diff options
Diffstat (limited to 'libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs')
-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs | 208 |
1 files changed, 104 insertions, 104 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs index 7a76d24..3a780c1 100644 --- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionDispatch/SphereSphereCollisionAlgorithm.cs | |||
@@ -1,104 +1,104 @@ | |||
1 | /* | 1 | /* |
2 | Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru | 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 | 3 | Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com |
4 | 4 | ||
5 | This software is provided 'as-is', without any express or implied | 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 | 6 | warranty. In no event will the authors be held liable for any damages |
7 | arising from the use of this software. | 7 | arising from the use of this software. |
8 | 8 | ||
9 | Permission is granted to anyone to use this software for any purpose, | 9 | Permission is granted to anyone to use this software for any purpose, |
10 | including commercial applications, and to alter it and redistribute it | 10 | including commercial applications, and to alter it and redistribute it |
11 | freely, subject to the following restrictions: | 11 | freely, subject to the following restrictions: |
12 | 12 | ||
13 | 1. The origin of this software must not be misrepresented; you must not | 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 | 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 | 15 | in a product, an acknowledgment in the product documentation would be |
16 | appreciated but is not required. | 16 | appreciated but is not required. |
17 | 2. Altered source versions must be plainly marked as such, and must not be | 17 | 2. Altered source versions must be plainly marked as such, and must not be |
18 | misrepresented as being the original software. | 18 | misrepresented as being the original software. |
19 | 3. This notice may not be removed or altered from any source distribution. | 19 | 3. This notice may not be removed or altered from any source distribution. |
20 | */ | 20 | */ |
21 | 21 | ||
22 | using System; | 22 | using System; |
23 | using System.Collections.Generic; | 23 | using System.Collections.Generic; |
24 | using System.Text; | 24 | using System.Text; |
25 | using MonoXnaCompactMaths; | 25 | using MonoXnaCompactMaths; |
26 | 26 | ||
27 | namespace XnaDevRu.BulletX | 27 | namespace XnaDevRu.BulletX |
28 | { | 28 | { |
29 | public class SphereSphereCollisionAlgorithm : CollisionAlgorithm | 29 | public class SphereSphereCollisionAlgorithm : CollisionAlgorithm |
30 | { | 30 | { |
31 | private bool _ownManifold; | 31 | private bool _ownManifold; |
32 | private PersistentManifold _manifold; | 32 | private PersistentManifold _manifold; |
33 | 33 | ||
34 | public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB) | 34 | public SphereSphereCollisionAlgorithm(PersistentManifold manifold, CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB) |
35 | : base(collisionAlgorithmConstructionInfo) | 35 | : base(collisionAlgorithmConstructionInfo) |
36 | { | 36 | { |
37 | _ownManifold = false; | 37 | _ownManifold = false; |
38 | _manifold = manifold; | 38 | _manifold = manifold; |
39 | 39 | ||
40 | if (_manifold == null) | 40 | if (_manifold == null) |
41 | { | 41 | { |
42 | _manifold = Dispatcher.GetNewManifold(bodyA, bodyB); | 42 | _manifold = Dispatcher.GetNewManifold(bodyA, bodyB); |
43 | _ownManifold = true; | 43 | _ownManifold = true; |
44 | } | 44 | } |
45 | } | 45 | } |
46 | 46 | ||
47 | public SphereSphereCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo) | 47 | public SphereSphereCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo) |
48 | : base(collisionAlgorithmConstructionInfo) { } | 48 | : base(collisionAlgorithmConstructionInfo) { } |
49 | 49 | ||
