forked from bartvdbraak/blender
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "ManifoldResult.h"
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#include "NarrowPhaseCollision/PersistentManifold.h"
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#include "Dynamics/RigidBody.h"
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ManifoldResult::ManifoldResult(RigidBody* body0,RigidBody* body1,PersistentManifold* manifoldPtr)
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:m_manifoldPtr(manifoldPtr),
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m_body0(body0),
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m_body1(body1)
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{
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}
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void ManifoldResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
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{
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if (depth > m_manifoldPtr->GetManifoldMargin())
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return;
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SimdTransform transAInv = m_body0->getCenterOfMassTransform().inverse();
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SimdTransform transBInv= m_body1->getCenterOfMassTransform().inverse();
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SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
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SimdVector3 localA = transAInv(pointA );
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SimdVector3 localB = transBInv(pointInWorld);
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ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);
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int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
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if (insertIndex >= 0)
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{
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m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
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} else
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{
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m_manifoldPtr->AddManifoldPoint(newPt);
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}
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}
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