diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h | 49 |
1 files changed, 20 insertions, 29 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h index 24d1336778..9fca463fbe 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h @@ -23,70 +23,61 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h" #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h" #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil +#include "LinearMath/btTransformUtil.h" //for btConvexSeparatingDistanceUtil class btConvexPenetrationDepthSolver; - ///The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape ///Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation class btConvex2dConvex2dAlgorithm : public btActivatingCollisionAlgorithm { - btSimplexSolverInterface* m_simplexSolver; + btSimplexSolverInterface* m_simplexSolver; btConvexPenetrationDepthSolver* m_pdSolver; - - bool m_ownManifold; - btPersistentManifold* m_manifoldPtr; - bool m_lowLevelOfDetail; - -public: - - btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + bool m_ownManifold; + btPersistentManifold* m_manifoldPtr; + bool m_lowLevelOfDetail; +public: + btConvex2dConvex2dAlgorithm(btPersistentManifold* mf, const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); virtual ~btConvex2dConvex2dAlgorithm(); - virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut); + virtual btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut); - virtual void getAllContactManifolds(btManifoldArray& manifoldArray) + virtual void getAllContactManifolds(btManifoldArray& manifoldArray) { ///should we use m_ownManifold to avoid adding duplicates? if (m_manifoldPtr && m_ownManifold) manifoldArray.push_back(m_manifoldPtr); } + void setLowLevelOfDetail(bool useLowLevel); - void setLowLevelOfDetail(bool useLowLevel); - - - const btPersistentManifold* getManifold() + const btPersistentManifold* getManifold() { return m_manifoldPtr; } - struct CreateFunc :public btCollisionAlgorithmCreateFunc + struct CreateFunc : public btCollisionAlgorithmCreateFunc { - - btConvexPenetrationDepthSolver* m_pdSolver; - btSimplexSolverInterface* m_simplexSolver; + btConvexPenetrationDepthSolver* m_pdSolver; + btSimplexSolverInterface* m_simplexSolver; int m_numPerturbationIterations; int m_minimumPointsPerturbationThreshold; - CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); - + CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + virtual ~CreateFunc(); - virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) + virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvex2dConvex2dAlgorithm)); - return new(mem) btConvex2dConvex2dAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + return new (mem) btConvex2dConvex2dAlgorithm(ci.m_manifold, ci, body0Wrap, body1Wrap, m_simplexSolver, m_pdSolver, m_numPerturbationIterations, m_minimumPointsPerturbationThreshold); } }; - - }; -#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H +#endif //BT_CONVEX_2D_CONVEX_2D_ALGORITHM_H |