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/detail/BulletCollisionDispatcher.hpp"
34
35 #include "dart/collision/bullet/BulletCollisionObject.hpp"
36
37 namespace dart {
38 namespace collision {
39 namespace detail {
40
41 //==============================================================================
BulletCollisionDispatcher(btCollisionConfiguration * config)42 BulletCollisionDispatcher::BulletCollisionDispatcher(
43 btCollisionConfiguration* config)
44 : btCollisionDispatcher(config), mDone(false), mFilter(nullptr)
45 {
46 // Do nothing
47 }
48
49 //==============================================================================
setDone(bool done)50 void BulletCollisionDispatcher::setDone(bool done)
51 {
52 mDone = done;
53 }
54
55 //==============================================================================
setFilter(const std::shared_ptr<CollisionFilter> & filter)56 void BulletCollisionDispatcher::setFilter(
57 const std::shared_ptr<CollisionFilter>& filter)
58 {
59 mFilter = filter;
60 }
61
62 //==============================================================================
getFilter() const63 auto BulletCollisionDispatcher::getFilter() const
64 -> std::shared_ptr<CollisionFilter>
65 {
66 return mFilter;
67 }
68
69 //==============================================================================
needsCollision(const btCollisionObject * body0,const btCollisionObject * body1)70 bool BulletCollisionDispatcher::needsCollision(
71 const btCollisionObject* body0, const btCollisionObject* body1)
72 {
73 if (mDone)
74 return false;
75
76 const auto collObj0
77 = static_cast<BulletCollisionObject*>(body0->getUserPointer());
78 const auto collObj1
79 = static_cast<BulletCollisionObject*>(body1->getUserPointer());
80
81 if (mFilter && mFilter->ignoresCollision(collObj0, collObj1))
82 return false;
83
84 return btCollisionDispatcher::needsCollision(body0, body1);
85 }
86
87 } // namespace detail
88 } // namespace collision
89 } // namespace dart
90