mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-23 12:26:59 +01:00
451 lines
18 KiB
C++
451 lines
18 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
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.
|
|
*/
|
|
|
|
#include "btPersistentManifold.h"
|
|
#include "LinearMath/btTransform.h"
|
|
#include "LinearMath/btSerializer.h"
|
|
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
#define btCollisionObjectData btCollisionObjectDoubleData
|
|
#else
|
|
#define btCollisionObjectData btCollisionObjectFloatData
|
|
#endif
|
|
|
|
btScalar gContactBreakingThreshold = btScalar(0.02);
|
|
ContactDestroyedCallback gContactDestroyedCallback = 0;
|
|
ContactProcessedCallback gContactProcessedCallback = 0;
|
|
ContactStartedCallback gContactStartedCallback = 0;
|
|
ContactEndedCallback gContactEndedCallback = 0;
|
|
///gContactCalcArea3Points will approximate the convex hull area using 3 points
|
|
///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
|
|
bool gContactCalcArea3Points = true;
|
|
|
|
btPersistentManifold::btPersistentManifold()
|
|
: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
|
|
m_body0(0),
|
|
m_body1(0),
|
|
m_cachedPoints(0),
|
|
m_companionIdA(0),
|
|
m_companionIdB(0),
|
|
m_index1a(0)
|
|
{
|
|
}
|
|
|
|
#ifdef DEBUG_PERSISTENCY
|
|
#include <stdio.h>
|
|
void btPersistentManifold::DebugPersistency()
|
|
{
|
|
int i;
|
|
printf("DebugPersistency : numPoints %d\n", m_cachedPoints);
|
|
for (i = 0; i < m_cachedPoints; i++)
|
|
{
|
|
printf("m_pointCache[%d].m_userPersistentData = %x\n", i, m_pointCache[i].m_userPersistentData);
|
|
}
|
|
}
|
|
#endif //DEBUG_PERSISTENCY
|
|
|
|
void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
|
|
{
|
|
void* oldPtr = pt.m_userPersistentData;
|
|
if (oldPtr)
|
|
{
|
|
#ifdef DEBUG_PERSISTENCY
|
|
int i;
|
|
int occurance = 0;
|
|
for (i = 0; i < m_cachedPoints; i++)
|
|
{
|
|
if (m_pointCache[i].m_userPersistentData == oldPtr)
|
|
{
|
|
occurance++;
|
|
if (occurance > 1)
|
|
printf("error in clearUserCache\n");
|
|
}
|
|
}
|
|
btAssert(occurance <= 0);
|
|
#endif //DEBUG_PERSISTENCY
|
|
|
|
if (pt.m_userPersistentData && gContactDestroyedCallback)
|
|
{
|
|
(*gContactDestroyedCallback)(pt.m_userPersistentData);
|
|
pt.m_userPersistentData = 0;
|
|
}
|
|
|
|
#ifdef DEBUG_PERSISTENCY
|
|
DebugPersistency();
|
|
#endif
|
|
}
|
|
}
|
|
|
|
static inline btScalar calcArea4Points(const btVector3& p0, const btVector3& p1, const btVector3& p2, const btVector3& p3)
|
|
{
|
|
// It calculates possible 3 area constructed from random 4 points and returns the biggest one.
|
|
|
|
btVector3 a[3], b[3];
|
|
a[0] = p0 - p1;
|
|
a[1] = p0 - p2;
|
|
a[2] = p0 - p3;
|
|
b[0] = p2 - p3;
|
|
b[1] = p1 - p3;
|
|
b[2] = p1 - p2;
|
|
|
|
//todo: Following 3 cross production can be easily optimized by SIMD.
