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

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btConvexCast.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
22class 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
34//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{
41public:
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
MAX_CONVEX_CAST_EPSILON
#define MAX_CONVEX_CAST_EPSILON
Definition: btConvexCast.h:30
MAX_CONVEX_CAST_ITERATIONS
#define MAX_CONVEX_CAST_ITERATIONS
Definition: btConvexCast.h:29
btIDebugDraw.h
btScalar.h
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
btConvexCast
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
btConvexCast::~btConvexCast
virtual ~btConvexCast()
Definition: btConvexCast.cpp:18
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
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMinkowskiSumShape
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
Definition: btMinkowskiSumShape.h:25
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
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47
btConvexCast::CastResult::m_normal
btVector3 m_normal
Definition: btConvexCast.h:70
btConvexCast::CastResult::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btConvexCast.h:73
btConvexCast::CastResult::m_fraction
btScalar m_fraction
Definition: btConvexCast.h:72
btConvexCast::CastResult::CastResult
CastResult()
Definition: btConvexCast.h:57
btConvexCast::CastResult::m_hitTransformA
btTransform m_hitTransformA
Definition: btConvexCast.h:68
btConvexCast::CastResult::m_subSimplexCastMaxIterations
int m_subSimplexCastMaxIterations
Definition: btConvexCast.h:76
btConvexCast::CastResult::m_subSimplexCastEpsilon
btScalar m_subSimplexCastEpsilon
Definition: btConvexCast.h:77
btConvexCast::CastResult::reportFailure
virtual void reportFailure(int errNo, int numIterations)
Definition: btConvexCast.h:52
btConvexCast::CastResult::m_allowedPenetration
btScalar m_allowedPenetration
Definition: btConvexCast.h:74
btConvexCast::CastResult::m_hitPoint
btVector3 m_hitPoint
Definition: btConvexCast.h:71
btConvexCast::CastResult::m_hitTransformB
btTransform m_hitTransformB
Definition: btConvexCast.h:69
btConvexCast::CastResult::drawCoordSystem
virtual void drawCoordSystem(const btTransform &trans)
Definition: btConvexCast.h:51
btConvexCast::CastResult::~CastResult
virtual ~CastResult()
Definition: btConvexCast.h:66
btConvexCast::CastResult::DebugDraw
virtual void DebugDraw(btScalar fraction)
Definition: btConvexCast.h:50