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First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

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Made all buildsystems to work again (jam, msvc, cmake)
This commit is contained in:
ejcoumans
2006-09-25 08:58:57 +00:00
parent 86f5b09623
commit 0e04cfc806
398 changed files with 4135 additions and 7019 deletions
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81
src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp Normal file
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/*
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 "btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
SphereSphereCollisionAlgorithm::SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
: CollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
if (!m_manifoldPtr && m_dispatcher->NeedsCollision(*proxy0,*proxy1))
{
m_manifoldPtr = m_dispatcher->GetNewManifold(proxy0->m_clientObject,proxy1->m_clientObject);
m_ownManifold = true;
}
}
SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm()
{
if (m_ownManifold)
{
if (m_manifoldPtr)
m_dispatcher->ReleaseManifold(m_manifoldPtr);
}
}
void SphereSphereCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
{
if (!m_manifoldPtr)
return;
CollisionObject* col0 = static_cast<CollisionObject*>(proxy0->m_clientObject);
CollisionObject* col1 = static_cast<CollisionObject*>(proxy1->m_clientObject);
SphereShape* sphere0 = (SphereShape*)col0->m_collisionShape;
SphereShape* sphere1 = (SphereShape*)col1->m_collisionShape;
SimdVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
float len = diff.length();
SimdScalar radius0 = sphere0->GetRadius();
SimdScalar radius1 = sphere1->GetRadius();
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
return;
///distance (negative means penetration)
SimdScalar dist = len - (radius0+radius1);
SimdVector3 normalOnSurfaceB = diff / len;
///point on A (worldspace)
SimdVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
SimdVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
resultOut->AddContactPoint(normalOnSurfaceB,pos1,dist);
m_dispatcher->ReleaseManifoldResult(resultOut);
}
float SphereSphereCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
{
//not yet
return 1.f;
}