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

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btConvexPlaneCollisionAlgorithm.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_PLANE_COLLISION_ALGORITHM_H
17 #define BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
18
19 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
21 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
22 class btPersistentManifold;
23 #include "btCollisionDispatcher.h"
24
25 #include "LinearMath/btVector3.h"
26
29 class btConvexPlaneCollisionAlgorithm : public btCollisionAlgorithm
30 {
31 bool m_ownManifold;
32 btPersistentManifold* m_manifoldPtr;
33 bool m_isSwapped;
34 int m_numPerturbationIterations;
35 int m_minimumPointsPerturbationThreshold;
36
37 public:
38
39 btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations,int minimumPointsPerturbationThreshold);
40
41 virtual ~btConvexPlaneCollisionAlgorithm();
42
43 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
44
45 void collideSingleContact (const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
46
47 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
48
49 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
50 {
51 if (m_manifoldPtr && m_ownManifold)
52 {
53 manifoldArray.push_back(m_manifoldPtr);
54 }
55 }
56
57 struct CreateFunc :public btCollisionAlgorithmCreateFunc
58 {
59 int m_numPerturbationIterations;
60 int m_minimumPointsPerturbationThreshold;
61
62 CreateFunc()
63 : m_numPerturbationIterations(1),
64 m_minimumPointsPerturbationThreshold(0)
65 {
66 }
67
68 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
69 {
70 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
71 if (!m_swapped)
72 {
73 return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,false,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
74 } else
75 {
76 return new(mem) btConvexPlaneCollisionAlgorithm(0,ci,body0Wrap,body1Wrap,true,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
77 }
78 }
79 };
80
81 };
82
83 #endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
84
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:276
btAlignedObjectArray< btPersistentManifold * >
btVector3.h
btConvexPlaneCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexPlaneCollisionAlgorithm.cpp:94
btConvexPlaneCollisionAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexPlaneCollisionAlgorithm.h:59
btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm
virtual ~btConvexPlaneCollisionAlgorithm()
Definition: btConvexPlaneCollisionAlgorithm.cpp:45
btConvexPlaneCollisionAlgorithm::CreateFunc
Definition: btConvexPlaneCollisionAlgorithm.h:57
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btCollisionCreateFunc.h
btConvexPlaneCollisionAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexPlaneCollisionAlgorithm.h:34
btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexPlaneCollisionAlgorithm.cpp:165
btConvexPlaneCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvexPlaneCollisionAlgorithm.h:49
btConvexPlaneCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexPlaneCollisionAlgorithm.h:32
btConvexPlaneCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvexPlaneCollisionAlgorithm.h:68
btConvexPlaneCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition: btConvexPlaneCollisionAlgorithm.h:33
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy.h
btConvexPlaneCollisionAlgorithm::btConvexPlaneCollisionAlgorithm
btConvexPlaneCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
Definition: btConvexPlaneCollisionAlgorithm.cpp:26
btConvexPlaneCollisionAlgorithm::collideSingleContact
void collideSingleContact(const btQuaternion &perturbeRot, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexPlaneCollisionAlgorithm.cpp:54
btConvexPlaneCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvexPlaneCollisionAlgorithm.h:31
btCollisionDispatcher.h
btConvexPlaneCollisionAlgorithm::CreateFunc::CreateFunc
CreateFunc()
Definition: btConvexPlaneCollisionAlgorithm.h:62
btConvexPlaneCollisionAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexPlaneCollisionAlgorithm.h:35
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:48
btDispatcherInfo
Definition: btDispatcher.h:30
btConvexPlaneCollisionAlgorithm
btSphereBoxCollisionAlgorithm provides sphere-box collision detection.
Definition: btConvexPlaneCollisionAlgorithm.h:29
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btConvexPlaneCollisionAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexPlaneCollisionAlgorithm.h:60
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btCollisionAlgorithm.h