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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h @ 8331

Last change on this file since 8331 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 3.1 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 DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
18#define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
19#include "LinearMath/btTransform.h"
20#include "LinearMath/btVector3.h"
21class btStackAlloc;
22
23/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
24/// This interface allows to query for closest points and penetration depth between two (convex) objects
25/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
26/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
27/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
28struct btDiscreteCollisionDetectorInterface
29{
30       
31        struct Result
32        {
33       
34                virtual ~Result(){}     
35
36                ///setShapeIdentifiers provides experimental support for per-triangle material / custom material combiner
37                virtual void setShapeIdentifiers(int partId0,int index0,        int partId1,int index1)=0;
38                virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
39        };
40
41        struct ClosestPointInput
42        {
43                ClosestPointInput()
44                        :m_maximumDistanceSquared(btScalar(1e30)),
45                        m_stackAlloc(0)
46                {
47                }
48
49                btTransform m_transformA;
50                btTransform m_transformB;
51                btScalar        m_maximumDistanceSquared;
52                btStackAlloc* m_stackAlloc;
53        };
54
55        virtual ~btDiscreteCollisionDetectorInterface() {};
56
57        //
58        // give either closest points (distance > 0) or penetration (distance)
59        // the normal always points from B towards A
60        //
61        virtual void    getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0;
62
63};
64
65struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
66{
67                btVector3       m_normalOnSurfaceB;
68                btVector3       m_closestPointInB;
69                btScalar        m_distance; //negative means penetration !
70
71                btStorageResult() : m_distance(btScalar(1e30))
72                {
73
74                }
75                virtual ~btStorageResult() {};
76
77                virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
78                {
79                        if (depth < m_distance)
80                        {
81                                m_normalOnSurfaceB = normalOnBInWorld;
82                                m_closestPointInB = pointInWorld;
83                                m_distance = depth;
84                        }
85                }
86};
87
88#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE1_H
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