74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2008 Erwin Coumans https://bulletphysics.org
|
|
|
|
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.
|
|
*/
|
|
|
|
/*
|
|
GJK-EPA collision solver by Nathanael Presson, 2008
|
|
*/
|
|
#ifndef BT_GJK_EPA2_H
|
|
#define BT_GJK_EPA2_H
|
|
|
|
#include "BulletCollision/CollisionShapes/btConvexShape.h"
|
|
|
|
///btGjkEpaSolver contributed under zlib by Nathanael Presson
|
|
struct btGjkEpaSolver2
|
|
{
|
|
struct sResults
|
|
{
|
|
enum eStatus
|
|
{
|
|
Separated, /* Shapes doesnt penetrate */
|
|
Penetrating, /* Shapes are penetrating */
|
|
GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
|
|
EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
|
|
} status;
|
|
btVector3 witnesses[2];
|
|
btVector3 normal;
|
|
btScalar distance;
|
|
};
|
|
|
|
static int StackSizeRequirement();
|
|
|
|
static bool Distance(const btConvexShape* shape0, const btTransform& wtrs0,
|
|
const btConvexShape* shape1, const btTransform& wtrs1,
|
|
const btVector3& guess,
|
|
sResults& results);
|
|
|
|
static bool Penetration(const btConvexShape* shape0, const btTransform& wtrs0,
|
|
const btConvexShape* shape1, const btTransform& wtrs1,
|
|
const btVector3& guess,
|
|
sResults& results,
|
|
bool usemargins = true);
|
|
#ifndef __SPU__
|
|
static btScalar SignedDistance(const btVector3& position,
|
|
btScalar margin,
|
|
const btConvexShape* shape,
|
|
const btTransform& wtrs,
|
|
sResults& results);
|
|
|
|
static bool SignedDistance(const btConvexShape* shape0, const btTransform& wtrs0,
|
|
const btConvexShape* shape1, const btTransform& wtrs1,
|
|
const btVector3& guess,
|
|
sResults& results);
|
|
#endif //__SPU__
|
|
};
|
|
|
|
#endif //BT_GJK_EPA2_H
|