Bullet Collision Detection & Physics Library
btConvexCast.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_CAST_H
17 #define BT_CONVEX_CAST_H
18 
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btScalar.h"
24 
25 #ifdef BT_USE_DOUBLE_PRECISION
26 #define MAX_ITERATIONS 64
27 #define MAX_EPSILON (SIMD_EPSILON * 10)
28 #else
29 #define MAX_ITERATIONS 32
30 #define MAX_EPSILON btScalar(0.0001)
31 #endif
32 //will need to digg deeper to make the algorithm more robust
35 //since, a large epsilon can cause an early termination with false
36 //positive results (ray intersections that shouldn't be there)
37 
40 {
41 public:
42  virtual ~btConvexCast();
43 
46  struct CastResult
47  {
48  //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
49 
50  virtual void DebugDraw(btScalar fraction) { (void)fraction; }
51  virtual void drawCoordSystem(const btTransform& trans) { (void)trans; }
52  virtual void reportFailure(int errNo, int numIterations)
53  {
54  (void)errNo;
55  (void)numIterations;
56  }
59  m_debugDrawer(0),
63  {
64  }
65 
66  virtual ~CastResult(){};
67 
72  btScalar m_fraction; //input and output
75 
78 
79  };
80 
82  virtual bool calcTimeOfImpact(
83  const btTransform& fromA,
84  const btTransform& toA,
85  const btTransform& fromB,
86  const btTransform& toB,
87  CastResult& result) = 0;
88 };
89 
90 #endif //BT_CONVEX_CAST_H
virtual ~btConvexCast()
virtual void drawCoordSystem(const btTransform &trans)
Definition: btConvexCast.h:51
#define BT_LARGE_FLOAT
Definition: btScalar.h:296
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:39
btTransform m_hitTransformA
Definition: btConvexCast.h:66
#define MAX_ITERATIONS
Definition: btConvexCast.h:29
virtual void DebugDraw(btScalar fraction)
Definition: btConvexCast.h:50
btIDebugDraw * m_debugDrawer
Definition: btConvexCast.h:73
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:46
btScalar m_subSimplexCastEpsilon
Definition: btConvexCast.h:77
#define MAX_EPSILON
Definition: btConvexCast.h:30
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:26
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
btTransform m_hitTransformB
Definition: btConvexCast.h:69
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
virtual void reportFailure(int errNo, int numIterations)
Definition: btConvexCast.h:52
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object