|
|
btVector3 tmp0 = a[0].cross(b[0]);
|
|
btVector3 tmp1 = a[1].cross(b[1]);
|
|
btVector3 tmp2 = a[2].cross(b[2]);
|
|
|
|
return btMax(btMax(tmp0.length2(), tmp1.length2()), tmp2.length2());
|
|
}
|
|
|
|
int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
|
|
{
|
|
//calculate 4 possible cases areas, and take biggest area
|
|
//also need to keep 'deepest'
|
|
|
|
int maxPenetrationIndex = -1;
|
|
#define KEEP_DEEPEST_POINT 1
|
|
#ifdef KEEP_DEEPEST_POINT
|
|
btScalar maxPenetration = pt.getDistance();
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
if (m_pointCache[i].getDistance() < maxPenetration)
|
|
{
|
|
maxPenetrationIndex = i;
|
|
maxPenetration = m_pointCache[i].getDistance();
|
|
}
|
|
}
|
|
#endif //KEEP_DEEPEST_POINT
|
|
|
|
btScalar res0(btScalar(0.)), res1(btScalar(0.)), res2(btScalar(0.)), res3(btScalar(0.));
|
|
|
|
if (gContactCalcArea3Points)
|
|
{
|
|
if (maxPenetrationIndex != 0)
|
|
{
|
|
btVector3 a0 = pt.m_localPointA - m_pointCache[1].m_localPointA;
|
|
btVector3 b0 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
|
|
btVector3 cross = a0.cross(b0);
|
|
res0 = cross.length2();
|
|
}
|
|
if (maxPenetrationIndex != 1)
|
|
{
|
|
btVector3 a1 = pt.m_localPointA - m_pointCache[0].m_localPointA;
|
|
btVector3 b1 = m_pointCache[3].m_localPointA - m_pointCache[2].m_localPointA;
|
|
btVector3 cross = a1.cross(b1);
|
|
res1 = cross.length2();
|
|
}
|
|
|
|
if (maxPenetrationIndex != 2)
|
|
{
|
|
btVector3 a2 = pt.m_localPointA - m_pointCache[0].m_localPointA;
|
|
btVector3 b2 = m_pointCache[3].m_localPointA - m_pointCache[1].m_localPointA;
|
|
btVector3 cross = a2.cross(b2);
|
|
res2 = cross.length2();
|
|
}
|
|
|
|
if (maxPenetrationIndex != 3)
|
|
{
|
|
btVector3 a3 = pt.m_localPointA - m_pointCache[0].m_localPointA;
|
|
btVector3 b3 = m_pointCache[2].m_localPointA - m_pointCache[1].m_localPointA;
|
|
btVector3 cross = a3.cross(b3);
|
|
res3 = cross.length2();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (maxPenetrationIndex != 0)
|
|
{
|
|
res0 = calcArea4Points(pt.m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
|
|
}
|
|
|
|
if (maxPenetrationIndex != 1)
|
|
{
|
|
res1 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[2].m_localPointA, m_pointCache[3].m_localPointA);
|
|
}
|
|
|
|
if (maxPenetrationIndex != 2)
|
|
{
|
|
res2 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[3].m_localPointA);
|
|
}
|
|
|
|
if (maxPenetrationIndex != 3)
|
|
{
|
|
res3 = calcArea4Points(pt.m_localPointA, m_pointCache[0].m_localPointA, m_pointCache[1].m_localPointA, m_pointCache[2].m_localPointA);
|
|
}
|
|
}
|
|
btVector4 maxvec(res0, res1, res2, res3);
|
|
int biggestarea = maxvec.closestAxis4();
|
|
return biggestarea;
|
|
}
|
|
|
|
int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
|
|
{
|
|
btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold();
|
|
int size = getNumContacts();
|
|
int nearestPoint = -1;
|
|
for (int i = 0; i < size; i++)
|
|
{
|
|
const btManifoldPoint& mp = m_pointCache[i];
|
|
|
|
btVector3 diffA = mp.m_localPointA - newPoint.m_localPointA;
|
|
const btScalar distToManiPoint = diffA.dot(diffA);
|
|
if (distToManiPoint < shortestDist)
|
|
{
|
|
shortestDist = distToManiPoint;
|
|
nearestPoint = i;
|
|
}
|
|
}
|
|
return nearestPoint;
|
|
}
|
|
|
|
int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint, bool isPredictive)
|
|
{
|
|
if (!isPredictive)
|
|
{
|
|
btAssert(validContactDistance(newPoint));
|
|
}
|
|
|
|
int insertIndex = getNumContacts();
|
|
if (insertIndex == MANIFOLD_CACHE_SIZE)
|
|
{
|
|
#if MANIFOLD_CACHE_SIZE >= 4
|
|
//sort cache so best points come first, based on area
|
|
insertIndex = sortCachedPoints(newPoint);
|
|
#else
|
|
insertIndex = 0;
|
|
#endif
|
|
clearUserCache(m_pointCache[insertIndex]);
|
|
}
|
|
else
|
|
{
|
|
m_cachedPoints++;
|
|
}
|
|
if (insertIndex < 0)
|
|
insertIndex = 0;
|
|
|
|
btAssert(m_pointCache[insertIndex].m_userPersistentData == 0);
|
|
m_pointCache[insertIndex] = newPoint;
|
|
return insertIndex;
|
|
}
|
|
|
|
btScalar btPersistentManifold::getContactBreakingThreshold() const
|
|
{
|
|
return m_contactBreakingThreshold;
|
|
}
|
|
|
|
void btPersistentManifold::refreshContactPoints(const btTransform& trA, const btTransform& trB)
|
|
{
|
|
int i;
|
|
#ifdef DEBUG_PERSISTENCY
|
|
printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
|
|
trA.getOrigin().getX(),
|
|
trA.getOrigin().getY(),
|
|
trA.getOrigin().getZ(),
|
|
trB.getOrigin().getX(),
|
|
