Blender  V3.3
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
28 
30 
35 
36 //#define USE_SEPDISTANCE_UTIL2 1
37 
42 {
43 #ifdef USE_SEPDISTANCE_UTIL2
44  btConvexSeparatingDistanceUtil m_sepDistance;
45 #endif
47 
48  btVertexArray worldVertsB1;
49  btVertexArray worldVertsB2;
50 
51  bool m_ownManifold;
52  btPersistentManifold* m_manifoldPtr;
53  bool m_lowLevelOfDetail;
54 
55  int m_numPerturbationIterations;
56  int m_minimumPointsPerturbationThreshold;
57 
59 
60 public:
61  btConvexConvexAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
62 
63  virtual ~btConvexConvexAlgorithm();
64 
65  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
66 
67  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
68 
69  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
70  {
72  if (m_manifoldPtr && m_ownManifold)
73  manifoldArray.push_back(m_manifoldPtr);
74  }
75 
76  void setLowLevelOfDetail(bool useLowLevel);
77 
79  {
80  return m_manifoldPtr;
81  }
82 
84  {
88 
90 
91  virtual ~CreateFunc();
92 
94  {
97  }
98  };
99 };
100 
101 #endif //BT_CONVEX_CONVEX_ALGORITHM_H
btCollisionObject
btPersistentManifold * m_manifoldPtr
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
SIMD_FORCE_INLINE void push_back(const T &_Val)
const btPersistentManifold * getManifold()
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void setLowLevelOfDetail(bool useLowLevel)
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
CreateFunc(btConvexPenetrationDepthSolver *pdSolver)
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btConvexPenetrationDepthSolver * m_pdSolver