Bullet Collision Detection & Physics Library
btConvexPlaneCollisionAlgorithm.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_PLANE_COLLISION_ALGORITHM_H
17 #define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
18 
23 #include "btCollisionDispatcher.h"
24 
25 #include "LinearMath/btVector3.h"
26 
30 {
36 
37 public:
38 
39  btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
40 
42 
43  virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
44 
45  void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
46 
47  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
48 
49  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
50  {
52  {
53  manifoldArray.push_back(m_manifoldPtr);
54  }
55  }
56 
58  {
61 
65  {
66  }
67 
69  {
71  if (!m_swapped)
72  {
74  } else
75  {
77  }
78  }
79  };
80 
81 };
82 
83 #endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
84 
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void push_back(const T &_Val)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btManifoldResult is a helper class to manage contact results.
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual void * allocateCollisionAlgorithm(int size)=0
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btCollisionObject can be used to manage collision detection objects.
btConvexPlaneCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
void collideSingleContact(const btQuaternion &perturbeRot, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:48
btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266