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

Bullet Collision Detection & Physics Library

btDiscreteCollisionDetectorInterface.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_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
17 #define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
18
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21
27 struct btDiscreteCollisionDetectorInterface
28 {
29 struct Result
30 {
31 virtual ~Result() {}
32
34 virtual void setShapeIdentifiersA(int partId0, int index0) = 0;
35 virtual void setShapeIdentifiersB(int partId1, int index1) = 0;
36 virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth) = 0;
37 };
38
39 struct ClosestPointInput
40 {
41 ClosestPointInput()
42 : m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
43 {
44 }
45
46 btTransform m_transformA;
47 btTransform m_transformB;
48 btScalar m_maximumDistanceSquared;
49 };
50
51 virtual ~btDiscreteCollisionDetectorInterface(){};
52
53 //
54 // give either closest points (distance > 0) or penetration (distance)
55 // the normal always points from B towards A
56 //
57 virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false) = 0;
58 };
59
60 struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
61 {
62 btVector3 m_normalOnSurfaceB;
63 btVector3 m_closestPointInB;
64 btScalar m_distance; //negative means penetration !
65
66 protected:
67 btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
68 {
69 }
70
71 public:
72 virtual ~btStorageResult(){};
73
74 virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth)
75 {
76 if (depth < m_distance)
77 {
78 m_normalOnSurfaceB = normalOnBInWorld;
79 m_closestPointInB = pointInWorld;
80 m_distance = depth;
81 }
82 }
83 };
84
85 #endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
output
#define output
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btTransform.h
btVector3.h
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
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
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:40
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB
btTransform m_transformB
Definition: btDiscreteCollisionDetectorInterface.h:47
btDiscreteCollisionDetectorInterface::ClosestPointInput::ClosestPointInput
ClosestPointInput()
Definition: btDiscreteCollisionDetectorInterface.h:41
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA
btTransform m_transformA
Definition: btDiscreteCollisionDetectorInterface.h:46
btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared
btScalar m_maximumDistanceSquared
Definition: btDiscreteCollisionDetectorInterface.h:48
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:30
btDiscreteCollisionDetectorInterface::Result::setShapeIdentifiersA
virtual void setShapeIdentifiersA(int partId0, int index0)=0
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
btDiscreteCollisionDetectorInterface::Result::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)=0
btDiscreteCollisionDetectorInterface::Result::~Result
virtual ~Result()
Definition: btDiscreteCollisionDetectorInterface.h:31
btDiscreteCollisionDetectorInterface::Result::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)=0
btDiscreteCollisionDetectorInterface
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...
Definition: btDiscreteCollisionDetectorInterface.h:28
btDiscreteCollisionDetectorInterface::~btDiscreteCollisionDetectorInterface
virtual ~btDiscreteCollisionDetectorInterface()
Definition: btDiscreteCollisionDetectorInterface.h:51
btDiscreteCollisionDetectorInterface::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)=0
btStorageResult
Definition: btDiscreteCollisionDetectorInterface.h:61
btStorageResult::~btStorageResult
virtual ~btStorageResult()
Definition: btDiscreteCollisionDetectorInterface.h:72
btStorageResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btDiscreteCollisionDetectorInterface.h:74
btStorageResult::m_normalOnSurfaceB
btVector3 m_normalOnSurfaceB
Definition: btDiscreteCollisionDetectorInterface.h:62
btStorageResult::m_closestPointInB
btVector3 m_closestPointInB
Definition: btDiscreteCollisionDetectorInterface.h:63
btStorageResult::btStorageResult
btStorageResult()
Definition: btDiscreteCollisionDetectorInterface.h:67
btStorageResult::m_distance
btScalar m_distance
Definition: btDiscreteCollisionDetectorInterface.h:64