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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 "SimdVector3.h"
#include "SimdTransform.h"
#include "ManifoldPoint.h"

struct CollisionResult;

///contact breaking and merging treshold
extern float gContactBreakingTreshold;

typedef bool (*ContactDestroyedCallback)(void* userPersistentData);

extern ContactDestroyedCallback     gContactCallback;


///PersistentManifold maintains contact points, and reduces them to 4
00038 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
00045       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);


      int m_index1;


      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;

      void ClearUserCache(ManifoldPoint& pt);

      void  DebugPersistency();
#endif //
      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 GetContactBreakingTreshold() const;
      int GetCacheEntry(const ManifoldPoint& newPoint) const;

      void AddManifoldPoint( const ManifoldPoint& newPoint);

      void RemoveContactPoint (int index)

            int lastUsedIndex = GetNumContacts() - 1;
            m_pointCache[index] = m_pointCache[lastUsedIndex];
            //get rid of duplicated userPersistentData pointer
            m_pointCache[lastUsedIndex].m_userPersistentData = 0;
      void ReplaceContactPoint(const ManifoldPoint& newPoint,int insertIndex)

            m_pointCache[insertIndex] = newPoint;

      bool ValidContactDistance(const ManifoldPoint& pt) const
            return pt.m_distance1 <= GetContactBreakingTreshold();
      /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
      void  RefreshContactPoints(  const SimdTransform& trA,const SimdTransform& trB);

      void  ClearManifold();



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