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Viewing changes to tests/bullet/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletSoftBody/btSoftRigidCollisionAlgorithm.h
 
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/*
 
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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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#ifndef BT_SOFT_RIGID_COLLISION_ALGORITHM_H
 
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#define BT_SOFT_RIGID_COLLISION_ALGORITHM_H
 
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#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
 
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
 
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#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
 
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class btPersistentManifold;
 
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#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
 
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#include "LinearMath/btVector3.h"
 
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class btSoftBody;
 
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/// btSoftRigidCollisionAlgorithm  provides collision detection between btSoftBody and btRigidBody
 
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class btSoftRigidCollisionAlgorithm : public btCollisionAlgorithm
 
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{
 
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        //      bool    m_ownManifold;
 
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        //      btPersistentManifold*   m_manifoldPtr;
 
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        btSoftBody*                             m_softBody;
 
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        btCollisionObject*              m_rigidCollisionObject;
 
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        ///for rigid versus soft (instead of soft versus rigid), we use this swapped boolean
 
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        bool    m_isSwapped;
 
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public:
 
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        btSoftRigidCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);
 
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        virtual ~btSoftRigidCollisionAlgorithm();
 
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        virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
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        virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
 
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        virtual void    getAllContactManifolds(btManifoldArray& manifoldArray)
 
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        {
 
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                //we don't add any manifolds
 
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        }
 
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        struct CreateFunc :public       btCollisionAlgorithmCreateFunc
 
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        {
 
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                virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
 
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                {
 
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                        void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSoftRigidCollisionAlgorithm));
 
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                        if (!m_swapped)
 
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                        {
 
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                                return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,false);
 
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                        } else
 
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                        {
 
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                                return new(mem) btSoftRigidCollisionAlgorithm(0,ci,body0,body1,true);
 
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                        }
 
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                }
 
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        };
 
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};
 
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#endif //BT_SOFT_RIGID_COLLISION_ALGORITHM_H
 
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