104 lines
3.3 KiB
C++
104 lines
3.3 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_GJK_PAIR_DETECTOR_H
|
|
#define BT_GJK_PAIR_DETECTOR_H
|
|
|
|
#include "btDiscreteCollisionDetectorInterface.h"
|
|
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
|
|
|
|
class btConvexShape;
|
|
#include "btSimplexSolverInterface.h"
|
|
class btConvexPenetrationDepthSolver;
|
|
|
|
/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
|
|
class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
|
|
{
|
|
|
|
|
|
btVector3 m_cachedSeparatingAxis;
|
|
btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
|
|
btSimplexSolverInterface* m_simplexSolver;
|
|
const btConvexShape* m_minkowskiA;
|
|
const btConvexShape* m_minkowskiB;
|
|
int m_shapeTypeA;
|
|
int m_shapeTypeB;
|
|
btScalar m_marginA;
|
|
btScalar m_marginB;
|
|
|
|
bool m_ignoreMargin;
|
|
btScalar m_cachedSeparatingDistance;
|
|
|
|
|
|
public:
|
|
|
|
//some debugging to fix degeneracy problems
|
|
int m_lastUsedMethod;
|
|
int m_curIter;
|
|
int m_degenerateSimplex;
|
|
int m_catchDegeneracies;
|
|
int m_fixContactNormalDirection;
|
|
|
|
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
|
|
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
|
|
virtual ~btGjkPairDetector() {};
|
|
|
|
virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
|
|
|
|
void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
|
|
|
|
|
|
void setMinkowskiA(const btConvexShape* minkA)
|
|
{
|
|
m_minkowskiA = minkA;
|
|
}
|
|
|
|
void setMinkowskiB(const btConvexShape* minkB)
|
|
{
|
|
m_minkowskiB = minkB;
|
|
}
|
|
void setCachedSeperatingAxis(const btVector3& seperatingAxis)
|
|
{
|
|
m_cachedSeparatingAxis = seperatingAxis;
|
|
}
|
|
|
|
const btVector3& getCachedSeparatingAxis() const
|
|
{
|
|
return m_cachedSeparatingAxis;
|
|
}
|
|
btScalar getCachedSeparatingDistance() const
|
|
{
|
|
return m_cachedSeparatingDistance;
|
|
}
|
|
|
|
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
|
|
{
|
|
m_penetrationDepthSolver = penetrationDepthSolver;
|
|
}
|
|
|
|
///don't use setIgnoreMargin, it's for Bullet's internal use
|
|
void setIgnoreMargin(bool ignoreMargin)
|
|
{
|
|
m_ignoreMargin = ignoreMargin;
|
|
}
|
|
|
|
|
|
};
|
|
|
|
#endif //BT_GJK_PAIR_DETECTOR_H
|