50 | ~SphereSphereCollisionAlgorithm() | 50 | ~SphereSphereCollisionAlgorithm() |
51 | { | 51 | { |
52 | if (_ownManifold) | 52 | if (_ownManifold) |
53 | { | 53 | { |
54 | if (_manifold != null) | 54 | if (_manifold != null) |
55 | Dispatcher.ReleaseManifold(_manifold); | 55 | Dispatcher.ReleaseManifold(_manifold); |
56 | } | 56 | } |
57 | } | 57 | } |
58 | 58 | ||
59 | public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) | 59 | public override void ProcessCollision(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) |
60 | { | 60 | { |
61 | if (_manifold == null) | 61 | if (_manifold == null) |
62 | return; | 62 | return; |
63 | 63 | ||
64 | SphereShape sphereA = bodyA.CollisionShape as SphereShape; | 64 | SphereShape sphereA = bodyA.CollisionShape as SphereShape; |
65 | SphereShape sphereB = bodyB.CollisionShape as SphereShape; | 65 | SphereShape sphereB = bodyB.CollisionShape as SphereShape; |
66 | 66 | ||
67 | Vector3 diff = bodyA.WorldTransform.Translation - bodyB.WorldTransform.Translation; | 67 | Vector3 diff = bodyA.WorldTransform.Translation - bodyB.WorldTransform.Translation; |
68 | float len = diff.Length(); | 68 | float len = diff.Length(); |
69 | float radiusA = sphereA.Radius; | 69 | float radiusA = sphereA.Radius; |
70 | float radiusB = sphereB.Radius; | 70 | float radiusB = sphereB.Radius; |
71 | 71 | ||
72 | //if distance positive, don't generate a new contact | 72 | //if distance positive, don't generate a new contact |
73 | if (len > (radiusA + radiusB)) | 73 | if (len > (radiusA + radiusB)) |
74 | return; | 74 | return; |
75 | 75 | ||
76 | //distance (negative means penetration) | 76 | //distance (negative means penetration) |
77 | float dist = len - (radiusA + radiusB); | 77 | float dist = len - (radiusA + radiusB); |
78 | 78 | ||
79 | Vector3 normalOnSurfaceB = diff / len; | 79 | Vector3 normalOnSurfaceB = diff / len; |
80 | //point on A (worldspace) | 80 | //point on A (worldspace) |
81 | Vector3 posA = bodyA.WorldTransform.Translation - radiusA * normalOnSurfaceB; | 81 | Vector3 posA = bodyA.WorldTransform.Translation - radiusA * normalOnSurfaceB; |
82 | //point on B (worldspace) | 82 | //point on B (worldspace) |
83 | Vector3 posB = bodyB.WorldTransform.Translation + radiusB * normalOnSurfaceB; | 83 | Vector3 posB = bodyB.WorldTransform.Translation + radiusB * normalOnSurfaceB; |
84 | 84 | ||
85 | // report a contact. internally this will be kept persistent, and contact reduction is done | 85 | // report a contact. internally this will be kept persistent, and contact reduction is done |
86 | resultOut.SetPersistentManifold(_manifold); | 86 | resultOut.SetPersistentManifold(_manifold); |
87 | resultOut.AddContactPoint(normalOnSurfaceB, posB, dist); | 87 | resultOut.AddContactPoint(normalOnSurfaceB, posB, dist); |
88 | } | 88 | } |
89 | 89 | ||
90 | public override float CalculateTimeOfImpact(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) | 90 | public override float CalculateTimeOfImpact(CollisionObject bodyA, CollisionObject bodyB, DispatcherInfo dispatchInfo, ManifoldResult resultOut) |
91 | { | 91 | { |
92 | //not yet | 92 | //not yet |
93 | return 1f; | 93 | return 1f; |
94 | } | 94 | } |
95 | 95 | ||
96 | public class CreateFunc : CollisionAlgorithmCreateFunction | 96 | public class CreateFunc : CollisionAlgorithmCreateFunction |
97 | { | 97 | { |
98 | public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB) | 98 | public override CollisionAlgorithm CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo collisionAlgorithmConstructionInfo, CollisionObject bodyA, CollisionObject bodyB) |
99 | { | 99 | { |
100 | return new SphereSphereCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB); | 100 | return new SphereSphereCollisionAlgorithm(null, collisionAlgorithmConstructionInfo, bodyA, bodyB); |
101 | } | 101 | } |
102 | } | 102 | } |
103 | } | 103 | } |
104 | } | 104 | } |