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

Bullet Collision Detection & Physics Library

btSphereTriangleCollisionAlgorithm.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_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
17#define BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
18
19#include "btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22class btPersistentManifold;
23#include "btCollisionDispatcher.h"
24
28 class btSphereTriangleCollisionAlgorithm : public btActivatingCollisionAlgorithm
29{
30 bool m_ownManifold;
31 btPersistentManifold* m_manifoldPtr;
32 bool m_swapped;
33
34public:
35 btSphereTriangleCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool swapped);
36
37 btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
38 : btActivatingCollisionAlgorithm(ci) {}
39
40 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
41
42 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
43
44 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
45 {
46 if (m_manifoldPtr && m_ownManifold)
47 {
48 manifoldArray.push_back(m_manifoldPtr);
49 }
50 }
51
52 virtual ~btSphereTriangleCollisionAlgorithm();
53
54 struct CreateFunc : public btCollisionAlgorithmCreateFunc
55 {
56 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
57 {
58 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btSphereTriangleCollisionAlgorithm));
59
60 return new (mem) btSphereTriangleCollisionAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_swapped);
61 }
62 };
63};
64
65#endif //BT_SPHERE_TRIANGLE_COLLISION_ALGORITHM_H
btActivatingCollisionAlgorithm.h
btBroadphaseProxy.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition btCollisionAlgorithm.h:30
btCollisionCreateFunc.h
btCollisionDispatcher.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btActivatingCollisionAlgorithm::btActivatingCollisionAlgorithm
btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition btActivatingCollisionAlgorithm.cpp:20
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition btAlignedObjectArray.h:257
btCollisionAlgorithm::btCollisionAlgorithm
btCollisionAlgorithm()
Definition btCollisionAlgorithm.h:62
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition btManifoldResult.h:48
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm
btSphereTriangleCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool swapped)
Definition btSphereTriangleCollisionAlgorithm.cpp:23
btSphereTriangleCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereTriangleCollisionAlgorithm.cpp:73
btSphereTriangleCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btSphereTriangleCollisionAlgorithm.h:44
btSphereTriangleCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition btSphereTriangleCollisionAlgorithm.h:30
btSphereTriangleCollisionAlgorithm::~btSphereTriangleCollisionAlgorithm
virtual ~btSphereTriangleCollisionAlgorithm()
Definition btSphereTriangleCollisionAlgorithm.cpp:36
btSphereTriangleCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btSphereTriangleCollisionAlgorithm.h:31
btSphereTriangleCollisionAlgorithm::btSphereTriangleCollisionAlgorithm
btSphereTriangleCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
Definition btSphereTriangleCollisionAlgorithm.h:37
btSphereTriangleCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btSphereTriangleCollisionAlgorithm.cpp:45
btSphereTriangleCollisionAlgorithm::m_swapped
bool m_swapped
Definition btSphereTriangleCollisionAlgorithm.h:32
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition btCollisionAlgorithm.h:46
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc::btCollisionAlgorithmCreateFunc
btCollisionAlgorithmCreateFunc()
Definition btCollisionCreateFunc.h:30
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition btCollisionCreateFunc.h:28
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btDispatcherInfo
Definition btDispatcher.h:31
btSphereTriangleCollisionAlgorithm::CreateFunc
Definition btSphereTriangleCollisionAlgorithm.h:55
btSphereTriangleCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btSphereTriangleCollisionAlgorithm.h:56