BlAnimatCollisionDispatcher.cpp

// BlAnimatCollisionDispatcher.cpp: implementation of the BlAnimatCollisionDispatcher class.
//

#include "StdAfx.h"
#include "BlJoint.h"
#include "BlRigidBody.h"
#include "BlSimulator.h"

namespace BulletAnimatSim
{

// Construction/Destruction

BlAnimatCollisionDispatcher::BlAnimatCollisionDispatcher(btCollisionConfiguration* collisionConfiguration, BlSimulator *lpSim) : 
        btCollisionDispatcher(collisionConfiguration),
        m_lpSim(lpSim)
{
    //setNearCallback(AnimatNearCallback);
}

BlAnimatCollisionDispatcher::~BlAnimatCollisionDispatcher()
{

try
{
    m_lpSim = NULL;
}
catch(...)
{Std_TraceMsg(0, "Caught Error in desctructor of BlAnimatCollisionDispatcher\r\n", "", -1, false, true);}
}

bool    BlAnimatCollisionDispatcher::needsCollision(const btCollisionObject* body0, const btCollisionObject* body1)
{
        btAssert(body0);
        btAssert(body1);

#ifdef BT_DEBUG
        if (!(m_dispatcherFlags & btCollisionDispatcher::CD_STATIC_STATIC_REPORTED))
        {
                //broadphase filtering already deals with this
                if (body0->isStaticOrKinematicObject() && body1->isStaticOrKinematicObject())
                {
                        m_dispatcherFlags |= btCollisionDispatcher::CD_STATIC_STATIC_REPORTED;
                        printf("warning btCollisionDispatcher::needsCollision: static-static collision!\n");
                }
        }
#endif //BT_DEBUG

        if ((!body0->isActive()) && (!body1->isActive()))
                return false;
        else if (!body0->checkCollideWith(body1))
                return false;
        
    BlBulletData *lpData1 = (BlBulletData *) body0->getUserPointer();
    BlBulletData *lpData2 = (BlBulletData *) body1->getUserPointer();

    if(lpData1 && lpData2)
    {
        //if(lpData1->m_bExclusionProcessing || lpData2->m_bExclusionProcessing)  
        //    lpData1 = lpData1;

        if(lpData1->m_bExclusionProcessing && lpData1->m_lpBody && lpData2->m_lpBody && !lpData1->m_lpBody->NeedCollision(lpData2->m_lpBody))
           return false;

        if(lpData2->m_bExclusionProcessing && lpData2->m_lpBody && lpData1->m_lpBody && !lpData2->m_lpBody->NeedCollision(lpData1->m_lpBody))
           return false;
    }

        return true ;

}
//
//bool BlAnimatCollisionDispatcher::IsContactObject(btCollisionObject* body0, btCollisionObject* body1)
//{
//    if( ((body0->getCollisionFlags() & AnimatCollisionTypes::CONTACT_SENSOR) || (body1->getCollisionFlags() & AnimatCollisionTypes::CONTACT_SENSOR)) ||
//        ((body0->getCollisionFlags() & AnimatCollisionTypes::RECEPTIVE_FIELD_SENSOR) || (body1->getCollisionFlags() & AnimatCollisionTypes::RECEPTIVE_FIELD_SENSOR)) )
//        return true;
//
//    return false;
//}
//
//
//void BlAnimatCollisionDispatcher::AnimatNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
//{
//              btCollisionObject* colObj0 = (btCollisionObject*)collisionPair.m_pProxy0->m_clientObject;
//              btCollisionObject* colObj1 = (btCollisionObject*)collisionPair.m_pProxy1->m_clientObject;
//
//              if (dispatcher.needsCollision(colObj0,colObj1))
//              {
//                      //dispatcher will keep algorithms persistent in the collision pair
//                      if (!collisionPair.m_algorithm)
//                      {
//                              collisionPair.m_algorithm = dispatcher.findAlgorithm(colObj0,colObj1);
//                      }
//
//                      if (collisionPair.m_algorithm)
//                      {
//                              btManifoldResult contactPointResult(colObj0,colObj1);
//                              
//                              if (dispatchInfo.m_dispatchFunc ==              btDispatcherInfo::DISPATCH_DISCRETE)
//                              {
//                                      //discrete collision detection query
//                                      collisionPair.m_algorithm->processCollision(colObj0,colObj1,dispatchInfo,&contactPointResult);
//                              } else
//                              {
//                                      //continuous collision detection query, time of impact (toi)
//                                      btScalar toi = collisionPair.m_algorithm->calculateTimeOfImpact(colObj0,colObj1,dispatchInfo,&contactPointResult);
//                                      if (dispatchInfo.m_timeOfImpact > toi)
//                                              dispatchInfo.m_timeOfImpact = toi;
//
//                              }
//                      }
//              }
//
//}

}                               //BulletAnimatSim