trB.getOrigin().getY(),
|
|
trB.getOrigin().getZ());
|
|
#endif //DEBUG_PERSISTENCY
|
|
/// first refresh worldspace positions and distance
|
|
for (i = getNumContacts() - 1; i >= 0; i--)
|
|
{
|
|
btManifoldPoint& manifoldPoint = m_pointCache[i];
|
|
manifoldPoint.m_positionWorldOnA = trA(manifoldPoint.m_localPointA);
|
|
manifoldPoint.m_positionWorldOnB = trB(manifoldPoint.m_localPointB);
|
|
manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
|
|
manifoldPoint.m_lifeTime++;
|
|
}
|
|
|
|
/// then
|
|
btScalar distance2d;
|
|
btVector3 projectedDifference, projectedPoint;
|
|
for (i = getNumContacts() - 1; i >= 0; i--)
|
|
{
|
|
btManifoldPoint& manifoldPoint = m_pointCache[i];
|
|
//contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
|
|
if (!validContactDistance(manifoldPoint))
|
|
{
|
|
removeContactPoint(i);
|
|
}
|
|
else
|
|
{
|
|
//todo: friction anchor may require the contact to be around a bit longer
|
|
//contact also becomes invalid when relative movement orthogonal to normal exceeds margin
|
|
projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
|
|
projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
|
|
distance2d = projectedDifference.dot(projectedDifference);
|
|
if (distance2d > getContactBreakingThreshold() * getContactBreakingThreshold())
|
|
{
|
|
removeContactPoint(i);
|
|
}
|
|
else
|
|
{
|
|
//contact point processed callback
|
|
if (gContactProcessedCallback)
|
|
(*gContactProcessedCallback)(manifoldPoint, (void*)m_body0, (void*)m_body1);
|
|
}
|
|
}
|
|
}
|
|
#ifdef DEBUG_PERSISTENCY
|
|
DebugPersistency();
|
|
#endif //
|
|
}
|
|
|
|
int btPersistentManifold::calculateSerializeBufferSize() const
|
|
{
|
|
return sizeof(btPersistentManifoldData);
|
|
}
|
|
|
|
const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const
|
|
{
|
|
btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer;
|
|
memset(dataOut, 0, sizeof(btPersistentManifoldData));
|
|
|
|
dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
|
|
dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
|
|
dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
|
|
dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
|
|
dataOut->m_numCachedPoints = manifold->getNumContacts();
|
|
dataOut->m_companionIdA = manifold->m_companionIdA;
|
|
dataOut->m_companionIdB = manifold->m_companionIdB;
|
|
dataOut->m_index1a = manifold->m_index1a;
|
|
dataOut->m_objectType = manifold->m_objectType;
|
|
|
|
for (int i = 0; i < this->getNumContacts(); i++)
|
|
{
|
|
const btManifoldPoint& pt = manifold->getContactPoint(i);
|
|
dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
|
|
dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
|
|
dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
|
|
dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
|
|
pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
|
|
pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);
|
|
pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]);
|
|
dataOut->m_pointCacheDistance[i] = pt.m_distance1;
|
|
dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1;
|
|
dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1;
|
|
dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime;
|
|
dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM;
|
|
dataOut->m_pointCacheContactERP[i] = pt.m_contactERP;
|
|
dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM;
|
|
dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags;
|
|
dataOut->m_pointCacheIndex0[i] = pt.m_index0;
|
|
dataOut->m_pointCacheIndex1[i] = pt.m_index1;
|
|
dataOut->m_pointCachePartId0[i] = pt.m_partId0;
|
|
dataOut->m_pointCachePartId1[i] = pt.m_partId1;
|
|
pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]);
|
|
pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]);
|
|
dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction;
|
|
pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]);
|
|
pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]);
|
|
dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction;
|
|
dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction;
|
|
dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution;
|
|
dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1;
|
|
dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2;
|
|
}
|
|
return btPersistentManifoldDataName;
|
|
}
|
|
|
|
void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
|
|
{
|
|
m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
