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

Bullet Collision Detection & Physics Library

btConvexCast.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_CONVEX_CAST_H
17 #define BT_CONVEX_CAST_H
18
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btScalar.h"
22 class btMinkowskiSumShape;
23 #include "LinearMath/btIDebugDraw.h"
24
25 #ifdef BT_USE_DOUBLE_PRECISION
26 #define MAX_CONVEX_CAST_ITERATIONS 64
27 #define MAX_CONVEX_CAST_EPSILON (SIMD_EPSILON * 10)
28 #else
29 #define MAX_CONVEX_CAST_ITERATIONS 32
30 #define MAX_CONVEX_CAST_EPSILON btScalar(0.0001)
31 #endif
32 //will need to digg deeper to make the algorithm more robust
35 //since, a large epsilon can cause an early termination with false
36 //positive results (ray intersections that shouldn't be there)
37
39 class btConvexCast
40 {
41 public:
42 virtual ~btConvexCast();
43
46 struct CastResult
47 {
48 //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
49
50 virtual void DebugDraw(btScalar fraction) { (void)fraction; }
51 virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
52 virtual void reportFailure(int errNo, int numIterations)
53 {
54 (void)errNo;
55 (void)numIterations;
56 }
57 CastResult()
58 : m_fraction(btScalar(BT_LARGE_FLOAT)),
59 m_debugDrawer(0),
60 m_allowedPenetration(btScalar(0)),
61 m_subSimplexCastMaxIterations(MAX_CONVEX_CAST_ITERATIONS),
62 m_subSimplexCastEpsilon(MAX_CONVEX_CAST_EPSILON)
63 {
64 }
65
66 virtual ~CastResult(){};
67
68 btTransform m_hitTransformA;
69 btTransform m_hitTransformB;
70 btVector3 m_normal;
71 btVector3 m_hitPoint;
72 btScalar m_fraction; //input and output
73 btIDebugDraw* m_debugDrawer;
74 btScalar m_allowedPenetration;
75
76 int m_subSimplexCastMaxIterations;
77 btScalar m_subSimplexCastEpsilon;
78
79 };
80
82 virtual bool calcTimeOfImpact(
83 const btTransform& fromA,
84 const btTransform& toA,
85 const btTransform& fromB,
86 const btTransform& toB,
87 CastResult& result) = 0;
88 };
89
90 #endif //BT_CONVEX_CAST_H
btConvexCast::CastResult::CastResult
CastResult()
Definition: btConvexCast.h:57
btConvexCast
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btConvexCast::CastResult::m_subSimplexCastMaxIterations
int m_subSimplexCastMaxIterations
Definition: btConvexCast.h:76
btConvexCast::~btConvexCast
virtual ~btConvexCast()
Definition: btConvexCast.cpp:18
btScalar.h
btConvexCast::CastResult::~CastResult
virtual ~CastResult()
Definition: btConvexCast.h:66
btConvexCast::CastResult::m_hitTransformA
btTransform m_hitTransformA
Definition: btConvexCast.h:66
btVector3.h
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btMinkowskiSumShape
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
Definition: btMinkowskiSumShape.h:25
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btConvexCast::CastResult::m_subSimplexCastEpsilon
btScalar m_subSimplexCastEpsilon
Definition: btConvexCast.h:77
MAX_CONVEX_CAST_EPSILON
#define MAX_CONVEX_CAST_EPSILON
Definition: btConvexCast.h:30
btConvexCast::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object
btTransform.h
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btConvexCast::CastResult::m_hitTransformB
btTransform m_hitTransformB
Definition: btConvexCast.h:69
btConvexCast::CastResult::m_fraction
btScalar m_fraction
Definition: btConvexCast.h:72
btConvexCast::CastResult::m_hitPoint
btVector3 m_hitPoint
Definition: btConvexCast.h:71
btIDebugDraw.h
btConvexCast::CastResult::m_normal
btVector3 m_normal
Definition: btConvexCast.h:70
btConvexCast::CastResult::m_allowedPenetration
btScalar m_allowedPenetration
Definition: btConvexCast.h:74
btConvexCast::CastResult::reportFailure
virtual void reportFailure(int errNo, int numIterations)
Definition: btConvexCast.h:52
btConvexCast::CastResult::DebugDraw
virtual void DebugDraw(btScalar fraction)
Definition: btConvexCast.h:50
btConvexCast::CastResult::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btConvexCast.h:73
MAX_CONVEX_CAST_ITERATIONS
#define MAX_CONVEX_CAST_ITERATIONS
Definition: btConvexCast.h:29
btConvexCast::CastResult::drawCoordSystem
virtual void drawCoordSystem(const btTransform &trans)
Definition: btConvexCast.h:51