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

Bullet Collision Detection & Physics Library

btContinuousConvexCollision.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 #ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18 #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
19
20 #include "btConvexCast.h"
21 #include "btSimplexSolverInterface.h"
22 class btConvexPenetrationDepthSolver;
23 class btConvexShape;
24 class btStaticPlaneShape;
25
30 class btContinuousConvexCollision : public btConvexCast
31 {
32 btSimplexSolverInterface* m_simplexSolver;
33 btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
34 const btConvexShape* m_convexA;
35 //second object is either a convex or a plane (code sharing)
36 const btConvexShape* m_convexB1;
37 const btStaticPlaneShape* m_planeShape;
38
39 void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
40
41 public:
42
43 btContinuousConvexCollision (const btConvexShape* shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
44
45 btContinuousConvexCollision(const btConvexShape* shapeA,const btStaticPlaneShape* plane );
46
47 virtual bool calcTimeOfImpact(
48 const btTransform& fromA,
49 const btTransform& toA,
50 const btTransform& fromB,
51 const btTransform& toB,
52 CastResult& result);
53
54
55 };
56
57
58 #endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
59
btContinuousConvexCollision::computeClosestPoints
void computeClosestPoints(const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
Definition: btContinuousConvexCollision.cpp:49
btConvexCast
btConvexCast is an interface for Casting
Definition: btConvexCast.h:27
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btContinuousConvexCollision
btContinuousConvexCollision implements angular and linear time of impact for convex objects...
Definition: btContinuousConvexCollision.h:30
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btPointCollector
Definition: btPointCollector.h:23
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:36
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btContinuousConvexCollision::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btContinuousConvexCollision.h:32
btContinuousConvexCollision::m_convexA
const btConvexShape * m_convexA
Definition: btContinuousConvexCollision.h:34
btContinuousConvexCollision::m_penetrationDepthSolver
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
Definition: btContinuousConvexCollision.h:33
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btConvexCast.h
btContinuousConvexCollision::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
Definition: btContinuousConvexCollision.cpp:90
btContinuousConvexCollision::m_convexB1
const btConvexShape * m_convexB1
Definition: btContinuousConvexCollision.h:36
btContinuousConvexCollision::btContinuousConvexCollision
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition: btContinuousConvexCollision.cpp:29
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. ...
Definition: btStaticPlaneShape.h:23
btSimplexSolverInterface.h
btContinuousConvexCollision::m_planeShape
const btStaticPlaneShape * m_planeShape
Definition: btContinuousConvexCollision.h:37