refreshContactPoints(m_rootTransA,m_rootTransB);
113                }
114        }
115
116        const btCollisionObject* getBody0Internal() const
117        {
118                return m_body0;
119        }
120
121        const btCollisionObject* getBody1Internal() const
122        {
123                return m_body1;
124        }
125       
126};
127
128#endif //BT_MANIFOLD_RESULT_H
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