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source: code/branches/levelKaan/src/external/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @ 10043

Last change on this file since 10043 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 2.5 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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
17#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
19
20#include "btConvexCast.h"
21#include "btSimplexSolverInterface.h"
22class btConvexPenetrationDepthSolver;
23class btConvexShape;
24class btStaticPlaneShape;
25
26/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
27/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
28/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
29/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
30class btContinuousConvexCollision : public btConvexCast
31{
32        btSimplexSolverInterface* m_simplexSolver;
33        btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
34        const btConvexShape*    m_convexA;
35        //second object is either a convex or a plane (code sharing)
36        const btConvexShape*    m_convexB1;
37        const btStaticPlaneShape*       m_planeShape;
38
39        void computeClosestPoints( const btTransform& transA, const btTransform& transB,struct btPointCollector& pointCollector);
40
41public:
42
43        btContinuousConvexCollision (const btConvexShape*       shapeA,const btConvexShape*     shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
44
45        btContinuousConvexCollision(const btConvexShape*        shapeA,const btStaticPlaneShape*        plane );
46
47        virtual bool    calcTimeOfImpact(
48                                const btTransform& fromA,
49                                const btTransform& toA,
50                                const btTransform& fromB,
51                                const btTransform& toB,
52                                CastResult& result);
53
54
55};
56
57
58#endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
59
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