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 17 #ifndef BT_MANIFOLD_RESULT_H 18 #define BT_MANIFOLD_RESULT_H 19 20 class btCollisionObject; 21 struct btCollisionObjectWrapper; 22 23 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" 24 class btManifoldPoint; 25 26 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" 27 28 #include "LinearMath/btTransform.h" 29 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" 30 #include "BulletCollision/CollisionDispatch/btCollisionObject.h" 31 32 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1); 33 extern ContactAddedCallback gContactAddedCallback; 34 35 //#define DEBUG_PART_INDEX 1 36 37 38 ///btManifoldResult is a helper class to manage contact results. 39 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result 40 { 41 protected: 42 43 btPersistentManifold* m_manifoldPtr; 44 45 const btCollisionObjectWrapper* m_body0Wrap; 46 const btCollisionObjectWrapper* m_body1Wrap; 47 int m_partId0; 48 int m_partId1; 49 int m_index0; 50 int m_index1; 51 52 53 public: 54 btManifoldResult()55 btManifoldResult() 56 #ifdef DEBUG_PART_INDEX 57 : 58 m_partId0(-1), 59 m_partId1(-1), 60 m_index0(-1), 61 m_index1(-1) 62 #endif //DEBUG_PART_INDEX 63 { 64 } 65 66 btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap); 67 ~btManifoldResult()68 virtual ~btManifoldResult() {}; 69 setPersistentManifold(btPersistentManifold * manifoldPtr)70 void setPersistentManifold(btPersistentManifold* manifoldPtr) 71 { 72 m_manifoldPtr = manifoldPtr; 73 } 74 getPersistentManifold()75 const btPersistentManifold* getPersistentManifold() const 76 { 77 return m_manifoldPtr; 78 } getPersistentManifold()79 btPersistentManifold* getPersistentManifold() 80 { 81 return m_manifoldPtr; 82 } 83 setShapeIdentifiersA(int partId0,int index0)84 virtual void setShapeIdentifiersA(int partId0,int index0) 85 { 86 m_partId0=partId0; 87 m_index0=index0; 88 } 89 setShapeIdentifiersB(int partId1,int index1)90 virtual void setShapeIdentifiersB( int partId1,int index1) 91 { 92 m_partId1=partId1; 93 m_index1=index1; 94 } 95 96 97 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth); 98 refreshContactPoints()99 SIMD_FORCE_INLINE void refreshContactPoints() 100 { 101 btAssert(m_manifoldPtr); 102 if (!m_manifoldPtr->getNumContacts()) 103 return; 104 105 bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject(); 106 107 if (isSwapped) 108 { 109 m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform()); 110 } else 111 { 112 m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform()); 113 } 114 } 115 getBody0Wrap()116 const btCollisionObjectWrapper* getBody0Wrap() const 117 { 118 return m_body0Wrap; 119 } getBody1Wrap()120 const btCollisionObjectWrapper* getBody1Wrap() const 121 { 122 return m_body1Wrap; 123 } 124 setBody0Wrap(const btCollisionObjectWrapper * obj0Wrap)125 void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap) 126 { 127 m_body0Wrap = obj0Wrap; 128 } 129 setBody1Wrap(const btCollisionObjectWrapper * obj1Wrap)130 void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap) 131 { 132 m_body1Wrap = obj1Wrap; 133 } 134 getBody0Internal()135 const btCollisionObject* getBody0Internal() const 136 { 137 return m_body0Wrap->getCollisionObject(); 138 } 139 getBody1Internal()140 const btCollisionObject* getBody1Internal() const 141 { 142 return m_body1Wrap->getCollisionObject(); 143 } 144 145 /// in the future we can let the user override the methods to combine restitution and friction 146 static btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1); 147 static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1); 148 }; 149 150 #endif //BT_MANIFOLD_RESULT_H 151