1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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