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_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H 17 #define BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H 18 19 #include "btActivatingCollisionAlgorithm.h" 20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" 21 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" 22 class btPersistentManifold; 23 #include "btCollisionDispatcher.h" 24 25 /// btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. 26 /// Other features are frame-coherency (persistent data) and collision response. 27 /// Also provides the most basic sample for custom/user btCollisionAlgorithm 28 class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm 29 { 30 bool m_ownManifold; 31 btPersistentManifold* m_manifoldPtr; 32 bool m_swapped; 33 34 public: 35 btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped); 36 btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo & ci)37 btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci) 38 : btActivatingCollisionAlgorithm(ci) {} 39 40 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); 41 42 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); 43 getAllContactManifolds(btManifoldArray & manifoldArray)44 virtual void getAllContactManifolds(btManifoldArray& manifoldArray) 45 { 46 if (m_manifoldPtr && m_ownManifold) 47 { 48 manifoldArray.push_back(m_manifoldPtr); 49 } 50 } 51 52 virtual ~btSphereTriangleCollisionAlgorithm(); 53 54 struct CreateFunc : public btCollisionAlgorithmCreateFunc 55 { CreateCollisionAlgorithmCreateFunc56 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) 57 { 58 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm)); 59 60 return new (mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_swapped); 61 } 62 }; 63 }; 64 65 #endif //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H 66