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

Bullet Collision Detection & Physics Library

btPointCollector.h
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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_POINT_COLLECTOR_H
17 #define BT_POINT_COLLECTOR_H
18
19 #include "btDiscreteCollisionDetectorInterface.h"
20
21
22
23 struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
24 {
25
26
27 btVector3 m_normalOnBInWorld;
28 btVector3 m_pointInWorld;
29 btScalar m_distance;//negative means penetration
30
31 bool m_hasResult;
32
33 btPointCollector ()
34 : m_distance(btScalar(BT_LARGE_FLOAT)),m_hasResult(false)
35 {
36 }
37
38 virtual void setShapeIdentifiersA(int partId0,int index0)
39 {
40 (void)partId0;
41 (void)index0;
42
43 }
44 virtual void setShapeIdentifiersB(int partId1,int index1)
45 {
46 (void)partId1;
47 (void)index1;
48 }
49
50 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
51 {
52 if (depth< m_distance)
53 {
54 m_hasResult = true;
55 m_normalOnBInWorld = normalOnBInWorld;
56 m_pointInWorld = pointInWorld;
57 //negative means penetration
58 m_distance = depth;
59 }
60 }
61 };
62
63 #endif //BT_POINT_COLLECTOR_H
64
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:281
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:31
btPointCollector::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)
Definition: btPointCollector.h:44
btPointCollector::m_distance
btScalar m_distance
Definition: btPointCollector.h:29
btPointCollector
Definition: btPointCollector.h:23
btPointCollector::m_pointInWorld
btVector3 m_pointInWorld
Definition: btPointCollector.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btPointCollector::btPointCollector
btPointCollector()
Definition: btPointCollector.h:33
btPointCollector::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btPointCollector.h:50
btPointCollector::m_hasResult
bool m_hasResult
Definition: btPointCollector.h:31
btDiscreteCollisionDetectorInterface.h
btPointCollector::m_normalOnBInWorld
btVector3 m_normalOnBInWorld
Definition: btPointCollector.h:27
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btPointCollector::setShapeIdentifiersA
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
Definition: btPointCollector.h:38