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

Bullet Collision Detection & Physics Library

btSubSimplexConvexCast.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_SUBSIMPLEX_CONVEX_CAST_H
17 #define BT_SUBSIMPLEX_CONVEX_CAST_H
18
19 #include "btConvexCast.h"
20 #include "btSimplexSolverInterface.h"
21 class btConvexShape;
22
27 class btSubsimplexConvexCast : public btConvexCast
28 {
29 btSimplexSolverInterface* m_simplexSolver;
30 const btConvexShape* m_convexA;
31 const btConvexShape* m_convexB;
32
33 public:
34 btSubsimplexConvexCast(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver);
35
36 //virtual ~btSubsimplexConvexCast();
39 virtual bool calcTimeOfImpact(
40 const btTransform& fromA,
41 const btTransform& toA,
42 const btTransform& fromB,
43 const btTransform& toB,
44 CastResult& result);
45 };
46
47 #endif //BT_SUBSIMPLEX_CONVEX_CAST_H
btConvexCast.h
btSimplexSolverInterface.h
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24
btConvexCast
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btSubsimplexConvexCast
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
Definition: btSubSimplexConvexCast.h:28
btSubsimplexConvexCast::btSubsimplexConvexCast
btSubsimplexConvexCast(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver)
Definition: btSubSimplexConvexCast.cpp:24
btSubsimplexConvexCast::m_convexA
const btConvexShape * m_convexA
Definition: btSubSimplexConvexCast.h:30
btSubsimplexConvexCast::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btSubSimplexConvexCast.h:29
btSubsimplexConvexCast::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (...
Definition: btSubSimplexConvexCast.cpp:32
btSubsimplexConvexCast::m_convexB
const btConvexShape * m_convexB
Definition: btSubSimplexConvexCast.h:31
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47