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https://github.com/bulletphysics/bullet3
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102 lines
3.6 KiB
C++
102 lines
3.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ManifoldResult.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "CollisionDispatch/CollisionObject.h"
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///This is to allow MaterialCombiner/Custom Friction/Restitution values
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ContactAddedCallback gContactAddedCallback=0;
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///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= CollisionObject::customMaterialCallback;
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inline SimdScalar calculateCombinedFriction(const CollisionObject* body0,const CollisionObject* body1)
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{
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SimdScalar friction = body0->getFriction() * body1->getFriction();
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const SimdScalar MAX_FRICTION = 10.f;
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if (friction < -MAX_FRICTION)
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friction = -MAX_FRICTION;
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if (friction > MAX_FRICTION)
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friction = MAX_FRICTION;
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return friction;
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}
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inline SimdScalar calculateCombinedRestitution(const CollisionObject* body0,const CollisionObject* body1)
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{
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return body0->getRestitution() * body1->getRestitution();
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}
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ManifoldResult::ManifoldResult(CollisionObject* body0,CollisionObject* body1,PersistentManifold* manifoldPtr)
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:m_manifoldPtr(manifoldPtr),
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m_body0(body0),
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m_body1(body1)
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{
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}
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void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
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{
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if (depth > m_manifoldPtr->GetContactBreakingTreshold())
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return;
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SimdTransform transAInv = m_body0->m_cachedInvertedWorldTransform;
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SimdTransform transBInv= m_body1->m_cachedInvertedWorldTransform;
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//transAInv = m_body0->m_worldTransform.inverse();
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//transBInv= m_body1->m_worldTransform.inverse();
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SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
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SimdVector3 localA = transAInv(pointA );
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SimdVector3 localB = transBInv(pointInWorld);
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ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
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int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
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if (insertIndex >= 0)
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{
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// This is not needed, just use the old info!
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// const ManifoldPoint& oldPoint = m_manifoldPtr->GetContactPoint(insertIndex);
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// newPt.CopyPersistentInformation(oldPoint);
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// m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
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} else
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{
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newPt.m_combinedFriction = calculateCombinedFriction(m_body0,m_body1);
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newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0,m_body1);
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//User can override friction and/or restitution
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if (gContactAddedCallback &&
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//and if either of the two bodies requires custom material
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((m_body0->m_collisionFlags & CollisionObject::customMaterialCallback) ||
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(m_body1->m_collisionFlags & CollisionObject::customMaterialCallback)))
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{
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//experimental feature info, for per-triangle material etc.
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(*gContactAddedCallback)(newPt,m_body0,m_partId0,m_index0,m_body1,m_partId1,m_index1);
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}
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m_manifoldPtr->AddManifoldPoint(newPt);
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}
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}
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