1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#ifndef BT_MANIFOLD_RESULT_H
18#define BT_MANIFOLD_RESULT_H
19
20class btCollisionObject;
21struct btCollisionObjectWrapper;
22
23#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
24class btManifoldPoint;
25
26#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
27
28#include "LinearMath/btTransform.h"
29#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
30#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
31
32typedef bool (*ContactAddedCallback)(btManifoldPoint& cp,	const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
33extern ContactAddedCallback		gContactAddedCallback;
34
35//#define DEBUG_PART_INDEX 1
36
37
38///btManifoldResult is a helper class to manage  contact results.
39class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
40{
41protected:
42
43	btPersistentManifold* m_manifoldPtr;
44
45	const btCollisionObjectWrapper* m_body0Wrap;
46	const btCollisionObjectWrapper* m_body1Wrap;
47	int	m_partId0;
48	int m_partId1;
49	int m_index0;
50	int m_index1;
51
52
53public:
54
55	btManifoldResult()
56#ifdef DEBUG_PART_INDEX
57		:
58	m_partId0(-1),
59	m_partId1(-1),
60	m_index0(-1),
61	m_index1(-1)
62#endif //DEBUG_PART_INDEX
63	{
64	}
65
66	btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
67
68	virtual ~btManifoldResult() {};
69
70	void	setPersistentManifold(btPersistentManifold* manifoldPtr)
71	{
72		m_manifoldPtr = manifoldPtr;
73	}
74
75	const btPersistentManifold*	getPersistentManifold() const
76	{
77		return m_manifoldPtr;
78	}
79	btPersistentManifold*	getPersistentManifold()
80	{
81		return m_manifoldPtr;
82	}
83
84	virtual void setShapeIdentifiersA(int partId0,int index0)
85	{
86		m_partId0=partId0;
87		m_index0=index0;
88	}
89
90	virtual void setShapeIdentifiersB(	int partId1,int index1)
91	{
92		m_partId1=partId1;
93		m_index1=index1;
94	}
95
96
97	virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
98
99	SIMD_FORCE_INLINE	void refreshContactPoints()
100	{
101		btAssert(m_manifoldPtr);
102		if (!m_manifoldPtr->getNumContacts())
103			return;
104
105		bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
106
107		if (isSwapped)
108		{
109			m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
110		} else
111		{
112			m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
113		}
114	}
115
116	const btCollisionObjectWrapper* getBody0Wrap() const
117	{
118		return m_body0Wrap;
119	}
120	const btCollisionObjectWrapper* getBody1Wrap() const
121	{
122		return m_body1Wrap;
123	}
124
125	void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
126	{
127		m_body0Wrap = obj0Wrap;
128	}
129
130	void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
131	{
132		m_body1Wrap = obj1Wrap;
133	}
134
135	const btCollisionObject* getBody0Internal() const
136	{
137		return m_body0Wrap->getCollisionObject();
138	}
139
140	const btCollisionObject* getBody1Internal() const
141	{
142		return m_body1Wrap->getCollisionObject();
143	}
144
145	/// in the future we can let the user override the methods to combine restitution and friction
146	static btScalar	calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1);
147	static btScalar	calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
148};
149
150#endif //BT_MANIFOLD_RESULT_H
151