109 lines
4.8 KiB
C++
109 lines
4.8 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include <iostream>
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#include "NarrowPhaseInfo.h"
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#include "ContactPointInfo.h"
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#include "collision/shapes/TriangleShape.h"
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#include "engine/OverlappingPair.h"
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using namespace reactphysics3d;
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// Constructor
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NarrowPhaseInfo::NarrowPhaseInfo(OverlappingPair* pair, CollisionShape* shape1,
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CollisionShape* shape2, const Transform& shape1Transform,
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const Transform& shape2Transform, Allocator& shapeAllocator)
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: overlappingPair(pair), collisionShape1(shape1), collisionShape2(shape2),
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shape1ToWorldTransform(shape1Transform), shape2ToWorldTransform(shape2Transform),
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contactPoints(nullptr), next(nullptr), collisionShapeAllocator(shapeAllocator) {
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// Add a collision info for the two collision shapes into the overlapping pair (if not present yet)
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overlappingPair->addLastFrameInfoIfNecessary(shape1->getId(), shape2->getId());
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}
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// Destructor
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NarrowPhaseInfo::~NarrowPhaseInfo() {
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assert(contactPoints == nullptr);
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// Release the memory of the TriangleShape (this memory was allocated in the
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// MiddlePhaseTriangleCallback::testTriangle() method)
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if (collisionShape1->getName() == CollisionShapeName::TRIANGLE) {
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collisionShapeAllocator.release(collisionShape1, sizeof(TriangleShape));
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}
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if (collisionShape2->getName() == CollisionShapeName::TRIANGLE) {
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collisionShapeAllocator.release(collisionShape2, sizeof(TriangleShape));
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}
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}
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// Add a new contact point
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void NarrowPhaseInfo::addContactPoint(const Vector3& contactNormal, decimal penDepth,
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const Vector3& localPt1, const Vector3& localPt2) {
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assert(penDepth > decimal(0.0));
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// Get the memory allocator
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Allocator& allocator = overlappingPair->getTemporaryAllocator();
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// Create the contact point info
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ContactPointInfo* contactPointInfo = new (allocator.allocate(sizeof(ContactPointInfo)))
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ContactPointInfo(contactNormal, penDepth, localPt1, localPt2);
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// Add it into the linked list of contact points
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contactPointInfo->next = contactPoints;
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contactPoints = contactPointInfo;
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}
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/// Take all the generated contact points and create a new potential
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/// contact manifold into the overlapping pair
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void NarrowPhaseInfo::addContactPointsAsPotentialContactManifold() {
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overlappingPair->addPotentialContactPoints(this);
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}
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// Reset the remaining contact points
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void NarrowPhaseInfo::resetContactPoints() {
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// Get the memory allocator
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Allocator& allocator = overlappingPair->getTemporaryAllocator();
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// For each remaining contact point info
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ContactPointInfo* element = contactPoints;
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while(element != nullptr) {
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ContactPointInfo* elementToDelete = element;
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element = element->next;
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// Call the destructor
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elementToDelete->~ContactPointInfo();
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// Delete the current element
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allocator.release(elementToDelete, sizeof(ContactPointInfo));
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}
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contactPoints = nullptr;
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}
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