|
|
m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
|
|
m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
|
|
m_companionIdA = manifoldDataPtr->m_companionIdA;
|
|
m_companionIdB = manifoldDataPtr->m_companionIdB;
|
|
//m_index1a = manifoldDataPtr->m_index1a;
|
|
m_objectType = manifoldDataPtr->m_objectType;
|
|
|
|
for (int i = 0; i < this->getNumContacts(); i++)
|
|
{
|
|
btManifoldPoint& pt = m_pointCache[i];
|
|
|
|
pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
|
|
pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
|
|
pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
|
|
pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
|
|
pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
|
|
pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]);
|
|
pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
|
|
pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
|
|
pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
|
|
pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
|
|
pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
|
|
pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
|
|
pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
|
|
pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
|
|
pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
|
|
pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
|
|
pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
|
|
pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
|
|
pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
|
|
pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
|
|
pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
|
|
pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
|
|
pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
|
|
pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
|
|
pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
|
|
pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
|
|
pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
|
|
pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
|
|
pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
|
|
}
|
|
}
|
|
|
|
void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr)
|
|
{
|
|
m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
|
|
m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
|
|
m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
|
|
m_companionIdA = manifoldDataPtr->m_companionIdA;
|
|
m_companionIdB = manifoldDataPtr->m_companionIdB;
|
|
//m_index1a = manifoldDataPtr->m_index1a;
|
|
m_objectType = manifoldDataPtr->m_objectType;
|
|
|
|
for (int i = 0; i < this->getNumContacts(); i++)
|
|
{
|
|
btManifoldPoint& pt = m_pointCache[i];
|
|
|
|
pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
|
|
pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
|
|
pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
|
|
pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
|
|
pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
|
|
pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
|
|
pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
|
|
pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
|
|
pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
|
|
pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
|
|
pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
|
|
pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
|
|
pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
|
|
pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
|
|
pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
|
|
pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
|
|
pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
|
|
pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
|
|
pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
|
|
pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
|
|
pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
|
|
pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
|
|
pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
|
|
pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
|
|
pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
|
|
pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
|
|
pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
|
|
pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
|
|
pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
|
|
}
|
|
}
|