////  CollisionInfo.cpp//  libraries/shared/src////  Created by Andrew Meadows on 02/14/2014.//  Copyright 2014 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "CollisionInfo.h"#include "NumericalConstants.h"#include "Shape.h" CollisionInfo::CollisionInfo() :        _data(NULL),        _intData(0),        _shapeA(NULL),        _shapeB(NULL),        _damping(0.0f),        _elasticity(1.0f),        _contactPoint(0.0f),         _penetration(0.0f),         _addedVelocity(0.0f) {} quint64 CollisionInfo::getShapePairKey() const {    if (_shapeB == NULL || _shapeA == NULL) {        // zero is an invalid key        return 0;    }    quint32 idA = _shapeA->getID();    quint32 idB = _shapeB->getID();    return idA < idB ? ((quint64)idA << 32) + (quint64)idB : ((quint64)idB << 32) + (quint64)idA;} CollisionList::CollisionList(int maxSize) :    _maxSize(maxSize),    _size(0) {    _collisions.resize(_maxSize);} void CollisionInfo::apply() {    assert(_shapeA);    // NOTE: Shape::computeEffectiveMass() has side effects: computes and caches partial Lagrangian coefficients    Shape* shapeA = const_cast<Shape*>(_shapeA);    float massA = shapeA->computeEffectiveMass(_penetration, _contactPoint);    float massB = MAX_SHAPE_MASS;    float totalMass = massA + massB;    if (_shapeB) {        Shape* shapeB = const_cast<Shape*>(_shapeB);        massB = shapeB->computeEffectiveMass(-_penetration, _contactPoint - _penetration);        totalMass = massA + massB;        if (totalMass < EPSILON) {            massA = massB = 1.0f;            totalMass = 2.0f;        }        // remember that _penetration points from A into B        shapeB->accumulateDelta(massA / totalMass, _penetration);    }       // NOTE: Shape::accumulateDelta() uses the coefficients from previous call to Shape::computeEffectiveMass()    // remember that _penetration points from A into B    shapeA->accumulateDelta(massB / totalMass, -_penetration);} CollisionInfo* CollisionList::getNewCollision() {    // return pointer to existing CollisionInfo, or NULL of list is full    return (_size < _maxSize) ? &(_collisions[_size++]) : NULL;} void CollisionList::deleteLastCollision() {    if (_size > 0) {        --_size;    }} CollisionInfo* CollisionList::getCollision(int index) {    return (index > -1 && index < _size) ? &(_collisions[index]) : NULL;} CollisionInfo* CollisionList::getLastCollision() {    return (_size > 0) ? &(_collisions[_size - 1]) : NULL;} void CollisionList::clear() {    // we rely on the external context to properly set or clear the data members of CollisionInfos    /*    for (int i = 0; i < _size; ++i) {        // we only clear the important stuff        CollisionInfo& collision = _collisions[i];        //collision._data = NULL;        //collision._intData = 0;        //collision._floatDAta = 0.0f;        //collision._vecData = glm::vec3(0.0f);        //collision._shapeA = NULL;        //collision._shapeB = NULL;        //collision._damping;        //collision._elasticity;        //collision._contactPoint;        //collision._penetration;        //collision._addedVelocity;    }    */    _size = 0;} CollisionInfo* CollisionList::operator[](int index) {    return (index > -1 && index < _size) ? &(_collisions[index]) : NULL;}