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  btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
39 
41 
42  virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
43 
44  void collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
45 
46  virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
47 
48  virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
49  {
51  {
52  manifoldArray.push_back(m_manifoldPtr);
53  }
54  }
55 
57  {
60 
64  {
65  }
66 
68  {
70  if (!m_swapped)
71  {
72  return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
73  }
74  else
75  {
76  return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
77  }
78  }
79  };
80 };
81 
82 #endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btConvexPlaneCollisionAlgorithm::collideSingleContact
void collideSingleContact(const btQuaternion &perturbeRot, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexPlaneCollisionAlgorithm.cpp:53
btConvexPlaneCollisionAlgorithm::CreateFunc::CreateFunc
CreateFunc()
Definition: btConvexPlaneCollisionAlgorithm.h:61
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:49
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btConvexPlaneCollisionAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexPlaneCollisionAlgorithm.h:35
btVector3.h
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm
btConvexPlaneCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
Definition: btConvexPlaneCollisionAlgorithm.cpp:26
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btConvexPlaneCollisionAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexPlaneCollisionAlgorithm.h:59
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btConvexPlaneCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvexPlaneCollisionAlgorithm.h:31
btConvexPlaneCollisionAlgorithm
btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
Definition: btConvexPlaneCollisionAlgorithm.h:29
btConvexPlaneCollisionAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexPlaneCollisionAlgorithm.h:34
btConvexPlaneCollisionAlgorithm::CreateFunc
Definition: btConvexPlaneCollisionAlgorithm.h:56
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btConvexPlaneCollisionAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexPlaneCollisionAlgorithm.h:58
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btDispatcherInfo
Definition: btDispatcher.h:30
btAlignedObjectArray< btPersistentManifold * >
btCollisionCreateFunc.h
btConvexPlaneCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvexPlaneCollisionAlgorithm.h:48
btBroadphaseProxy.h
btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexPlaneCollisionAlgorithm.cpp:163
btConvexPlaneCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexPlaneCollisionAlgorithm.cpp:92
btConvexPlaneCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btConvexPlaneCollisionAlgorithm.h:33
btConvexPlaneCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvexPlaneCollisionAlgorithm.h:67
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:264
btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm
virtual ~btConvexPlaneCollisionAlgorithm()
Definition: btConvexPlaneCollisionAlgorithm.cpp:44
btCollisionDispatcher.h
btCollisionAlgorithm.h
btConvexPlaneCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexPlaneCollisionAlgorithm.h:32