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

Bullet Collision Detection & Physics Library

btContactProcessing.h
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1 #ifndef BT_CONTACT_H_INCLUDED
2 #define BT_CONTACT_H_INCLUDED
3
7 /*
8 This source file is part of GIMPACT Library.
9
10 For the latest info, see http://gimpact.sourceforge.net/
11
12 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
13 email: projectileman@yahoo.com
14
15
16 This software is provided 'as-is', without any express or implied warranty.
17 In no event will the authors be held liable for any damages arising from the use of this software.
18 Permission is granted to anyone to use this software for any purpose,
19 including commercial applications, and to alter it and redistribute it freely,
20 subject to the following restrictions:
21
22 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.
23 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
24 3. This notice may not be removed or altered from any source distribution.
25 */
26
27 #include "LinearMath/btTransform.h"
28 #include "LinearMath/btAlignedObjectArray.h"
29 #include "btTriangleShapeEx.h"
30 #include "btContactProcessingStructs.h"
31
32 class btContactArray:public btAlignedObjectArray<GIM_CONTACT>
33 {
34 public:
35 btContactArray()
36 {
37 reserve(64);
38 }
39
40 SIMD_FORCE_INLINE void push_contact(
41 const btVector3 &point,const btVector3 & normal,
42 btScalar depth, int feature1, int feature2)
43 {
44 push_back( GIM_CONTACT(point,normal,depth,feature1,feature2) );
45 }
46
47 SIMD_FORCE_INLINE void push_triangle_contacts(
48 const GIM_TRIANGLE_CONTACT & tricontact,
49 int feature1,int feature2)
50 {
51 for(int i = 0;i<tricontact.m_point_count ;i++ )
52 {
53 push_contact(
54 tricontact.m_points[i],
55 tricontact.m_separating_normal,
56 tricontact.m_penetration_depth,feature1,feature2);
57 }
58 }
59
60 void merge_contacts(const btContactArray & contacts, bool normal_contact_average = true);
61
62 void merge_contacts_unique(const btContactArray & contacts);
63 };
64
65 #endif // GIM_CONTACT_H_INCLUDED
btAlignedObjectArray< GIM_CONTACT >::reserve
void reserve(int _Count)
Definition: btAlignedObjectArray.h:298
btAlignedObjectArray< GIM_CONTACT >::push_back
void push_back(const GIM_CONTACT &_Val)
Definition: btAlignedObjectArray.h:274
GIM_TRIANGLE_CONTACT::m_point_count
int m_point_count
Definition: btTriangleShapeEx.h:41
btContactArray
Definition: btContactProcessing.h:32
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:53
btTriangleShapeEx.h
btContactArray::btContactArray
btContactArray()
Definition: btContactProcessing.h:35
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btTransform.h
GIM_TRIANGLE_CONTACT::m_points
btVector3 m_points[MAX_TRI_CLIPPING]
Definition: btTriangleShapeEx.h:43
btContactArray::merge_contacts
void merge_contacts(const btContactArray &contacts, bool normal_contact_average=true)
Definition: btContactProcessing.cpp:68
btContactArray::push_triangle_contacts
void push_triangle_contacts(const GIM_TRIANGLE_CONTACT &tricontact, int feature1, int feature2)
Definition: btContactProcessing.h:47
btContactArray::push_contact
void push_contact(const btVector3 &point, const btVector3 &normal, btScalar depth, int feature1, int feature2)
Definition: btContactProcessing.h:40
btContactProcessingStructs.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
GIM_TRIANGLE_CONTACT
Structure for collision.
Definition: btTriangleShapeEx.h:38
btAlignedObjectArray.h
GIM_CONTACT
The GIM_CONTACT is an internal GIMPACT structure, similar to btManifoldPoint.
Definition: btContactProcessingStructs.h:41
GIM_TRIANGLE_CONTACT::m_penetration_depth
btScalar m_penetration_depth
Definition: btTriangleShapeEx.h:40
GIM_TRIANGLE_CONTACT::m_separating_normal
btVector4 m_separating_normal
Definition: btTriangleShapeEx.h:42
btContactArray::merge_contacts_unique
void merge_contacts_unique(const btContactArray &contacts)
Definition: btContactProcessing.cpp:149
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292