Bullet Collision Detection & Physics Library
btContinuousConvexCollision.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_CONTINUOUS_COLLISION_CONVEX_CAST_H
17 #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18 
19 #include "btConvexCast.h"
22 class btConvexShape;
23 class btStaticPlaneShape;
24 
30 {
34  //second object is either a convex or a plane (code sharing)
37 
38  void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
39 
40 public:
41  btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
42 
44 
45  virtual bool calcTimeOfImpact(
46  const btTransform& fromA,
47  const btTransform& toA,
48  const btTransform& fromB,
49  const btTransform& toB,
50  CastResult& result);
51 };
52 
53 #endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
btConvexCast.h
btContinuousConvexCollision::computeClosestPoints
void computeClosestPoints(const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
Definition: btContinuousConvexCollision.cpp:48
btConvexCast
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:39
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:25
btContinuousConvexCollision::calcTimeOfImpact
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
Definition: btContinuousConvexCollision.cpp:90
btContinuousConvexCollision
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
Definition: btContinuousConvexCollision.h:29
btContinuousConvexCollision::m_convexA
const btConvexShape * m_convexA
Definition: btContinuousConvexCollision.h:33
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:46
btContinuousConvexCollision::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btContinuousConvexCollision.h:31
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btContinuousConvexCollision::m_planeShape
const btStaticPlaneShape * m_planeShape
Definition: btContinuousConvexCollision.h:36
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btContinuousConvexCollision::m_convexB1
const btConvexShape * m_convexB1
Definition: btContinuousConvexCollision.h:35
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
Definition: btStaticPlaneShape.h:22
btContinuousConvexCollision::m_penetrationDepthSolver
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
Definition: btContinuousConvexCollision.h:32
btPointCollector
Definition: btPointCollector.h:21
btContinuousConvexCollision::btContinuousConvexCollision
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
Definition: btContinuousConvexCollision.cpp:26
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24
btSimplexSolverInterface.h