[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef SPHERE_TRIANGLE_DETECTOR_H |
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| 17 | #define SPHERE_TRIANGLE_DETECTOR_H |
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| 18 | |
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| 19 | #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" |
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| 20 | |
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| 21 | |
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[2430] | 22 | |
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[1963] | 23 | class btSphereShape; |
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| 24 | class btTriangleShape; |
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| 25 | |
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| 26 | |
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| 27 | |
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| 28 | /// sphere-triangle to match the btDiscreteCollisionDetectorInterface |
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| 29 | struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface |
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| 30 | { |
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| 31 | virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); |
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| 32 | |
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[2430] | 33 | SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold); |
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[1963] | 34 | |
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| 35 | virtual ~SphereTriangleDetector() {}; |
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| 36 | |
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[8351] | 37 | bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar contactBreakingThreshold); |
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| 38 | |
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[1963] | 39 | private: |
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| 40 | |
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[8351] | 41 | |
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[1963] | 42 | bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p ); |
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| 43 | bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal); |
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| 44 | |
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| 45 | btSphereShape* m_sphere; |
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| 46 | btTriangleShape* m_triangle; |
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[2430] | 47 | btScalar m_contactBreakingThreshold; |
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[1963] | 48 | |
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| 49 | }; |
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| 50 | #endif //SPHERE_TRIANGLE_DETECTOR_H |
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| 51 | |
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