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

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SphereTriangleDetector.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_SPHERE_TRIANGLE_DETECTOR_H
17#define BT_SPHERE_TRIANGLE_DETECTOR_H
18
19#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
20
21class btSphereShape;
22class btTriangleShape;
23
25 struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
26{
27 virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
28
29 SphereTriangleDetector(btSphereShape* sphere, btTriangleShape* triangle, btScalar contactBreakingThreshold);
30
31 virtual ~SphereTriangleDetector(){};
32
33 bool collide(const btVector3& sphereCenter, btVector3& point, btVector3& resultNormal, btScalar& depth, btScalar& timeOfImpact, btScalar contactBreakingThreshold);
34
35private:
36 bool pointInTriangle(const btVector3 vertices[], const btVector3& normal, btVector3* p);
37 bool facecontains(const btVector3& p, const btVector3* vertices, btVector3& normal);
38
39 btSphereShape* m_sphere;
40 btTriangleShape* m_triangle;
41 btScalar m_contactBreakingThreshold;
42};
43#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
btDiscreteCollisionDetectorInterface.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
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition: btSphereShape.h:25
btTriangleShape
Definition: btTriangleShape.h:24
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
SphereTriangleDetector
sphere-triangle to match the btDiscreteCollisionDetectorInterface
Definition: SphereTriangleDetector.h:26
SphereTriangleDetector::m_triangle
btTriangleShape * m_triangle
Definition: SphereTriangleDetector.h:40
SphereTriangleDetector::collide
bool collide(const btVector3 &sphereCenter, btVector3 &point, btVector3 &resultNormal, btScalar &depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold)
Definition: SphereTriangleDetector.cpp:96
SphereTriangleDetector::m_sphere
btSphereShape * m_sphere
Definition: SphereTriangleDetector.h:39
SphereTriangleDetector::~SphereTriangleDetector
virtual ~SphereTriangleDetector()
Definition: SphereTriangleDetector.h:31
SphereTriangleDetector::pointInTriangle
bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p)
Definition: SphereTriangleDetector.cpp:189
SphereTriangleDetector::facecontains
bool facecontains(const btVector3 &p, const btVector3 *vertices, btVector3 &normal)
Definition: SphereTriangleDetector.cpp:88
SphereTriangleDetector::getClosestPoints
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
Definition: SphereTriangleDetector.cpp:28
SphereTriangleDetector::m_contactBreakingThreshold
btScalar m_contactBreakingThreshold
Definition: SphereTriangleDetector.h:41
btDiscreteCollisionDetectorInterface::ClosestPointInput
Definition: btDiscreteCollisionDetectorInterface.h:40
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:30
btDiscreteCollisionDetectorInterface
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...
Definition: btDiscreteCollisionDetectorInterface.h:28