Bullet Collision Detection & Physics Library
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 
50 
54 
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  {
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
btConvexConvexAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvexConvexAlgorithm.h:46
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btConvexConvexAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:86
btConvexConvexAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConvexAlgorithm.cpp:273
btConvexConvexAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:56
btActivatingCollisionAlgorithm.h
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
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:25
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btConvexConvexAlgorithm::CreateFunc::CreateFunc
CreateFunc(btConvexPenetrationDepthSolver *pdSolver)
Definition: btConvexConvexAlgorithm.cpp:173
btGjkPairDetector.h
btConvexConvexAlgorithm
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
Definition: btConvexConvexAlgorithm.h:41
btTransformUtil.h
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btConvexConvexAlgorithm::btConvexConvexAlgorithm
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
Definition: btConvexConvexAlgorithm.cpp:184
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btConvexConvexAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexConvexAlgorithm.h:52
btConvexConvexAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvexConvexAlgorithm.h:85
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btConvexConvexAlgorithm::~btConvexConvexAlgorithm
virtual ~btConvexConvexAlgorithm()
Definition: btConvexConvexAlgorithm.cpp:201
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btVoronoiSimplexSolver.h
btConvexSeparatingDistanceUtil
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
Definition: btTransformUtil.h:147
btConvexConvexAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition: btConvexConvexAlgorithm.cpp:180
btConvexConvexAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition: btConvexConvexAlgorithm.cpp:210
btPolyhedralContactClipping.h
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btConvexConvexAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition: btConvexConvexAlgorithm.h:53
btConvexConvexAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConvexAlgorithm.cpp:792
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition: btCollisionAlgorithm.h:46
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btConvexConvexAlgorithm::CreateFunc
Definition: btConvexConvexAlgorithm.h:83
btDispatcherInfo
Definition: btDispatcher.h:30
btAlignedObjectArray< btVector3 >
btConvexConvexAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvexConvexAlgorithm.h:69
btConvexConvexAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:87
btCollisionCreateFunc.h
btConvexConvexAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvexConvexAlgorithm.h:93
btPersistentManifold.h
btBroadphaseProxy.h
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btConvexConvexAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvexConvexAlgorithm.h:51
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:264
btConvexConvexAlgorithm::worldVertsB1
btVertexArray worldVertsB1
Definition: btConvexConvexAlgorithm.h:48
btConvexConvexAlgorithm::worldVertsB2
btVertexArray worldVertsB2
Definition: btConvexConvexAlgorithm.h:49
btConvexConvexAlgorithm::getManifold
const btPersistentManifold * getManifold()
Definition: btConvexConvexAlgorithm.h:78
btConvexConvexAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:55
btCollisionDispatcher.h