1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include "dart/collision/bullet/BulletCollisionObject.hpp"
34
35 #include "dart/collision/bullet/BulletTypes.hpp"
36 #include "dart/dynamics/ShapeFrame.hpp"
37
38 namespace dart {
39 namespace collision {
40
41 //==============================================================================
getBulletCollisionObject()42 btCollisionObject* BulletCollisionObject::getBulletCollisionObject()
43 {
44 return mBulletCollisionObject.get();
45 }
46
47 //==============================================================================
getBulletCollisionObject() const48 const btCollisionObject* BulletCollisionObject::getBulletCollisionObject() const
49 {
50 return mBulletCollisionObject.get();
51 }
52
53 //==============================================================================
BulletCollisionObject(CollisionDetector * collisionDetector,const dynamics::ShapeFrame * shapeFrame,const std::shared_ptr<BulletCollisionShape> & bulletCollisionShape)54 BulletCollisionObject::BulletCollisionObject(
55 CollisionDetector* collisionDetector,
56 const dynamics::ShapeFrame* shapeFrame,
57 const std::shared_ptr<BulletCollisionShape>& bulletCollisionShape)
58 : CollisionObject(collisionDetector, shapeFrame),
59 mBulletCollisionShape(bulletCollisionShape),
60 mBulletCollisionObject(new btCollisionObject())
61 {
62 assert(bulletCollisionShape);
63
64 mBulletCollisionObject->setCollisionShape(
65 mBulletCollisionShape->mCollisionShape.get());
66
67 mBulletCollisionObject->setUserPointer(this);
68 }
69
70 //==============================================================================
updateEngineData()71 void BulletCollisionObject::updateEngineData()
72 {
73 btTransform worldTransform
74 = convertTransform(mShapeFrame->getWorldTransform());
75
76 if (mBulletCollisionShape->mRelativeTransform)
77 worldTransform *= (*mBulletCollisionShape->mRelativeTransform);
78
79 mBulletCollisionObject->setWorldTransform(worldTransform);
80 }
81
82 } // namespace collision
83 } // namespace dart
84