54 lines
2.5 KiB
C++
54 lines
2.5 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
|
|
#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
|
|
|
|
#include "btConvexCast.h"
|
|
#include "btSimplexSolverInterface.h"
|
|
class btConvexPenetrationDepthSolver;
|
|
class btConvexShape;
|
|
class btStaticPlaneShape;
|
|
|
|
/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
|
|
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
|
|
/// Algorithm operates in worldspace, in order to keep in between motion globally consistent.
|
|
/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
|
|
class btContinuousConvexCollision : public btConvexCast
|
|
{
|
|
btSimplexSolverInterface* m_simplexSolver;
|
|
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
|
|
const btConvexShape* m_convexA;
|
|
//second object is either a convex or a plane (code sharing)
|
|
const btConvexShape* m_convexB1;
|
|
const btStaticPlaneShape* m_planeShape;
|
|
|
|
void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
|
|
|
|
public:
|
|
btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
|
|
|
|
btContinuousConvexCollision(const btConvexShape* shapeA, const btStaticPlaneShape* plane);
|
|
|
|
virtual bool calcTimeOfImpact(
|
|
const btTransform& fromA,
|
|
const btTransform& toA,
|
|
const btTransform& fromB,
|
|
const btTransform& toB,
|
|
CastResult& result);
|
|
};
|
|
|
|
#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
|