| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #include "BulletSoftBody/btSoftRigidCollisionAlgorithm.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" |
| #include "BulletCollision/CollisionShapes/btSphereShape.h" |
| #include "BulletCollision/CollisionShapes/btBoxShape.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionObject.h" |
| #include "BulletSoftBody/btSoftBody.h" |
| ///TODO: include all the shapes that the softbody can collide with |
| ///alternatively, implement special case collision algorithms (just like for rigid collision shapes) |
| |
| //#include <stdio.h> |
| |
| btSoftRigidCollisionAlgorithm::btSoftRigidCollisionAlgorithm(btPersistentManifold* /*mf*/,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* /*col0*/,btCollisionObject* /*col1*/, bool isSwapped) |
| : btCollisionAlgorithm(ci), |
| //m_ownManifold(false), |
| //m_manifoldPtr(mf), |
| m_isSwapped(isSwapped) |
| { |
| } |
| |
| |
| btSoftRigidCollisionAlgorithm::~btSoftRigidCollisionAlgorithm() |
| { |
| |
| //m_softBody->m_overlappingRigidBodies.remove(m_rigidCollisionObject); |
| |
| /*if (m_ownManifold) |
| { |
| if (m_manifoldPtr) |
| m_dispatcher->releaseManifold(m_manifoldPtr); |
| } |
| */ |
| |
| } |
| |
| |
| #include <stdio.h> |
| |
| void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| (void)dispatchInfo; |
| (void)resultOut; |
| //printf("btSoftRigidCollisionAlgorithm\n"); |
| |
| btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0; |
| btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1; |
| |
| if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size()) |
| { |
| softBody->defaultCollisionHandler(rigidCollisionObject); |
| } |
| |
| |
| } |
| |
| btScalar btSoftRigidCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) |
| { |
| (void)resultOut; |
| (void)dispatchInfo; |
| (void)col0; |
| (void)col1; |
| |
| //not yet |
| return btScalar(1.); |
| } |
| |
| |
| |