Bullet Collision Detection & Physics Library
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 {
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  {
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
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btSphereBoxCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btSphereBoxCollisionAlgorithm.h:32
btActivatingCollisionAlgorithm.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btSphereBoxCollisionAlgorithm::~btSphereBoxCollisionAlgorithm
virtual ~btSphereBoxCollisionAlgorithm()
Definition: btSphereBoxCollisionAlgorithm.cpp:40
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btSphereBoxCollisionAlgorithm::btSphereBoxCollisionAlgorithm
btSphereBoxCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
Definition: btSphereBoxCollisionAlgorithm.cpp:24
btSphereBoxCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btSphereBoxCollisionAlgorithm.h:44
btSphereBoxCollisionAlgorithm::getSphereDistance
bool getSphereDistance(const btCollisionObjectWrapper *boxObjWrap, btVector3 &v3PointOnBox, btVector3 &normal, btScalar &penetrationDepth, const btVector3 &v3SphereCenter, btScalar fRadius, btScalar maxContactDistance)
Definition: btSphereBoxCollisionAlgorithm.cpp:96
btSphereBoxCollisionAlgorithm
btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
Definition: btSphereBoxCollisionAlgorithm.h:29
btSphereBoxCollisionAlgorithm::getSpherePenetration
btScalar getSpherePenetration(btVector3 const &boxHalfExtent, btVector3 const &sphereRelPos, btVector3 &closestPoint, btVector3 &normal)
Definition: btSphereBoxCollisionAlgorithm.cpp:155
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:53
btVector3.h
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btSphereBoxCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereBoxCollisionAlgorithm.cpp:49
btSphereBoxCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btSphereBoxCollisionAlgorithm.h:33
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btDispatcherInfo
Definition: btDispatcher.h:30
btAlignedObjectArray< btPersistentManifold * >
btCollisionCreateFunc.h
btBroadphaseProxy.h
btSphereBoxCollisionAlgorithm::CreateFunc
Definition: btSphereBoxCollisionAlgorithm.h:56
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btSphereBoxCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btSphereBoxCollisionAlgorithm.cpp:85
btSphereBoxCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btSphereBoxCollisionAlgorithm.h:58
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btCollisionDispatcher.h
btSphereBoxCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btSphereBoxCollisionAlgorithm.h:31