Blender  V3.3
btSphereBoxCollisionAlgorithm.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_SPHERE_BOX_COLLISION_ALGORITHM_H
17 #define BT_SPHERE_BOX_COLLISION_ALGORITHM_H
18 
23 #include "btCollisionDispatcher.h"
24 
25 #include "LinearMath/btVector3.h"
26 
30 {
31  bool m_ownManifold;
32  btPersistentManifold* m_manifoldPtr;
33  bool m_isSwapped;
34 
35 public:
37 
39 
40  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
41 
42  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
43 
44  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
45  {
46  if (m_manifoldPtr && m_ownManifold)
47  {
48  manifoldArray.push_back(m_manifoldPtr);
49  }
50  }
51 
52  bool getSphereDistance(const btCollisionObjectWrapper* boxObjWrap, btVector3& v3PointOnBox, btVector3& normal, btScalar& penetrationDepth, const btVector3& v3SphereCenter, btScalar fRadius, btScalar maxContactDistance);
53 
54  btScalar getSpherePenetration(btVector3 const& boxHalfExtent, btVector3 const& sphereRelPos, btVector3& closestPoint, btVector3& normal);
55 
57  {
59  {
61  if (!m_swapped)
62  {
63  return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false);
64  }
65  else
66  {
67  return new (mem) btSphereBoxCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true);
68  }
69  }
70  };
71 };
72 
73 #endif //BT_SPHERE_BOX_COLLISION_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
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
SIMD_FORCE_INLINE void push_back(const T &_Val)
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
btSphereBoxCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
bool getSphereDistance(const btCollisionObjectWrapper *boxObjWrap, btVector3 &v3PointOnBox, btVector3 &normal, btScalar &penetrationDepth, const btVector3 &v3SphereCenter, btScalar fRadius, btScalar maxContactDistance)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btScalar getSpherePenetration(btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3 &normal)
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
IconTextureDrawCall normal
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)