blender/extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h
Erwin Coumans af9573e9ea Synchronized Bullet physics to latest version.
- Changed license from MIT to ZLib.
- Added 3D Sweep and Prune contribution
- More stable native constraint solver

Sorry for any inconvenience caused by this checkin.
All Blender buildsystems require update: added files and moved files.
2006-03-27 06:37:30 +00:00

123 lines
3.3 KiB
C++

/*
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.
*/
#ifndef PERSISTENT_MANIFOLD_H
#define PERSISTENT_MANIFOLD_H
#include "SimdVector3.h"
#include "SimdTransform.h"
#include "ManifoldPoint.h"
struct CollisionResult;
///contact breaking and merging treshold
extern float gContactBreakingTreshold;
#define MANIFOLD_CACHE_SIZE 4
///PersistentManifold maintains contact points, and reduces them to 4
class PersistentManifold
{
ManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
/// this two body pointers can point to the physics rigidbody class.
/// void* will allow any rigidbody class
void* m_body0;
void* m_body1;
int m_cachedPoints;
/// sort cached points so most isolated points come first
int SortCachedPoints(const ManifoldPoint& pt);
int FindContactPoint(const ManifoldPoint* unUsed, int numUnused,const ManifoldPoint& pt);
public:
int m_index1;
PersistentManifold();
PersistentManifold(void* body0,void* body1)
: m_body0(body0),m_body1(body1),m_cachedPoints(0)
{
}
inline void* GetBody0() { return m_body0;}
inline void* GetBody1() { return m_body1;}
inline const void* GetBody0() const { return m_body0;}
inline const void* GetBody1() const { return m_body1;}
void SetBodies(void* body0,void* body1)
{
m_body0 = body0;
m_body1 = body1;
}
inline int GetNumContacts() const { return m_cachedPoints;}
inline const ManifoldPoint& GetContactPoint(int index) const
{
ASSERT(index < m_cachedPoints);
return m_pointCache[index];
}
inline ManifoldPoint& GetContactPoint(int index)
{
ASSERT(index < m_cachedPoints);
return m_pointCache[index];
}
/// todo: get this margin from the current physics / collision environment
float GetManifoldMargin() const;
int GetCacheEntry(const ManifoldPoint& newPoint) const;
void AddManifoldPoint( const ManifoldPoint& newPoint);
void RemoveContactPoint (int index)
{
m_pointCache[index] = m_pointCache[GetNumContacts() - 1];
m_cachedPoints--;
}
void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)
{
assert(ValidContactDistance(newPoint));
m_pointCache[insertIndex] = newPoint;
}
bool ValidContactDistance(const ManifoldPoint& pt) const
{
return pt.m_distance1 <= GetManifoldMargin();
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void RefreshContactPoints( const SimdTransform& trA,const SimdTransform& trB);
void ClearManifold();
float GetCollisionImpulse() const;
};
#endif //PERSISTENT_MANIFOLD_H