Bullet Collision Detection & Physics Library
btContinuousConvexCollision.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_CONTINUOUS_COLLISION_CONVEX_CAST_H
17 #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18 
19 #include "btConvexCast.h"
22 class btConvexShape;
23 class btStaticPlaneShape;
24 
30 {
34  //second object is either a convex or a plane (code sharing)
37 
38  void computeClosestPoints(const btTransform& transA, const btTransform& transB, struct btPointCollector& pointCollector);
39 
40 public:
41  btContinuousConvexCollision(const btConvexShape* shapeA, const btConvexShape* shapeB, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* penetrationDepthSolver);
42 
44 
45  virtual bool calcTimeOfImpact(
46  const btTransform& fromA,
47  const btTransform& toA,
48  const btTransform& fromB,
49  const btTransform& toB,
50  CastResult& result);
51 };
52 
53 #endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
#define btSimplexSolverInterface
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
void computeClosestPoints(const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
const btStaticPlaneShape * m_planeShape
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
btSimplexSolverInterface * m_simplexSolver
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
Definition: btConvexCast.h:40
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
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
Definition: btConvexCast.h:47