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

Bullet Collision Detection & Physics Library

btContinuousConvexCollision.h
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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_CONTINUOUS_COLLISION_CONVEX_CAST_H
17#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18
19#include "btConvexCast.h"
20#include "btSimplexSolverInterface.h"
21class btConvexPenetrationDepthSolver;
22class btConvexShape;
23class btStaticPlaneShape;
24
29 class btContinuousConvexCollision : public btConvexCast
30{
31 btSimplexSolverInterface* m_simplexSolver;
32 btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
33 const btConvexShape* m_convexA;
34 //second object is either a convex or a plane (code sharing)
35 const btConvexShape* m_convexB1;
36 const btStaticPlaneShape* m_planeShape;
37
38 void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
39
40public:
41 btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
42
43 btContinuousConvexCollision(const btConvexShape* shapeA, const btStaticPlaneShape* plane);
44
45 virtual bool calcTimeOfImpact(
46 const btTransform& fromA,
47 const btTransform& toA,
48 const btTransform& fromB,
49 const btTransform& toB,
50 CastResult& result);
51};
52
53#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
btConvexCast.h
btSimplexSolverInterface.h
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition btSimplexSolverInterface.h:24
btContinuousConvexCollision::btContinuousConvexCollision
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition btContinuousConvexCollision.cpp:26
btContinuousConvexCollision::computeClosestPoints
void computeClosestPoints(const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
Definition btContinuousConvexCollision.cpp:48
btContinuousConvexCollision::m_planeShape
const btStaticPlaneShape * m_planeShape
Definition btContinuousConvexCollision.h:36
btContinuousConvexCollision::m_penetrationDepthSolver
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
Definition btContinuousConvexCollision.h:32
btContinuousConvexCollision::m_convexA
const btConvexShape * m_convexA
Definition btContinuousConvexCollision.h:33
btContinuousConvexCollision::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition btContinuousConvexCollision.h:31
btContinuousConvexCollision::m_convexB1
const btConvexShape * m_convexB1
Definition btContinuousConvexCollision.h:35
btContinuousConvexCollision::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
Definition btContinuousConvexCollision.cpp:90
btConvexCast
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition btConvexCast.h:40
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
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
Definition btStaticPlaneShape.h:24
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition btConvexCast.h:47
btPointCollector
Definition btPointCollector.h:22