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ManifoldContactAddResult.cpp

#include "ManifoldContactAddResult.h"
#include "NarrowPhaseCollision/PersistentManifold.h"

ManifoldContactAddResult::ManifoldContactAddResult(SimdTransform transA,SimdTransform transB,PersistentManifold* manifoldPtr)
            :m_manifoldPtr(manifoldPtr)
{
      m_transAInv = transA.inverse();
      m_transBInv = transB.inverse();

}


void ManifoldContactAddResult::AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
      if (depth > m_manifoldPtr->GetManifoldMargin())
            return;


      SimdVector3 pointA = pointInWorld + normalOnBInWorld * depth;
      SimdVector3 localA = m_transAInv(pointA );
      SimdVector3 localB = m_transBInv(pointInWorld);
      ManifoldPoint newPt(localA,localB,normalOnBInWorld,depth);

      int insertIndex = m_manifoldPtr->GetCacheEntry(newPt);
      if (insertIndex >= 0)
      {
            m_manifoldPtr->ReplaceContactPoint(newPt,insertIndex);
      } else
      {
            m_manifoldPtr->AddManifoldPoint(newPt);
      }
}


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