Bullet Collision Detection & Physics Library: btConvex2dConvex2dAlgorithm.h Source File

Bullet Collision Detection & Physics Library

btConvex2dConvex2dAlgorithm.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_CONVEX_2D_CONVEX_2D_ALGORITHM_H
17#define BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
18
19#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
20#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
21#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
23#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
24#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
25#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
26#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27
28class btConvexPenetrationDepthSolver;
29
32 class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
33{
34 btSimplexSolverInterface* m_simplexSolver;
35 btConvexPenetrationDepthSolver* m_pdSolver;
36
37 bool m_ownManifold;
38 btPersistentManifold* m_manifoldPtr;
39 bool m_lowLevelOfDetail;
40
41public:
42 btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
43
44 virtual ~btConvex2dConvex2dAlgorithm();
45
46 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
47
48 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
49
50 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
51 {
53 if (m_manifoldPtr && m_ownManifold)
54 manifoldArray.push_back(m_manifoldPtr);
55 }
56
57 void setLowLevelOfDetail(bool useLowLevel);
58
59 const btPersistentManifold* getManifold()
60 {
61 return m_manifoldPtr;
62 }
63
64 struct CreateFunc : public btCollisionAlgorithmCreateFunc
65 {
66 btConvexPenetrationDepthSolver* m_pdSolver;
67 btSimplexSolverInterface* m_simplexSolver;
68 int m_numPerturbationIterations;
69 int m_minimumPointsPerturbationThreshold;
70
71 CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
72
73 virtual ~CreateFunc();
74
75 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
76 {
77 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
78 return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
79 }
80 };
81};
82
83#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
btActivatingCollisionAlgorithm.h
btBroadphaseProxy.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition btCollisionAlgorithm.h:30
btCollisionCreateFunc.h
btCollisionDispatcher.h
btGjkPairDetector.h
btPersistentManifold.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition btSimplexSolverInterface.h:24
btTransformUtil.h
btVoronoiSimplexSolver.h
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
btConvex2dConvex2dAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition btConvex2dConvex2dAlgorithm.h:35
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm
virtual ~btConvex2dConvex2dAlgorithm()
Definition btConvex2dConvex2dAlgorithm.cpp:67
btConvex2dConvex2dAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition btConvex2dConvex2dAlgorithm.cpp:76
btConvex2dConvex2dAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvex2dConvex2dAlgorithm.cpp:133
btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm
btConvex2dConvex2dAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
Definition btConvex2dConvex2dAlgorithm.cpp:55
btConvex2dConvex2dAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btConvex2dConvex2dAlgorithm.h:38
btConvex2dConvex2dAlgorithm::m_ownManifold
bool m_ownManifold
Definition btConvex2dConvex2dAlgorithm.h:37
btConvex2dConvex2dAlgorithm::getManifold
const btPersistentManifold * getManifold()
Definition btConvex2dConvex2dAlgorithm.h:59
btConvex2dConvex2dAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btConvex2dConvex2dAlgorithm.h:50
btConvex2dConvex2dAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvex2dConvex2dAlgorithm.cpp:86
btConvex2dConvex2dAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition btConvex2dConvex2dAlgorithm.h:39
btConvex2dConvex2dAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition btConvex2dConvex2dAlgorithm.h:34
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition btConvexPenetrationDepthSolver.h:26
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
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
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btConvex2dConvex2dAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btConvex2dConvex2dAlgorithm.h:75
btConvex2dConvex2dAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition btConvex2dConvex2dAlgorithm.h:66
btConvex2dConvex2dAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition btConvex2dConvex2dAlgorithm.h:68
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
Definition btConvex2dConvex2dAlgorithm.cpp:45
btConvex2dConvex2dAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition btConvex2dConvex2dAlgorithm.h:67
btConvex2dConvex2dAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition btConvex2dConvex2dAlgorithm.h:69
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition btConvex2dConvex2dAlgorithm.cpp:51
btDispatcherInfo
Definition btDispatcher.h:31