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

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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
19 #include "btActivatingCollisionAlgorithm.h"
20 #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
21 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
22 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
23 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
24 #include "btCollisionCreateFunc.h"
25 #include "btCollisionDispatcher.h"
26 #include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil
27
28 class btConvexPenetrationDepthSolver;
29
34
35 //#define USE_SEPDISTANCE_UTIL2 1
36
40 class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
41 {
42 #ifdef USE_SEPDISTANCE_UTIL2
43 btConvexSeparatingDistanceUtil m_sepDistance;
44 #endif
45 btSimplexSolverInterface* m_simplexSolver;
46 btConvexPenetrationDepthSolver* m_pdSolver;
47
48
49 bool m_ownManifold;
50 btPersistentManifold* m_manifoldPtr;
51 bool m_lowLevelOfDetail;
52
53 int m_numPerturbationIterations;
54 int m_minimumPointsPerturbationThreshold;
55
56
58
59
60 public:
61
62 btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
63
64 virtual ~btConvexConvexAlgorithm();
65
66 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
67
68 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
69
70 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
71 {
73 if (m_manifoldPtr && m_ownManifold)
74 manifoldArray.push_back(m_manifoldPtr);
75 }
76
77
78 void setLowLevelOfDetail(bool useLowLevel);
79
80
81 const btPersistentManifold* getManifold()
82 {
83 return m_manifoldPtr;
84 }
85
86 struct CreateFunc :public btCollisionAlgorithmCreateFunc
87 {
88
89 btConvexPenetrationDepthSolver* m_pdSolver;
90 btSimplexSolverInterface* m_simplexSolver;
91 int m_numPerturbationIterations;
92 int m_minimumPointsPerturbationThreshold;
93
94 CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver);
95
96 virtual ~CreateFunc();
97
98 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
99 {
100 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm));
101 return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold);
102 }
103 };
104
105
106 };
107
108 #endif //BT_CONVEX_CONVEX_ALGORITHM_H
btConvexConvexAlgorithm::CreateFunc
Definition: btConvexConvexAlgorithm.h:86
btTransformUtil.h
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 * >
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btConvexConvexAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConvexAlgorithm.cpp:292
btConvexConvexAlgorithm::CreateFunc::CreateFunc
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
Definition: btConvexConvexAlgorithm.cpp:182
btConvexConvexAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:54
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btPersistentManifold.h
btConvexConvexAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btConvexConvexAlgorithm.h:50
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btConvexConvexAlgorithm::CreateFunc::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvexConvexAlgorithm.h:90
btCollisionCreateFunc.h
btGjkPairDetector.h
btConvexConvexAlgorithm::m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
Definition: btConvexConvexAlgorithm.h:45
btConvexConvexAlgorithm::setLowLevelOfDetail
void setLowLevelOfDetail(bool useLowLevel)
Definition: btConvexConvexAlgorithm.cpp:224
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btConvexConvexAlgorithm::~btConvexConvexAlgorithm
virtual ~btConvexConvexAlgorithm()
Definition: btConvexConvexAlgorithm.cpp:215
btConvexSeparatingDistanceUtil
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
Definition: btTransformUtil.h:146
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btConvexConvexAlgorithm::m_lowLevelOfDetail
bool m_lowLevelOfDetail
Definition: btConvexConvexAlgorithm.h:51
btBroadphaseProxy.h
btCollisionDispatcher.h
btConvexConvexAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btConvexConvexAlgorithm.cpp:689
btConvexConvexAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:91
btConvexConvexAlgorithm::getManifold
const btPersistentManifold * getManifold()
Definition: btConvexConvexAlgorithm.h:81
btVoronoiSimplexSolver.h
btConvexConvexAlgorithm::m_ownManifold
bool m_ownManifold
Definition: btConvexConvexAlgorithm.h:49
btConvexConvexAlgorithm
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
Definition: btConvexConvexAlgorithm.h:40
btConvexConvexAlgorithm::CreateFunc::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvexConvexAlgorithm.h:89
btConvexConvexAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btConvexConvexAlgorithm.h:70
btActivatingCollisionAlgorithm.h
btCollisionAlgorithmConstructionInfo::m_manifold
btPersistentManifold * m_manifold
Definition: btCollisionAlgorithm.h:46
btDispatcherInfo
Definition: btDispatcher.h:30
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
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btConvexConvexAlgorithm::CreateFunc::~CreateFunc
virtual ~CreateFunc()
Definition: btConvexConvexAlgorithm.cpp:190
btConvexConvexAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:92
btConvexConvexAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btConvexConvexAlgorithm.h:98
btConvexConvexAlgorithm::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btConvexConvexAlgorithm.h:46
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btConvexConvexAlgorithm::btConvexConvexAlgorithm
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
Definition: btConvexConvexAlgorithm.cpp:194
btConvexConvexAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:53