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authorRĂ©mi Verschelde <rverschelde@gmail.com>2018-01-13 14:43:30 +0100
committerGitHub <noreply@github.com>2018-01-13 14:43:30 +0100
commita3ee252993e8200c856be3fe664937f9461ee268 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
parentc01575b3125ce1828f0cacb3f9f00286136f373c (diff)
parente12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff)
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h')
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+#define BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btVector3.h"
+
+/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
+/// This interface allows to query for closest points and penetration depth between two (convex) objects
+/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
+/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
+/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
+struct btDiscreteCollisionDetectorInterface
+{
+
+ struct Result
+ {
+
+ virtual ~Result(){}
+
+ ///setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
+ virtual void setShapeIdentifiersA(int partId0,int index0)=0;
+ virtual void setShapeIdentifiersB(int partId1,int index1)=0;
+ virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
+ };
+
+ struct ClosestPointInput
+ {
+ ClosestPointInput()
+ :m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
+ {
+ }
+
+ btTransform m_transformA;
+ btTransform m_transformB;
+ btScalar m_maximumDistanceSquared;
+ };
+
+ virtual ~btDiscreteCollisionDetectorInterface() {};
+
+ //
+ // give either closest points (distance > 0) or penetration (distance)
+ // the normal always points from B towards A
+ //
+ virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0;
+
+};
+
+struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
+{
+ btVector3 m_normalOnSurfaceB;
+ btVector3 m_closestPointInB;
+ btScalar m_distance; //negative means penetration !
+
+ protected:
+ btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
+ {
+ }
+
+ public:
+ virtual ~btStorageResult() {};
+
+ virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
+ {
+ if (depth < m_distance)
+ {
+ m_normalOnSurfaceB = normalOnBInWorld;
+ m_closestPointInB = pointInWorld;
+ m_distance = depth;
+ }
+ }
+};
+
+#endif //BT_DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
+