Bullet Collision Detection & Physics Library
btConvexConvexAlgorithm.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONVEX_CONVEX_ALGORITHM_H
17 #define BT_CONVEX_CONVEX_ALGORITHM_H
18 
24 #include "btCollisionCreateFunc.h"
25 #include "btCollisionDispatcher.h"
26 #include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27 
29 
34 
35 //#define USE_SEPDISTANCE_UTIL2 1
36 
41 {
42 #ifdef USE_SEPDISTANCE_UTIL2
43  btConvexSeparatingDistanceUtil m_sepDistance;
44 #endif
47 
48 
52 
55 
56 
58 
59 
60 public:
61 
62  btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
63 
64  virtual ~btConvexConvexAlgorithm();
65 
66  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
67 
68  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
69 
70  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
71  {
74  manifoldArray.push_back(m_manifoldPtr);
75  }
76 
77 
78  void setLowLevelOfDetail(bool useLowLevel);
79 
80 
82  {
83  return m_manifoldPtr;
84  }
85 
87  {
88 
93 
95 
96  virtual ~CreateFunc();
97 
99  {
102  }
103  };
104 
105 
106 };
107 
108 #endif //BT_CONVEX_CONVEX_ALGORITHM_H
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void push_back(const T &_Val)
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
btPersistentManifold * m_manifoldPtr
btManifoldResult is a helper class to manage contact results.
btSimplexSolverInterface * m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
void setLowLevelOfDetail(bool useLowLevel)
#define btSimplexSolverInterface
virtual void * allocateCollisionAlgorithm(int size)=0
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
btCollisionObject can be used to manage collision detection objects.
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
const btPersistentManifold * getManifold()
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
btConvexPenetrationDepthSolver * m_pdSolver
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btConvexPenetrationDepthSolver * m_pdSolver
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection