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

Bullet Collision Detection & Physics Library

btGjkPairDetector.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
17
18
19 #ifndef BT_GJK_PAIR_DETECTOR_H
20 #define BT_GJK_PAIR_DETECTOR_H
21
22 #include "btDiscreteCollisionDetectorInterface.h"
23 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
24
25 class btConvexShape;
26 #include "btSimplexSolverInterface.h"
27 class btConvexPenetrationDepthSolver;
28
30 class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
31 {
32
33
34 btVector3 m_cachedSeparatingAxis;
35 btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
36 btSimplexSolverInterface* m_simplexSolver;
37 const btConvexShape* m_minkowskiA;
38 const btConvexShape* m_minkowskiB;
39 int m_shapeTypeA;
40 int m_shapeTypeB;
41 btScalar m_marginA;
42 btScalar m_marginB;
43
44 bool m_ignoreMargin;
45 btScalar m_cachedSeparatingDistance;
46
47
48 public:
49
50 //some debugging to fix degeneracy problems
51 int m_lastUsedMethod;
52 int m_curIter;
53 int m_degenerateSimplex;
54 int m_catchDegeneracies;
55 int m_fixContactNormalDirection;
56
57 btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
58 btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
59 virtual ~btGjkPairDetector() {};
60
61 virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
62
63 void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
64
65
66 void setMinkowskiA(const btConvexShape* minkA)
67 {
68 m_minkowskiA = minkA;
69 }
70
71 void setMinkowskiB(const btConvexShape* minkB)
72 {
73 m_minkowskiB = minkB;
74 }
75 void setCachedSeperatingAxis(const btVector3& seperatingAxis)
76 {
77 m_cachedSeparatingAxis = seperatingAxis;
78 }
79
80 const btVector3& getCachedSeparatingAxis() const
81 {
82 return m_cachedSeparatingAxis;
83 }
84 btScalar getCachedSeparatingDistance() const
85 {
86 return m_cachedSeparatingDistance;
87 }
88
89 void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
90 {
91 m_penetrationDepthSolver = penetrationDepthSolver;
92 }
93
95 void setIgnoreMargin(bool ignoreMargin)
96 {
97 m_ignoreMargin = ignoreMargin;
98 }
99
100
101 };
102
103 #endif //BT_GJK_PAIR_DETECTOR_H
btGjkPairDetector::m_penetrationDepthSolver
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
Definition: btGjkPairDetector.h:35
btGjkPairDetector::m_cachedSeparatingAxis
btVector3 m_cachedSeparatingAxis
Definition: btGjkPairDetector.h:34
btGjkPairDetector::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btGjkPairDetector.h:36
btGjkPairDetector::btGjkPairDetector
btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition: btGjkPairDetector.cpp:46
btGjkPairDetector::getCachedSeparatingDistance
btScalar getCachedSeparatingDistance() const
Definition: btGjkPairDetector.h:84
btGjkPairDetector::m_cachedSeparatingDistance
btScalar m_cachedSeparatingDistance
Definition: btGjkPairDetector.h:45
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:31
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btGjkPairDetector::setMinkowskiB
void setMinkowskiB(const btConvexShape *minkB)
Definition: btGjkPairDetector.h:71
btGjkPairDetector::m_shapeTypeA
int m_shapeTypeA
Definition: btGjkPairDetector.h:39
btGjkPairDetector::m_degenerateSimplex
int m_degenerateSimplex
Definition: btGjkPairDetector.h:53
btGjkPairDetector::setMinkowskiA
void setMinkowskiA(const btConvexShape *minkA)
Definition: btGjkPairDetector.h:66
btGjkPairDetector::m_ignoreMargin
bool m_ignoreMargin
Definition: btGjkPairDetector.h:44
btCollisionMargin.h
btGjkPairDetector::setPenetrationDepthSolver
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition: btGjkPairDetector.h:89
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btGjkPairDetector::getCachedSeparatingAxis
const btVector3 & getCachedSeparatingAxis() const
Definition: btGjkPairDetector.h:80
btGjkPairDetector::m_catchDegeneracies
int m_catchDegeneracies
Definition: btGjkPairDetector.h:54
btGjkPairDetector::m_lastUsedMethod
int m_lastUsedMethod
Definition: btGjkPairDetector.h:51
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btGjkPairDetector::m_curIter
int m_curIter
Definition: btGjkPairDetector.h:52
output
#define output
btGjkPairDetector::m_fixContactNormalDirection
int m_fixContactNormalDirection
Definition: btGjkPairDetector.h:55
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btGjkPairDetector::~btGjkPairDetector
virtual ~btGjkPairDetector()
Definition: btGjkPairDetector.h:59
btGjkPairDetector::m_minkowskiB
const btConvexShape * m_minkowskiB
Definition: btGjkPairDetector.h:38
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btDiscreteCollisionDetectorInterface
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...
Definition: btDiscreteCollisionDetectorInterface.h:28
btGjkPairDetector
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
Definition: btGjkPairDetector.h:30
btGjkPairDetector::setCachedSeperatingAxis
void setCachedSeperatingAxis(const btVector3 &seperatingAxis)
Definition: btGjkPairDetector.h:75
btGjkPairDetector::m_marginB
btScalar m_marginB
Definition: btGjkPairDetector.h:42
btGjkPairDetector::m_shapeTypeB
int m_shapeTypeB
Definition: btGjkPairDetector.h:40
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:42
btSimplexSolverInterface.h
btGjkPairDetector::m_marginA
btScalar m_marginA
Definition: btGjkPairDetector.h:41
btDiscreteCollisionDetectorInterface.h
btGjkPairDetector::m_minkowskiA
const btConvexShape * m_minkowskiA
Definition: btGjkPairDetector.h:37
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btGjkPairDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: btGjkPairDetector.cpp:79
btGjkPairDetector::setIgnoreMargin
void setIgnoreMargin(bool ignoreMargin)
don&#39;t use setIgnoreMargin, it&#39;s for Bullet&#39;s internal use
Definition: btGjkPairDetector.h:95
btGjkPairDetector::getClosestPointsNonVirtual
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
Definition: btGjkPairDetector.cpp:89