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

Bullet Collision Detection & Physics Library

btConvex2dConvex2dAlgorithm.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. 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
28 class btConvexPenetrationDepthSolver;
29
30
33 class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm
34 {
35 btSimplexSolverInterface* m_simplexSolver;
36 btConvexPenetrationDepthSolver* m_pdSolver;
37
38
39 bool m_ownManifold;
40 btPersistentManifold* m_manifoldPtr;
41 bool m_lowLevelOfDetail;
42
43 public:
44
45 btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
46
47
48 virtual ~btConvex2dConvex2dAlgorithm();
49
50 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
51
52 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
53
54 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
55 {
57 if (m_manifoldPtr && m_ownManifold)
58 manifoldArray.push_back(m_manifoldPtr);
59 }
60
61
62 void setLowLevelOfDetail(bool useLowLevel);
63
64
65 const btPersistentManifold* getManifold()
66 {
67 return m_manifoldPtr;
68 }
69
70 struct CreateFunc :public btCollisionAlgorithmCreateFunc
71 {
72
73 btConvexPenetrationDepthSolver* m_pdSolver;
74 btSimplexSolverInterface* m_simplexSolver;
75 int m_numPerturbationIterations;
76 int m_minimumPointsPerturbationThreshold;
77
78 CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
79
80 virtual ~CreateFunc();
81
82 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
83 {
84 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm));
85 return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
86 }
87 };
88
89
90 };
91
92 #endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H
btConvex2dConvex2dAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvex2dConvex2dAlgorithm.h:76
btTransformUtil.h
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:274
btConvex2dConvex2dAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition: btConvex2dConvex2dAlgorithm.h:41
btConvex2dConvex2dAlgorithm
The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape ...
Definition: btConvex2dConvex2dAlgorithm.h:33
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:53
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition: btConvex2dConvex2dAlgorithm.cpp:54
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btConvex2dConvex2dAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvex2dConvex2dAlgorithm.cpp:151
btPersistentManifold.h
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btConvex2dConvex2dAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvex2dConvex2dAlgorithm.h:40
btCollisionCreateFunc.h
btGjkPairDetector.h
btConvex2dConvex2dAlgorithm::CreateFunc
Definition: btConvex2dConvex2dAlgorithm.h:70
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btConvex2dConvex2dAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvex2dConvex2dAlgorithm.h:75
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy.h
btConvex2dConvex2dAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvex2dConvex2dAlgorithm.h:35
btCollisionDispatcher.h
btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
Definition: btConvex2dConvex2dAlgorithm.cpp:48
btConvex2dConvex2dAlgorithm::getManifold
const btPersistentManifold * getManifold()
Definition: btConvex2dConvex2dAlgorithm.h:65
btVoronoiSimplexSolver.h
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:58
btConvex2dConvex2dAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvex2dConvex2dAlgorithm.cpp:95
btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm
virtual ~btConvex2dConvex2dAlgorithm()
Definition: btConvex2dConvex2dAlgorithm.cpp:73
btConvex2dConvex2dAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvex2dConvex2dAlgorithm.h:82
btConvex2dConvex2dAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvex2dConvex2dAlgorithm.h:74
btActivatingCollisionAlgorithm.h
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition: btCollisionAlgorithm.h:46
btConvex2dConvex2dAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvex2dConvex2dAlgorithm.h:73
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btConvex2dConvex2dAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition: btConvex2dConvex2dAlgorithm.cpp:82
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btConvex2dConvex2dAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvex2dConvex2dAlgorithm.h:36
btConvex2dConvex2dAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvex2dConvex2dAlgorithm.h:39
btConvex2dConvex2dAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvex2dConvex2dAlgorithm.h:54