1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 1. 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 #ifndef BT_MANIFOLD_RESULT_H 17 #define BT_MANIFOLD_RESULT_H 18 19 class btCollisionObject; 20 struct btCollisionObjectWrapper; 21 22 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 23 class btManifoldPoint; 24 25 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" 26 27 #include "LinearMath/btTransform.h" 28 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" 29 #include "BulletCollision/CollisionDispatch/btCollisionObject.h" 30 31 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1); 32 extern ContactAddedCallback gContactAddedCallback; 33 34 //#define DEBUG_PART_INDEX 1 35 36 /// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness 37 typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0, const btCollisionObject* body1); 38 39 extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback; 40 extern CalculateCombinedCallback gCalculateCombinedFrictionCallback; 41 extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback; 42 extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback; 43 extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback; 44 extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback; 45 46 ///btManifoldResult is a helper class to manage contact results. 47 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result 48 { 49 protected: 50 btPersistentManifold* m_manifoldPtr; 51 52 const btCollisionObjectWrapper* m_body0Wrap; 53 const btCollisionObjectWrapper* m_body1Wrap; 54 int m_partId0; 55 int m_partId1; 56 int m_index0; 57 int m_index1; 58 59 public: btManifoldResult()60 btManifoldResult() 61 : 62 #ifdef DEBUG_PART_INDEX 63 64 m_partId0(-1), 65 m_partId1(-1), 66 m_index0(-1), 67 m_index1(-1) 68 #endif //DEBUG_PART_INDEX 69 m_closestPointDistanceThreshold(0) 70 { 71 } 72 73 btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap); 74 ~btManifoldResult()75 virtual ~btManifoldResult(){}; 76 setPersistentManifold(btPersistentManifold * manifoldPtr)77 void setPersistentManifold(btPersistentManifold* manifoldPtr) 78 { 79 m_manifoldPtr = manifoldPtr; 80 } 81 getPersistentManifold()82 const btPersistentManifold* getPersistentManifold() const 83 { 84 return m_manifoldPtr; 85 } getPersistentManifold()86 btPersistentManifold* getPersistentManifold() 87 { 88 return m_manifoldPtr; 89 } 90 setShapeIdentifiersA(int partId0,int index0)91 virtual void setShapeIdentifiersA(int partId0, int index0) 92 { 93 m_partId0 = partId0; 94 m_index0 = index0; 95 } 96 setShapeIdentifiersB(int partId1,int index1)97 virtual void setShapeIdentifiersB(int partId1, int index1) 98 { 99 m_partId1 = partId1; 100 m_index1 = index1; 101 } 102 103 virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth); 104 refreshContactPoints()105 SIMD_FORCE_INLINE void refreshContactPoints() 106 { 107 btAssert(m_manifoldPtr); 108 if (!m_manifoldPtr->getNumContacts()) 109 return; 110 111 bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); 112 113 if (isSwapped) 114 { 115 m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(), m_body0Wrap->getCollisionObject()->getWorldTransform()); 116 } 117 else 118 { 119 m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(), m_body1Wrap->getCollisionObject()->getWorldTransform()); 120 } 121 } 122 getBody0Wrap()123 const btCollisionObjectWrapper* getBody0Wrap() const 124 { 125 return m_body0Wrap; 126 } getBody1Wrap()127 const btCollisionObjectWrapper* getBody1Wrap() const 128 { 129 return m_body1Wrap; 130 } 131 setBody0Wrap(const btCollisionObjectWrapper * obj0Wrap)132 void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap) 133 { 134 m_body0Wrap = obj0Wrap; 135 } 136 setBody1Wrap(const btCollisionObjectWrapper * obj1Wrap)137 void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap) 138 { 139 m_body1Wrap = obj1Wrap; 140 } 141 getBody0Internal()142 const btCollisionObject* getBody0Internal() const 143 { 144 return m_body0Wrap->getCollisionObject(); 145 } 146 getBody1Internal()147 const btCollisionObject* getBody1Internal() const 148 { 149 return m_body1Wrap->getCollisionObject(); 150 } 151 152 btScalar m_closestPointDistanceThreshold; 153 154 /// in the future we can let the user override the methods to combine restitution and friction 155 static btScalar calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1); 156 static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1); 157 static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1); 158 static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1); 159 static btScalar calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1); 160 static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1); 161 }; 162 163 #endif //BT_MANIFOLD_RESULT_H 164