Bullet Collision Detection & Physics Library: btConvexCast.h Source File

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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
17 #ifndef BT_CONVEX_CAST_H
18 #define BT_CONVEX_CAST_H
19
20 #include "LinearMath/btTransform.h"
21 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btScalar.h"
23 class btMinkowskiSumShape;
24 #include "LinearMath/btIDebugDraw.h"
25
27 class btConvexCast
28 {
29 public:
30
31
32 virtual ~btConvexCast();
33
36 struct CastResult
37 {
38 //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
39
40 virtual void DebugDraw(btScalar fraction) {(void)fraction;}
41 virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
42 virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
43 CastResult()
44 :m_fraction(btScalar(BT_LARGE_FLOAT)),
45 m_debugDrawer(0),
46 m_allowedPenetration(btScalar(0))
47 {
48 }
49
50
51 virtual ~CastResult() {};
52
53 btTransform m_hitTransformA;
54 btTransform m_hitTransformB;
55 btVector3 m_normal;
56 btVector3 m_hitPoint;
57 btScalar m_fraction; //input and output
58 btIDebugDraw* m_debugDrawer;
59 btScalar m_allowedPenetration;
60
61 };
62
63
65 virtual bool calcTimeOfImpact(
66 const btTransform& fromA,
67 const btTransform& toA,
68 const btTransform& fromB,
69 const btTransform& toB,
70 CastResult& result) = 0;
71 };
72
73 #endif //BT_CONVEX_CAST_H
btConvexCast::~btConvexCast
virtual ~btConvexCast()
Definition: btConvexCast.cpp:18
btConvexCast::CastResult::drawCoordSystem
virtual void drawCoordSystem(const btTransform &trans)
Definition: btConvexCast.h:41
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:280
btConvexCast
btConvexCast is an interface for Casting
Definition: btConvexCast.h:27
btConvexCast::CastResult::m_fraction
btScalar m_fraction
Definition: btConvexCast.h:57
btVector3.h
btTransform.h
btConvexCast::CastResult::m_hitTransformA
btTransform m_hitTransformA
Definition: btConvexCast.h:51
btConvexCast::CastResult::m_normal
btVector3 m_normal
Definition: btConvexCast.h:55
btConvexCast::CastResult::m_allowedPenetration
btScalar m_allowedPenetration
Definition: btConvexCast.h:59
btConvexCast::CastResult::DebugDraw
virtual void DebugDraw(btScalar fraction)
Definition: btConvexCast.h:40
btConvexCast::CastResult::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition: btConvexCast.h:58
btConvexCast::CastResult
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:36
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:28
btMinkowskiSumShape
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
Definition: btMinkowskiSumShape.h:23
btConvexCast::CastResult::m_hitTransformB
btTransform m_hitTransformB
Definition: btConvexCast.h:54
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btConvexCast::CastResult::CastResult
CastResult()
Definition: btConvexCast.h:43
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btIDebugDraw.h
btConvexCast::CastResult::m_hitPoint
btVector3 m_hitPoint
Definition: btConvexCast.h:56
btConvexCast::CastResult::~CastResult
virtual ~CastResult()
Definition: btConvexCast.h:51
btConvexCast::CastResult::reportFailure
virtual void reportFailure(int errNo, int numIterations)
Definition: btConvexCast.h:42
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btConvexCast::calcTimeOfImpact
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
btScalar.h