Bullet Collision Detection & Physics Library: btGjkPairDetector.h Source File

Bullet Collision Detection & Physics Library

btGjkPairDetector.h
Go to the documentation of this file.
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_GJK_PAIR_DETECTOR_H
17#define BT_GJK_PAIR_DETECTOR_H
18
19#include "btDiscreteCollisionDetectorInterface.h"
20#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
21
22class btConvexShape;
23#include "btSimplexSolverInterface.h"
24class btConvexPenetrationDepthSolver;
25
27 class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
28{
29 btVector3 m_cachedSeparatingAxis;
30 btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
31 btSimplexSolverInterface* m_simplexSolver;
32 const btConvexShape* m_minkowskiA;
33 const btConvexShape* m_minkowskiB;
34 int m_shapeTypeA;
35 int m_shapeTypeB;
36 btScalar m_marginA;
37 btScalar m_marginB;
38
39 bool m_ignoreMargin;
40 btScalar m_cachedSeparatingDistance;
41
42public:
43 //some debugging to fix degeneracy problems
44 int m_lastUsedMethod;
45 int m_curIter;
46 int m_degenerateSimplex;
47 int m_catchDegeneracies;
48 int m_fixContactNormalDirection;
49
50 btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
51 btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
52 virtual ~btGjkPairDetector(){};
53
54 virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
55
56 void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
57
58 void setMinkowskiA(const btConvexShape* minkA)
59 {
60 m_minkowskiA = minkA;
61 }
62
63 void setMinkowskiB(const btConvexShape* minkB)
64 {
65 m_minkowskiB = minkB;
66 }
67 void setCachedSeparatingAxis(const btVector3& separatingAxis)
68 {
69 m_cachedSeparatingAxis = separatingAxis;
70 }
71
72 const btVector3& getCachedSeparatingAxis() const
73 {
74 return m_cachedSeparatingAxis;
75 }
76 btScalar getCachedSeparatingDistance() const
77 {
78 return m_cachedSeparatingDistance;
79 }
80
81 void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
82 {
83 m_penetrationDepthSolver = penetrationDepthSolver;
84 }
85
87 void setIgnoreMargin(bool ignoreMargin)
88 {
89 m_ignoreMargin = ignoreMargin;
90 }
91};
92
93#endif //BT_GJK_PAIR_DETECTOR_H
btCollisionMargin.h
btDiscreteCollisionDetectorInterface.h
output
#define output
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btSimplexSolverInterface.h
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition btSimplexSolverInterface.h:24
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition btConvexPenetrationDepthSolver.h:26
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition btConvexShape.h:33
btGjkPairDetector::m_ignoreMargin
bool m_ignoreMargin
Definition btGjkPairDetector.h:39
btGjkPairDetector::m_marginB
btScalar m_marginB
Definition btGjkPairDetector.h:37
btGjkPairDetector::m_minkowskiB
const btConvexShape * m_minkowskiB
Definition btGjkPairDetector.h:33
btGjkPairDetector::getCachedSeparatingAxis
const btVector3 & getCachedSeparatingAxis() const
Definition btGjkPairDetector.h:72
btGjkPairDetector::m_minkowskiA
const btConvexShape * m_minkowskiA
Definition btGjkPairDetector.h:32
btGjkPairDetector::setPenetrationDepthSolver
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition btGjkPairDetector.h:81
btGjkPairDetector::m_shapeTypeA
int m_shapeTypeA
Definition btGjkPairDetector.h:34
btGjkPairDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition btGjkPairDetector.cpp:73
btGjkPairDetector::getCachedSeparatingDistance
btScalar getCachedSeparatingDistance() const
Definition btGjkPairDetector.h:76
btGjkPairDetector::m_catchDegeneracies
int m_catchDegeneracies
Definition btGjkPairDetector.h:47
btGjkPairDetector::m_lastUsedMethod
int m_lastUsedMethod
Definition btGjkPairDetector.h:44
btGjkPairDetector::setCachedSeparatingAxis
void setCachedSeparatingAxis(const btVector3 &separatingAxis)
Definition btGjkPairDetector.h:67
btGjkPairDetector::btGjkPairDetector
btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition btGjkPairDetector.cpp:40
btGjkPairDetector::m_fixContactNormalDirection
int m_fixContactNormalDirection
Definition btGjkPairDetector.h:48
btGjkPairDetector::~btGjkPairDetector
virtual ~btGjkPairDetector()
Definition btGjkPairDetector.h:52
btGjkPairDetector::m_cachedSeparatingDistance
btScalar m_cachedSeparatingDistance
Definition btGjkPairDetector.h:40
btGjkPairDetector::m_degenerateSimplex
int m_degenerateSimplex
Definition btGjkPairDetector.h:46
btGjkPairDetector::setIgnoreMargin
void setIgnoreMargin(bool ignoreMargin)
don't use setIgnoreMargin, it's for Bullet's internal use
Definition btGjkPairDetector.h:87
btGjkPairDetector::setMinkowskiA
void setMinkowskiA(const btConvexShape *minkA)
Definition btGjkPairDetector.h:58
btGjkPairDetector::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition btGjkPairDetector.h:31
btGjkPairDetector::m_cachedSeparatingAxis
btVector3 m_cachedSeparatingAxis
Definition btGjkPairDetector.h:29
btGjkPairDetector::getClosestPointsNonVirtual
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
Definition btGjkPairDetector.cpp:688
btGjkPairDetector::m_penetrationDepthSolver
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
Definition btGjkPairDetector.h:30
btGjkPairDetector::m_curIter
int m_curIter
Definition btGjkPairDetector.h:45
btGjkPairDetector::m_marginA
btScalar m_marginA
Definition btGjkPairDetector.h:36
btGjkPairDetector::m_shapeTypeB
int m_shapeTypeB
Definition btGjkPairDetector.h:35
btGjkPairDetector::setMinkowskiB
void setMinkowskiB(const btConvexShape *minkB)
Definition btGjkPairDetector.h:63
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btDiscreteCollisionDetectorInterface
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...
Definition btDiscreteCollisionDetectorInterface.h:28