diff options
Diffstat (limited to 'Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp')
| -rw-r--r-- | Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp | 36 |
1 files changed, 18 insertions, 18 deletions
diff --git a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp index 184d3d68d..09a4f15b8 100644 --- a/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp +++ b/Extras/AlternativeCollisionAlgorithms/SphereSphereCollisionAlgorithm.cpp @@ -13,13 +13,13 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution.
*/
-#include "SphereSphereCollisionAlgorithm.h"
+#include "btSphereSphereCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-SphereSphereCollisionAlgorithm::SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
-: CollisionAlgorithm(ci),
+btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+: btCollisionAlgorithm(ci),
m_ownManifold(false),
m_manifoldPtr(mf)
{
@@ -30,7 +30,7 @@ m_manifoldPtr(mf) }
}
-SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm()
+btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm()
{
if (m_ownManifold)
{
@@ -39,42 +39,42 @@ SphereSphereCollisionAlgorithm::~SphereSphereCollisionAlgorithm() }
}
-void SphereSphereCollisionAlgorithm::ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
+void btSphereSphereCollisionAlgorithm::ProcessCollision (btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
{
if (!m_manifoldPtr)
return;
- CollisionObject* col0 = static_cast<CollisionObject*>(proxy0->m_clientObject);
- CollisionObject* col1 = static_cast<CollisionObject*>(proxy1->m_clientObject);
- SphereShape* sphere0 = (SphereShape*)col0->m_collisionShape;
- SphereShape* sphere1 = (SphereShape*)col1->m_collisionShape;
+ btCollisionObject* col0 = static_cast<btCollisionObject*>(proxy0->m_clientObject);
+ btCollisionObject* col1 = static_cast<btCollisionObject*>(proxy1->m_clientObject);
+ btSphereShape* sphere0 = (btSphereShape*)col0->m_collisionShape;
+ btSphereShape* sphere1 = (btSphereShape*)col1->m_collisionShape;
- SimdVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
+ btVector3 diff = col0->m_worldTransform.getOrigin()- col1->m_worldTransform.getOrigin();
float len = diff.length();
- SimdScalar radius0 = sphere0->GetRadius();
- SimdScalar radius1 = sphere1->GetRadius();
+ btScalar radius0 = sphere0->GetRadius();
+ btScalar radius1 = sphere1->GetRadius();
///iff distance positive, don't generate a new contact
if ( len > (radius0+radius1))
return;
///distance (negative means penetration)
- SimdScalar dist = len - (radius0+radius1);
+ btScalar dist = len - (radius0+radius1);
- SimdVector3 normalOnSurfaceB = diff / len;
+ btVector3 normalOnSurfaceB = diff / len;
///point on A (worldspace)
- SimdVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
+ btVector3 pos0 = col0->m_worldTransform.getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
- SimdVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
+ btVector3 pos1 = col1->m_worldTransform.getOrigin() + radius1* normalOnSurfaceB;
/// report a contact. internally this will be kept persistent, and contact reduction is done
- ManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
+ btManifoldResult* resultOut = m_dispatcher->GetNewManifoldResult(col0,col1,m_manifoldPtr);
resultOut->AddContactPoint(normalOnSurfaceB,pos1,dist);
m_dispatcher->ReleaseManifoldResult(resultOut);
}
-float SphereSphereCollisionAlgorithm::CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo)
+float btSphereSphereCollisionAlgorithm::CalculateTimeOfImpact(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,const btDispatcherInfo& dispatchInfo)
{
//not yet
return 1.f;
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