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

Bullet Collision Detection & Physics Library

btConvexPlaneCollisionAlgorithm.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
22class 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
37public:
38 btConvexPlaneCollisionAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, bool isSwapped, int numPerturbationIterations, int minimumPointsPerturbationThreshold);
39
40 virtual ~btConvexPlaneCollisionAlgorithm();
41
42 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
43
44 void collideSingleContact(const btQuaternion& perturbeRot, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
45
46 virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
47
48 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
49 {
50 if (m_manifoldPtr && m_ownManifold)
51 {
52 manifoldArray.push_back(m_manifoldPtr);
53 }
54 }
55
56 struct CreateFunc : public btCollisionAlgorithmCreateFunc
57 {
58 int m_numPerturbationIterations;
59 int m_minimumPointsPerturbationThreshold;
60
61 CreateFunc()
62 : m_numPerturbationIterations(1),
63 m_minimumPointsPerturbationThreshold(0)
64 {
65 }
66
67 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
68 {
69 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexPlaneCollisionAlgorithm));
70 if (!m_swapped)
71 {
72 return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, false, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
73 }
74 else
75 {
76 return new (mem) btConvexPlaneCollisionAlgorithm(0, ci, body0Wrap, body1Wrap, true, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold);
77 }
78 }
79 };
80};
81
82#endif //BT_CONVEX_PLANE_COLLISION_ALGORITHM_H
btBroadphaseProxy.h
btCollisionAlgorithm.h
btManifoldArray
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
Definition btCollisionAlgorithm.h:30
btCollisionCreateFunc.h
btCollisionDispatcher.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btVector3.h
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition btAlignedObjectArray.h:257
btCollisionAlgorithm::btCollisionAlgorithm
btCollisionAlgorithm()
Definition btCollisionAlgorithm.h:62
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btConvexPlaneCollisionAlgorithm::~btConvexPlaneCollisionAlgorithm
virtual ~btConvexPlaneCollisionAlgorithm()
Definition btConvexPlaneCollisionAlgorithm.cpp:44
btConvexPlaneCollisionAlgorithm::m_isSwapped
bool m_isSwapped
Definition btConvexPlaneCollisionAlgorithm.h:33
btConvexPlaneCollisionAlgorithm::m_numPerturbationIterations
int m_numPerturbationIterations
Definition btConvexPlaneCollisionAlgorithm.h:34
btConvexPlaneCollisionAlgorithm::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition btConvexPlaneCollisionAlgorithm.h:35
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:53
btConvexPlaneCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition btConvexPlaneCollisionAlgorithm.h:48
btConvexPlaneCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition btConvexPlaneCollisionAlgorithm.h:32
btConvexPlaneCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvexPlaneCollisionAlgorithm.cpp:92
btConvexPlaneCollisionAlgorithm::calculateTimeOfImpact
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition btConvexPlaneCollisionAlgorithm.cpp:163
btConvexPlaneCollisionAlgorithm::m_ownManifold
bool m_ownManifold
Definition btConvexPlaneCollisionAlgorithm.h:31
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition btManifoldResult.h:48
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition btQuaternion.h:50
btCollisionAlgorithmConstructionInfo
Definition btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc::btCollisionAlgorithmCreateFunc
btCollisionAlgorithmCreateFunc()
Definition btCollisionCreateFunc.h:30
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition btCollisionCreateFunc.h:28
btCollisionObjectWrapper
Definition btCollisionObjectWrapper.h:18
btConvexPlaneCollisionAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition btConvexPlaneCollisionAlgorithm.h:59
btConvexPlaneCollisionAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition btConvexPlaneCollisionAlgorithm.h:58
btConvexPlaneCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition btConvexPlaneCollisionAlgorithm.h:67
btConvexPlaneCollisionAlgorithm::CreateFunc::CreateFunc
CreateFunc()
Definition btConvexPlaneCollisionAlgorithm.h:61
btDispatcherInfo
Definition btDispatcher.h:31