Bullet Collision Detection & Physics Library
btGjkPairDetector.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_GJK_PAIR_DETECTOR_H
17 #define BT_GJK_PAIR_DETECTOR_H
18 
21 
22 class btConvexShape;
25 
28 {
38 
41 
42 public:
43  //some debugging to fix degeneracy problems
45  int m_curIter;
49 
50  btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
51  btGjkPairDetector(const btConvexShape* objectA, const btConvexShape* objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
52  virtual ~btGjkPairDetector(){};
53 
54  virtual void getClosestPoints(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw, bool swapResults = false);
55 
56  void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
57 
58  void setMinkowskiA(const btConvexShape* minkA)
59  {
60  m_minkowskiA = minkA;
61  }
62 
63  void setMinkowskiB(const btConvexShape* minkB)
64  {
65  m_minkowskiB = minkB;
66  }
67  void setCachedSeparatingAxis(const btVector3& separatingAxis)
68  {
69  m_cachedSeparatingAxis = separatingAxis;
70  }
71 
73  {
75  }
77  {
79  }
80 
82  {
83  m_penetrationDepthSolver = penetrationDepthSolver;
84  }
85 
87  void setIgnoreMargin(bool ignoreMargin)
88  {
89  m_ignoreMargin = ignoreMargin;
90  }
91 };
92 
93 #endif //BT_GJK_PAIR_DETECTOR_H
#define output
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define btSimplexSolverInterface
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
const btConvexShape * m_minkowskiB
const btConvexShape * m_minkowskiA
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver *penetrationDepthSolver)
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
btScalar getCachedSeparatingDistance() const
void setCachedSeparatingAxis(const btVector3 &separatingAxis)
btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
virtual ~btGjkPairDetector()
btScalar m_cachedSeparatingDistance
void setIgnoreMargin(bool ignoreMargin)
don't use setIgnoreMargin, it's for Bullet's internal use
void setMinkowskiA(const btConvexShape *minkA)
const btVector3 & getCachedSeparatingAxis() const
btSimplexSolverInterface * m_simplexSolver
btVector3 m_cachedSeparatingAxis
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
void setMinkowskiB(const btConvexShape *minkB)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...