1 files changed, 104 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs
new file mode 100644
index 0000000..7a76d24
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs
@@ -0,0 +1,104 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  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.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        public class SphereSphereCollisionAlgorithm : CollisionAlgorithm
+        {
+                private bool _ownManifold;
+                private PersistentManifold _manifold;
+                public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
+                        : base(collisionAlgorithmConstructionInfo)
+                {
+                        _ownManifold = false;
+                        _manifold = manifold;
+                        if (_manifold == null)
+                        {
+                                _manifold = Dispatcher.GetNewManifold(bodyA, bodyB);
+                                _ownManifold = true;
+                        }
+                }
+                public SphereSphereCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
+                        : base(collisionAlgorithmConstructionInfo) { }
+                ~SphereSphereCollisionAlgorithm()
+                {
+                        if (_ownManifold)
+                        {
+                                if (_manifold != null)
+                                        Dispatcher.ReleaseManifold(_manifold);
+                        }
+                }
+                public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
+                {
+                        if (_manifold == null)
+                                return;
+                        SphereShape sphereA = bodyA.CollisionShape as SphereShape;
+                        SphereShape sphereB = bodyB.CollisionShape as SphereShape;
+                        Vector3 diff = bodyA.WorldTransform.Translation - bodyB.WorldTransform.Translation;
+                        float len = diff.Length();
+                        float radiusA = sphereA.Radius;
+                        float radiusB = sphereB.Radius;
+                        //if distance positive, don't generate a new contact
+                        if (len > (radiusA + radiusB))
+                                return;
+                        //distance (negative means penetration)
+                        float dist = len - (radiusA + radiusB);
+                        Vector3 normalOnSurfaceB = diff / len;
+                        //point on A (worldspace)
+                        Vector3 posA = bodyA.WorldTransform.Translation - radiusA * normalOnSurfaceB;
+                        //point on B (worldspace)
+                        Vector3 posB = bodyB.WorldTransform.Translation + radiusB * normalOnSurfaceB;
+                        // report a contact. internally this will be kept persistent, and contact reduction is done
+                        resultOut.SetPersistentManifold(_manifold);
+                        resultOut.AddContactPoint(normalOnSurfaceB, posB, dist);
+                }
+                public override float CalculateTimeOfImpact(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
+                {
+                        //not yet
+                        return 1f;
+                }
+                public class CreateFunc : CollisionAlgorithmCreateFunction
+                {
+                        public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
+                        {
+                                return new SphereSphereCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB);
+                        }
+                }
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs new file mode 100644 index 0000000..7a76d24 --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs
@@ -0,0 +1,104 @@
	1	/*
	2	Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
	3	Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
	4
	5	This software is provided 'as-is', without any express or implied
	6	warranty. In no event will the authors be held liable for any damages
	7	arising from the use of this software.
	8
	9	Permission is granted to anyone to use this software for any purpose,
	10	including commercial applications, and to alter it and redistribute it
	11	freely, subject to the following restrictions:
	12
	13	1. The origin of this software must not be misrepresented; you must not
	14	claim that you wrote the original software. If you use this software
	15	in a product, an acknowledgment in the product documentation would be
	16	appreciated but is not required.
	17	2. Altered source versions must be plainly marked as such, and must not be
	18	misrepresented as being the original software.
	19	3. This notice may not be removed or altered from any source distribution.
	20	*/
	21
	22	using System;
	23	using System.Collections.Generic;
	24	using System.Text;
	25	using MonoXnaCompactMaths;
	26
	27	namespace XnaDevRu.BulletX
	28	{
	29	public class SphereSphereCollisionAlgorithm : CollisionAlgorithm
	30	{
	31	private bool _ownManifold;
	32	private PersistentManifold _manifold;
	33
	34	public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
	35	: base(collisionAlgorithmConstructionInfo)
	36	{
	37	_ownManifold = false;
	38	_manifold = manifold;
	39
	40	if (_manifold == null)
	41	{
	42	_manifold = Dispatcher.GetNewManifold(bodyA, bodyB);
	43	_ownManifold = true;
	44	}
	45	}
	46
	47	public SphereSphereCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo)
	48	: base(collisionAlgorithmConstructionInfo) { }
	49
	50	~SphereSphereCollisionAlgorithm()
	51	{
	52	if (_ownManifold)
	53	{
	54	if (_manifold != null)
	55	Dispatcher.ReleaseManifold(_manifold);
	56	}
	57	}
	58
	59	public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
	60	{
	61	if (_manifold == null)
	62	return;
	63
	64	SphereShape sphereA = bodyA.CollisionShape as SphereShape;
	65	SphereShape sphereB = bodyB.CollisionShape as SphereShape;
	66
	67	Vector3 diff = bodyA.WorldTransform.Translation - bodyB.WorldTransform.Translation;
	68	float len = diff.Length();
	69	float radiusA = sphereA.Radius;
	70	float radiusB = sphereB.Radius;
	71
	72	//if distance positive, don't generate a new contact
	73	if (len > (radiusA + radiusB))
	74	return;
	75
	76	//distance (negative means penetration)
	77	float dist = len - (radiusA + radiusB);
	78
	79	Vector3 normalOnSurfaceB = diff / len;
	80	//point on A (worldspace)
	81	Vector3 posA = bodyA.WorldTransform.Translation - radiusA * normalOnSurfaceB;
	82	//point on B (worldspace)
	83	Vector3 posB = bodyB.WorldTransform.Translation + radiusB * normalOnSurfaceB;
	84
	85	// report a contact. internally this will be kept persistent, and contact reduction is done
	86	resultOut.SetPersistentManifold(_manifold);
	87	resultOut.AddContactPoint(normalOnSurfaceB, posB, dist);
	88	}
	89
	90	public override float CalculateTimeOfImpact(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut)
	91	{
	92	//not yet
	93	return 1f;
	94	}
	95
	96	public class CreateFunc : CollisionAlgorithmCreateFunction
	97	{
	98	public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB)
	99	{
	100	return new SphereSphereCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB);
	101	}
	102	}
	103	}
	104	}